# US 10,479,403 B2 · Vehicle driving assistance system

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,479,403 B2
- Document ID: US10479403B2
- Status: Granted
- Kind: B2
- Application number: 15/855,461
- Filed: 2017-12-27
- Published: 2018-08-23
- Granted: 2019-11-19
- Earliest claimed: 2017-02-22
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Risa Kawashima; Akihiko Shimizu; Hiroki Murata
- Web page: https://patentgrep.com/patent/US10479403B2

## CPC

- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B60W 30/04: related to roll-over prevention
- B62D 15/026: {combined with automatic distance control, i.e. electronic tow bar}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/125: Lateral acceleration
- B60W 2520/28: Wheel speed
- B60W 2540/20: Direction indicator values
- B60W 2554/4041: Position
- B60W 2710/20: Steering systems
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT

## Abstract

A vehicle driving assistance system, including: a forward information acquirer; a turning intention receiver; a steering-force applying device; and an assistance processing executing device including an identifying portion for identifying a traveling track of a preceding vehicle, a recognizing portion for recognizing turning of the preceding vehicle to the right or the left, a recognizing portion for recognizing turning of an own vehicle and a direction of the turning, and a steering-force control portion for executing a steering-force control in turning in which the applying device applies a steering force for assisting the turning of the own vehicle along an identified traveling track, when the recognized turning of the preceding vehicle is turning at an intersection present on a traveling path of the own vehicle and a direction of the turning of the preceding vehicle at the intersection coincides with the recognized direction of the turning of the own vehicle.

## Claims

### Claim 1

A vehicle driving assistance system for assisting a driver in driving a vehicle, comprising:
a sensor positioned to acquire forward information for an own vehicle;
a turning intention receiver comprising one of a turn signal lever, a switch, or a voice recognition device to receive an intention of the driver to turn the own vehicle to the right or the left;
a steering-force motor coupled to a steering shaft of the vehicle to apply a steering force to a wheel of the vehicle; and
an assistance processing executing device comprising a computer programmed to function as:
a traveling track identifying portion that identifies a traveling track of a preceding vehicle that travels ahead of the own vehicle, based on the forward information acquired by the sensor;
a preceding vehicle turning recognizing portion that recognizes turning of the preceding vehicle to the right or the left;
an own vehicle turning recognizing portion that recognizes turning of the own vehicle and a direction of the turning of the own vehicle, based on the intention of the driver received by the turning intention receiver; and
a steering-force control portion that executes a steering-force control in turning in which the steering-force motor applies, to the wheel, the steering force for assisting the turning of the own vehicle along the traveling track of the preceding vehicle identified by the traveling track identifying portion, when the turning of the preceding vehicle recognized by the preceding vehicle turning recognizing portion is turning at an intersection that is present on a traveling path of the own vehicle and a direction of the turning of the preceding vehicle at the intersection coincides with the direction of the turning of the own vehicle recognized by the own vehicle turning recognizing portion.

### Claim 2 (depends on 1)

The vehicle driving assistance system according to claim 1, wherein the steering-force control portion further executes a steering-force control in straight-ahead traveling in which the steering-force motor applies, to the wheel, the steering force for assisting straight-ahead driving of the own vehicle along the traveling track of the preceding vehicle identified by the traveling track identifying portion, when the preceding vehicle and the own vehicle travel straight ahead on the traveling path of the own vehicle.

### Claim 3 (depends on 1)

The vehicle driving assistance system according to claim 1, wherein the steering-force control portion controls the steering-force motor to apply, to the wheel, the steering force having a magnitude in accordance with a shift amount of the own vehicle from the traveling track of the preceding vehicle identified by the traveling track identifying portion.

### Claim 4 (depends on 1)

The vehicle driving assistance system according to claim 1, wherein the computer of the assistance processing executing device is further programmed to request the driver to indicate his/her intention to turn the own vehicle on the turning intention receiver, when the preceding vehicle turning recognizing portion recognizes the turning of the preceding vehicle at the intersection to the right or the left.

### Claim 5 (depends on 1)

The vehicle driving assistance system according to claim 1, further comprising an intersection information acquirer that acquires information about the intersection present on the traveling path of the own vehicle the intersection information acquirer comprising one of a navigation system including a GPS receiver or a camera positioned to acquire images in front of the own vehicle,
wherein the steering-force control portion executes the steering-force control in turning when the preceding vehicle and the own vehicle turn at the intersection identified based on the information acquired by the intersection information acquirer.

### Claim 6 (depends on 1)

The vehicle driving assistance system according to claim 1, wherein the computer of the assistance processing executing device is further programmed to function as a steering force control interrupting portion that interrupts the steering-force control in turning that is being executed by the steering-force control portion.

### Claim 7 (depends on 6)

The vehicle driving assistance system according to claim 6, wherein the steering force control interrupting portion interrupts the steering-force control in turning when the own vehicle is shifted, beyond a set degree, from the traveling track of the preceding vehicle identified by the traveling track identifying portion.

### Claim 8 (depends on 6)

The vehicle driving assistance system according to claim 6, wherein the steering force control interrupting portion interrupts the steering-force control in turning when a turning index, indicative of severity of turning of the own vehicle, exceeds a set value.

### Claim 9 (depends on 1)

The vehicle driving assistance system according to claim 1, wherein the computer of the assistance processing executing device is further programmed to prohibit the steering-force control portion from executing the steering-force control in turning when a traveling speed of the own vehicle exceeds a set speed.