US 12,437,647 B2
Driving assistance apparatus, driving assistance method, and non-transitory recording medium
Kazuya Kozono, Tokyo (JP); and Takamichi Kirihara, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Sep. 14, 2023, as Appl. No. 18/467,032.
Claims priority of application No. 2022-164086 (JP), filed on Oct. 12, 2022.
Prior Publication US 2024/0127696 A1, Apr. 18, 2024
Int. Cl. G08G 1/16 (2006.01); B60W 30/095 (2012.01); B60W 50/00 (2006.01)
CPC G08G 1/166 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 50/0097 (2013.01); B60W 2520/14 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A driving assistance apparatus comprising an electronic control unit configured to:
calculate a first predicted path of a first vehicle to which the driving assistance apparatus is to be applied, the first predicted path being defined as a circular arc having a radius calculated from a yaw rate and a speed of the first vehicle at a prediction reference time;
calculate a second predicted path of a second vehicle, the second predicted path being defined as a straight line based on a position, a traveling direction, and a speed of the second vehicle at the prediction reference time;
identify an intersection point between the first predicted path and the second predicted path as a provisional contact point;
calculate a provisional contact time at which the first vehicle reaches the provisional contact point;
determine whether the first vehicle and the second vehicle come into contact with each other, by using a relative position and a relative speed of the first and second vehicles at the provisional contact time, and by assuming that, after the provisional contact time, the first vehicle and the second vehicle travel in linear motion to cross each other; and
control a braking device of the first vehicle to perform automatic braking in response to determining that the first vehicle and the second vehicle come into contact with each other.