US 12,394,255 B2
Driving assistance apparatus, recording medium having driving assistance program recorded thereon, and driving assistance method
Kenta Kakutani, Tokyo (JP); Yoshiaki Kobayashi, Tokyo (JP); Toshiaki Matsuzawa, Tokyo (JP); Hideki Kakinuma, Tokyo (JP); Yuya Goto, Tokyo (JP); Ittoku Hirashima, Tokyo (JP); and Kimiyoshi Kusaka, Tokyo (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 24, 2022, as Appl. No. 17/679,393.
Claims priority of application No. 2021-062102 (JP), filed on Mar. 31, 2021.
Prior Publication US 2022/0319250 A1, Oct. 6, 2022
Int. Cl. G07C 5/06 (2006.01); B60K 35/00 (2006.01); G06T 3/40 (2006.01); G06T 11/00 (2006.01); G06T 11/20 (2006.01); G07C 5/04 (2006.01); B60K 35/28 (2024.01); B60K 35/29 (2024.01); B60K 35/81 (2024.01)
CPC G07C 5/06 (2013.01) [B60K 35/00 (2013.01); G06T 3/40 (2013.01); G06T 11/001 (2013.01); G06T 11/203 (2013.01); G06T 11/206 (2013.01); G07C 5/04 (2013.01); B60K 35/28 (2024.01); B60K 35/29 (2024.01); B60K 35/81 (2024.01); B60K 2360/167 (2024.01); B60K 2360/188 (2024.01); G06T 2200/24 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A driving assistance apparatus comprising a processor, wherein the processor:
acquires information on a condition of a vehicle;
calculates a friction circle for each of wheels based on a result of acquisition;
displays an image based on the friction circle for each of the wheels on a display;
detects a vehicle acceleration including lateral acceleration and longitudinal acceleration;
calculates a tire force and a tire friction direction for each of the wheels on a basis of the vehicle acceleration, the tire force being a magnitude of a resultant force of a lateral force generated at a tire associated with a wheel among the wheels and a longitudinal force generated at the tire associated with the wheel among the wheels;
displays the tire force and the tire friction direction, as a first image on the display;
executes a comparison computation to compare the tire force and a size of the friction circle;
when a predefined first state is determined based on a result of the comparison by the comparison computation, displays a depiction of the first state on the display, the first state being a state in which the tire force is in a range not exceeding the size of the friction circle;
when a predefined second state is determined based on the result of the comparison by the comparison computation, displays a depiction of the second state on the display, the second state being a state in which the tire force exceeds the size of the friction circle;
obtains a location of a center of gravity of the vehicle;
displays the location of the center of gravity of the vehicle and a center-of-gravity path showing changes in path of the center of gravity of the vehicle with time, as a second image on the display; and
the first image and the second image are displayed in different areas on the display so as to correspond to each other.