Driving assist apparatus, driving assist method, and driving assist system

A driving assist method comprising:

• a step of acquiring a standard running route calculated based on curve information ahead of a vehicle;
• and
• a step of acquiring a current vehicle body speed and a current steering angle of a steering wheel as a current vehicle motion amount,
• wherein a standard vehicle motion amount when the vehicle runs the standard running route is a standard yaw rate, a required steering angle, and an appropriate vehicle body speed,
• the method further comprising:
• a step of acquiring the required steering angle for running the standard running route at the current vehicle body speed and the appropriate vehicle body speed at which a lateral acceleration matches or falls below a predetermined value when the vehicle runs the standard running route;
• a step of calculating an assist torque output instruction reference value for providing a steering angle change amount that makes the current steering angle closer to the required steering angle to the steering wheel and a torque output instruction reference value for providing a driving torque reduction amount that makes the current vehicle body speed closer to the appropriate vehicle body speed to a driving wheel of the vehicle;
• a step of acquiring the standard yaw rate generated when the vehicle runs the standard running route;
• a step of calculating a brake output instruction reference value for generating a yaw moment that makes a yaw rate acquired based on the current vehicle body speed and the current steering angle closer to the standard yaw rate on the vehicle;
• a step of calculating a brake output instruction by multiplying the brake output instruction reference value by a brake moment amount weight which reduces as the assist torque output instruction reference value or the torque output instruction reference value increases;
• and
• a step of outputting an assist torque output instruction based on the assist torque output instruction reference value, a torque output instruction based on torque output instruction reference value, and the brake output instruction to a steering assist apparatus capable of changing a steering angle, a driving apparatus configured to provide a driving torque to a driving wheel of the vehicle, and a brake apparatus capable of braking the vehicle, respectively.

A driving assist system comprising:

• at least one of a camera, a GPS, and a map database configured to acquire curve information ahead of a vehicle;
• and
• a controller configured to:
• calculate a standard running route based on the curve information;
• and
• acquire a current vehicle body speed and a current steering angle of a steering wheel as a current vehicle motion amount,
• wherein a standard vehicle motion amount when the vehicle runs the standard running route is a standard yaw rate, a required steering angle, and an appropriate vehicle body speed,
• the controller further configured to:
• acquire the required steering angle for running the standard running route at the current vehicle body speed and the appropriate vehicle body speed at which a lateral acceleration matches or falls below a predetermined value when the vehicle runs the standard running route;
• calculate an assist torque output instruction reference value for providing a steering angle change amount that makes the current steering angle closer to the required steering angle to the steering wheel and a torque output instruction reference value for providing a driving torque reduction amount that makes the current vehicle body speed closer to the appropriate vehicle body speed to a driving wheel of the vehicle;
• acquire the standard yaw rate generated when the vehicle runs the standard running route;
• calculate a brake output instruction reference value for generating a yaw moment that makes a yaw rate acquired based on the current vehicle body speed and the current steering angle closer to the standard yaw rate on the vehicle;
• calculate a brake output instruction by multiplying the brake output instruction reference value by a brake moment amount weight which reduces as the assist torque output instruction reference value or the torque output instruction reference value increases;
• and
• output an assist torque output instruction based on the assist torque output instruction reference value, a torque output instruction based on torque output instruction reference value, and the brake output instruction to a steering assist apparatus capable of changing a steering angle, a driving apparatus configured to provide a driving torque to a driving wheel of the vehicle, and a brake apparatus capable of braking the vehicle, respectively.