# US 11,999,333 B2 · Driving support device, driving support method, and storage medium

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- Number: US 11,999,333 B2
- Document ID: US11999333B2
- Status: Granted
- Kind: B2
- Application number: 17/679,151
- Filed: 2022-02-24
- Published: 2022-10-06
- Granted: 2024-06-04
- Earliest claimed: 2021-03-30
- Assignees: Honda Motor Co., Ltd.
- Applicants: Honda Motor Co., Ltd.
- Inventors: Yasuhiro Kurata
- Web page: https://patentgrep.com/patent/US11999333B2

## CPC

- B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle}
- B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)}
- B60T 8/72: responsive to a difference between a speed condition, e.g. deceleration, and a fixed reference
- B60T 2201/02: Active or adaptive cruise control system; Distance control
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES

## Abstract

A driving support device includes a braking controller configured to execute braking control, a first calculator configured to calculate a first braking control amount of the braking controller, a second calculator configured to calculate, on the basis of a setting standard, a second braking control amount of the braking control executed at an execution frequency lower than an execution frequency of the braking control based on the first braking control amount, and an updater configured to update the setting standard on the basis of a relative relationship between an estimated braking behavior based on the first braking control amount and an actual braking behavior based on the first braking control amount.

## Claims

### Claim 1

A driving support device comprising:
a braking controller configured to execute braking control;
a first calculator configured to calculate a first braking control amount of the braking controller;
a second calculator configured to calculate, on the basis of a setting standard, a second braking control amount of the braking control executed at an execution frequency lower than an execution frequency of the braking control based on the first braking control amount; and
an updater configured to update the setting standard on the basis of a relative relationship between an estimated braking behavior based on the first braking control amount and an actual braking behavior based on the first braking control amount,
wherein the first calculator calculates the first braking control amount when vehicle speed control according to a set vehicle speed is executed, and
the second calculator calculates the second braking control amount when emergency braking control is executed.

### Claim 2 (depends on 1)

The driving support device according to claim 1, wherein the updater updates the setting standard on the basis of a plurality of relative relationships between the estimated braking behavior and the actual braking behavior.

### Claim 3 (depends on 2)

The driving support device according to claim 2, wherein, when target data is data whose difference from other data exceeds a predetermined threshold value among data of the plurality of relative relationships, the target data is excluded from the data of the plurality of relative relationships.

### Claim 4 (depends on 1)

The driving support device according to claim 1, wherein the setting standard is a braking map that includes a braking control amount according to a vehicle speed and a deceleration when the emergency braking control is executed.

### Claim 5

A driving support method comprising:
by a computer,
calculating a first braking control amount of braking control;
calculating, on the basis of a setting standard, a second braking control amount of the braking control executed at an execution frequency lower than an execution frequency of the braking control based on the first braking control amount;
updating the setting standard on the basis of a relative relationship between an estimated braking behavior based on the first braking control amount and an actual braking behavior based on the first braking control amount;
executing the braking control;
calculating the first braking control amount when vehicle speed control according to a set vehicle speed is executed; and
calculating the second braking control amount when emergency braking control is executed.

### Claim 6

A computer-readable non-transitory storage medium that has stored a program causing a computer to execute:
calculating a first braking control amount of braking control;
calculating, on the basis of a setting standard, a second braking control amount of the braking control executed at an execution frequency lower than an execution frequency of the braking control based on the first braking control amount;
updating the setting standard on the basis of a relative relationship between an estimated braking behavior based on the first braking control amount and an actual braking behavior based on the first braking control amount;
executing the braking control;
calculating the first braking control amount when vehicle speed control according to a set vehicle speed is executed; and
calculating the second braking control amount when emergency braking control is executed.