# US 12,005,887 B2 · Driver assistance device, driver assistance method, and non-transitory computer-readable storage medium storing program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,887 B2 - Document ID: US12005887B2 - Status: Granted - Kind: B2 - Application number: 17/696,275 - Filed: 2022-03-16 - Published: 2022-09-22 - Granted: 2024-06-11 - Earliest claimed: 2021-03-19 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Toshinori Okita; Yuki Kawasaki; Youhei Masui - Web page: https://patentgrep.com/patent/US12005887B2 ## CPC - B60W 30/045: Improving turning performance - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 30/18145: {Cornering} - B60W 40/068: Road friction coefficient - B60W 40/10: related to vehicle motion - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 2050/143: {Alarm means} - B60W 2552/30: Road curve radius - B60W 2552/40: Coefficient of friction - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2720/106: Longitudinal acceleration - 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 driver assistance device includes a processor. The processor is configured to: automatically decelerate an own vehicle in accordance with a relative relation between the own vehicle and a vehicle traveling ahead that is traveling forward of the own vehicle; change deceleration of the own vehicle by a first change amount, or a second change amount that is larger than the first change amount, when automatically decelerating the own vehicle; perform behavioral determination to estimate whether behavior of the own vehicle will become unstable when the own vehicle is automatically decelerated; and change the deceleration by the first change amount when automatically decelerating the own vehicle, when the behavior of the own vehicle is estimated to become unstable. ## Claims ### Claim 1 A driver assistance device, comprising a processor configured to: automatically decelerate an own vehicle in accordance with a relative relation between the own vehicle and a vehicle traveling ahead that is traveling forward of the own vehicle; change deceleration of the own vehicle by a first change amount, or a second change amount that is larger than the first change amount, when automatically decelerating the own vehicle; perform behavioral determination to estimate whether behavior of the own vehicle will become unstable when the own vehicle is automatically decelerated; maintain the deceleration of the own vehicle by the second change amount when automatically decelerating the own vehicle, when the behavior of the own vehicle is estimated to not become unstable; and change the deceleration by the first change amount when automatically decelerating the own vehicle, when the behavior of the own vehicle is estimated to become unstable. ### Claim 2 (depends on 1) The driver assistance device according to claim 1, wherein the processor is configured to: determine, in at least part of the behavioral determination, whether the own vehicle is in a predetermined turning state, using a sensor that detects a motion state of the own vehicle; and estimate that the behavior of the own vehicle will become unstable when determination is made that the own vehicle is in the predetermined turning state, and change the deceleration by the first change amount when automatically decelerating the own vehicle. ### Claim 3 (depends on 1) The driver assistance device according to claim 1, wherein the processor is configured to include estimating conditions of a road on which the own vehicle is traveling in the behavioral determination, estimating the conditions of the road on which the own vehicle is traveling being to determine whether the behavior of the own vehicle will become unstable when automatically decelerating the own vehicle, based on one of (i) whether a friction coefficient of a road surface of the road is equal to or less than a predetermined value, (ii) whether an external environment of the own vehicle is under a predetermined weather condition, and (iii) whether a curve is present forward of the own vehicle. ### Claim 4 (depends on 1) The driver assistance device according to claim 1, wherein the first change amount is a first time derivative of acceleration. ### Claim 5 A driver assistance method for a vehicle that is configured to automatically decelerate the vehicle in accordance with a relative relation between the vehicle and a vehicle traveling ahead that is traveling forward of the vehicle, and change deceleration of the vehicle by a first change amount, or a second change amount that is larger than the first change amount, when automatically decelerating the vehicle, the driver assistance method comprising: estimating whether behavior of the vehicle will become unstable when the vehicle automatically decelerates; maintaining the deceleration of the vehicle by the second change amount when automatically decelerating the vehicle, when the behavior of the vehicle is estimated to not become unstable; and changing the deceleration by the first change amount when automatically decelerating the vehicle, when the behavior of the vehicle is estimated to become unstable. ### Claim 6 (depends on 5) The driver assistance method according to claim 5, further comprising determining whether the vehicle is in a predetermined turning state, using a sensor that detects a motion state of the vehicle, wherein the behavior of the vehicle is estimated to become unstable when determination is made that the vehicle is in the predetermined turning state. ### Claim 7 (depends on 5) The driver assistance method according to claim 5, wherein estimating whether the behavior of the vehicle will become unstable when the vehicle automatically decelerates includes estimating conditions of a road on which the vehicle is traveling, estimating the conditions of the road on which the vehicle is traveling being to determine whether the behavior of the vehicle will become unstable when automatically decelerating the vehicle, based on one of (i) whether a friction coefficient of a road surface of the road is no more than a predetermined value, (ii) whether an external environment of the vehicle is under a predetermined weather condition, and (iii) whether a curve is present forward of the vehicle. ### Claim 8 A non-transitory computer-readable storage medium storing a program that, when executed by a processor of a driver assistance device configured to automatically decelerate a vehicle in accordance with a relative relation between the vehicle and a vehicle traveling ahead that is traveling forward of the vehicle, causes the driver assistance device to: change deceleration of the vehicle by a first change amount, or a second change amount that is larger than the first change amount, when automatically decelerating the vehicle; estimate whether behavior of the vehicle will become unstable when the vehicle automatically decelerates; maintain the deceleration of the vehicle by the second change amount when automatically decelerating the vehicle, when the behavior of the vehicle is estimated to not become unstable; and change the deceleration by the first change amount when automatically decelerating the vehicle, when the behavior of the vehicle is estimated to become unstable. ### Claim 9 (depends on 1) The driver assistance device according to claim 1, wherein the processor is further configured to: compute an index indicating certainty that the vehicle traveling ahead is present as a leading vehicle information; and determine a reliability of the leading vehicle information based on: whether the vehicle traveling ahead is detected by a plurality of types of sensors of the own vehicle included in the sensor; whether the vehicle traveling ahead is continuously detected by the at least one sensor of the own vehicle; and whether the vehicle traveling ahead is continuously a control object for the deceleration assistance control. ### Claim 10 (depends on 5) The driver assistance method according to claim 5, further comprising: computing an index indicating certainty that the vehicle traveling ahead is present as a leading vehicle information; and determining a reliability of the leading vehicle information based on: whether the vehicle traveling ahead is detected by a plurality of types of sensors of the own vehicle included in the sensor; whether the vehicle traveling ahead is continuously detected by the at least one sensor of the own vehicle; and whether the vehicle traveling ahead is continuously a control object for the deceleration assistance control. ### Claim 11 (depends on 8) The non-transitory computer-readable storage medium according to claim 8, wherein the processor is further configured to causes the driver assistance device to: compute an index indicating certainty that the vehicle traveling ahead is present as a leading vehicle information; and determine a reliability of the leading vehicle information based on: whether the vehicle traveling ahead is detected by a plurality of types of sensors of the own vehicle included in the sensor; whether the vehicle traveling ahead is continuously detected by the at least one sensor of the own vehicle; and whether the vehicle traveling ahead is continuously a control object for the deceleration assistance control.