Driving assistance apparatus, driving assistance method, and non-transitory storage medium
AssigneesToyota Jidosha Kabushiki Kaisha, DENSO TEN Limited
InventorsHidetsugu HIGUCHI, Hiromi TONEGAWA, Kenji TSUMURA, Hideaki MIYAZAKI
Life of this patent
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Abstract
A driving assistance apparatus includes a processor having hardware. The processor is configured to acquire vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped, calculate a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped, determine whether the coefficient of sliding friction is equal to or smaller than a threshold, and detect that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.
Claims20
A driving assistance apparatus comprising a processor having hardware, the processor being configured to:
- acquire vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped;
- calculate a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped;
- determine whether the coefficient of sliding friction is equal to or smaller than a threshold;
- and
- detect that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.
A driving assistance method to be executed by a driving assistance apparatus including a processor having hardware, the driving assistance method comprising:
- acquiring vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped;
- calculating a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped;
- determining whether the coefficient of sliding friction is equal to or smaller than a threshold;
- and
- detecting that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.
A non-transitory storage medium storing instructions that are executable by one or more processors having hardware and that cause the one or more processors to perform functions comprising:
- acquiring vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped;
- calculating a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped;
- determining whether the coefficient of sliding friction is equal to or smaller than a threshold;
- and
- detecting that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.
Dependencies are inferred from the claim text.