Method and apparatus for performing driving assistance

Apparatus for performing driving assistance for a controlled vehicle moving in a longitudinal direction on a road, comprising:

• first longitudinal acceleration target value determining means for determining a first longitudinal acceleration target value on the basis of a lateral acceleration of the controlled vehicle,
• second longitudinal acceleration target value determining means for determining a second longitudinal acceleration target value on the basis of a target speed of the controlled vehicle,
• third longitudinal acceleration target value determining means for determining a third longitudinal acceleration target value based on a minimum value of the first longitudinal acceleration target value and the second longitudinal acceleration target value, and
• longitudinal acceleration control means for controlling a longitudinal acceleration of the controlled vehicle on the basis of the determined third longitudinal acceleration target value;
• wherein determining the first longitudinal acceleration target value comprises determining a fourth longitudinal acceleration target value on the basis of a lateral acceleration of the controlled vehicle and adjusting the fourth longitudinal acceleration target value on the basis of at least one of:
• a difference between an actual speed of the controlled vehicle and the target speed of the controlled vehicle,
• a difference between an actual distance from the controlled vehicle to a proceeding vehicle and a target distance from the controlled vehicle to the proceeding vehicle,
• a difference between a speed of the controlled vehicle and a speed of the proceeding vehicle, and
• an estimated lateral acceleration of the controlled vehicle at a preview point of the road ahead of the controlled vehicle, the estimated lateral acceleration being calculated on the basis of an estimation of curvature of the road at the preview point and the current speed of the controlled vehicle.

A non-transitory computer program product comprising computer program means for causing a vehicle control apparatus to execute steps of:

• determining a first longitudinal acceleration target value on the basis of a lateral acceleration of the controlled vehicle,
• determining a second longitudinal acceleration target value on the basis of a target speed of the controlled vehicle,
• determining a third longitudinal acceleration target value based on a minimum value of the first longitudinal acceleration target value and the second longitudinal acceleration target value, and
• controlling a longitudinal acceleration of the controlled vehicle on the basis of the determined third longitudinal acceleration target value;
• wherein determining the first longitudinal acceleration target value comprises determining a fourth longitudinal acceleration target value on the basis of a lateral acceleration of the controlled vehicle and adjusting the fourth longitudinal acceleration target value on the basis of at least one of:
• a difference between an actual speed of the controlled vehicle and the target speed of the controlled vehicle,
• a difference between an actual distance from the controlled vehicle to a proceeding vehicle and a target distance from the controlled vehicle to the proceeding vehicle,
• a difference between a speed of the controlled vehicle and a speed of the proceeding vehicle, and
• an estimated lateral acceleration of the controlled vehicle at a preview point of the road ahead of the controlled vehicle, the estimated lateral acceleration being calculated on the basis of an estimation of curvature of the road at the preview point and the current speed of the controlled vehicle.