Driving assistance apparatus, driving assistance method, and driving assistance program
AssigneeJ-QuAD DYNAMICS INC.
InventorYuuki Ozawa
Life of this patent
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Abstract
A driving assistance apparatus is applied to a vehicle (VC) including a wheel-turning actuator (32) that turns a wheel and a brake actuator (41-44). The driving assistance apparatus is configured to detect, as a slip detection process (S22), slip of the vehicle on a road surface on which the vehicle is traveling. The limitation process (S24, S24a) limits the a braking force of the brake actuator to a smaller magnitude. The limitation process includes a process where the braking force of the brake actuator is limited to the smaller magnitude at least during the period over which the obstacle is being avoided when the wheel-turning actuator of the vehicle turns the wheel in order to avoid an obstacle and when the slip has been detected at the slip detection process.
Claims11
A driving assistance apparatus applied to a vehicle including a wheel-turning actuator that turns a wheel and a brake actuator, the apparatus comprising a processor configured to:
- detect slip of the vehicle on a road surface on which the vehicle travels;
- limit a magnitude of a braking force of the brake actuator to a smaller magnitude;
- and
- when the wheel-turning actuator of the vehicle turns the wheel in order to avoid an obstacle and when the slip has been detected, limit the magnitude of the braking force of the brake actuator to the smaller magnitude in at least a period for avoiding the obstacle.
A driving assistance method comprising:
- detecting slip of a vehicle on a road surface on which the vehicle travels, wherein the vehicle includes a wheel-turning actuator that turns a wheel-turning wheel and a brake actuator;
- limiting a magnitude of a braking force of the brake actuator to a smaller magnitude;
- and
- when the wheel-turning actuator of the vehicle turns the wheel-turning wheel in order to avoid an obstacle and when the slip has been detected, limiting the magnitude of the braking force of the brake actuator to the smaller magnitude in at least a period for avoiding the obstacle.
A computer-readable non-transitory storage medium storing a driving assistance program configured to cause a processor to:
- detect slip of a vehicle on a road surface on which the vehicle travels, wherein the vehicle includes a wheel-turning actuator that turns a wheel and a brake actuator;
- limit a magnitude of a braking force of the brake actuator to a smaller magnitude;
- and
- when the wheel-turning actuator of the vehicle turns the wheel in order to avoid an obstacle and when the slip has been detected, limit the magnitude of the braking force of the brake actuator to the smaller magnitude in at least a period for avoiding the obstacle.
Dependencies are inferred from the claim text.