JP-WO2025100100-A5 -

Dates

Publication Date

20260507

Application Date

20240917

Description

The first aspect of this disclosure is, A driver assistance system having a processor that assists in avoiding collisions with targets during the operation of a host vehicle, The processor is, Before the risk of collision between the host vehicle and its target increases to the point where collision avoidance is required for the host vehicle to be ordered to avoid the collision, the host vehicle is controlled to turn in the direction of collision avoidance. In a host vehicle controlled to turn in the avoidance direction, the system is configured to coordinately control the braking force and steering angle applied to the wheels from the actuator system in accordance with the driving trajectory planned for the host vehicle to avoid a collision, in response to the collision risk reaching the collision avoidance range . The host vehicle's turning control is, This includes controlling the host vehicle to turn in an avoidance direction by limiting the distribution of braking force applied to the wheels from the braking actuator (44) in the host vehicle to the left and right sides, Cooperative control of the host vehicle is This includes coordinating control of the steering angle applied to the wheels by the steering actuator (42) and the braking force in the host vehicle. A second aspect of this disclosure is, A driving assistance program stored in a storage medium to assist in avoiding collisions with targets during the operation of a host vehicle, and which includes instructions for causing a processor to perform said assistance, Before the risk of collision between the host vehicle and its target increases to the point where collision avoidance is required for the host vehicle to be ordered to avoid the collision, the host vehicle is controlled to turn in the direction of collision avoidance. The command includes instructions to perform coordinate control of the braking force and steering angle applied to the wheels from the actuator system in accordance with the driving trajectory planned for the host vehicle toward collision avoidance, in response to the collision risk reaching the collision avoidance range in a host vehicle that has been controlled to turn in the direction of avoidance . The host vehicle's turning control is, This includes controlling the host vehicle to turn in an avoidance direction by limiting the distribution of braking force applied to the wheels from the braking actuator (44) in the host vehicle to the left and right sides, Cooperative control of the host vehicle is This includes coordinating control of the steering angle applied to the wheels by the steering actuator (42) and the braking force in the host vehicle. A third aspect of this disclosure is: A driving assistance method performed by a processor to assist in avoiding collisions with targets during the operation of a host vehicle, Before the risk of collision between the host vehicle and its target increases to the point where collision avoidance is required for the host vehicle to be ordered to avoid the collision, the host vehicle is controlled to turn in the direction of collision avoidance. This includes, in response to the collision risk reaching the collision avoidance range in a host vehicle that has been controlled to turn in the avoidance direction, coordinating the braking force and steering angle applied to the wheels from the actuator system according to the driving trajectory planned for the host vehicle toward collision avoidance , The host vehicle's turning control is, This includes controlling the host vehicle to turn in an avoidance direction by limiting the distribution of braking force applied to the wheels from the braking actuator (44) in the host vehicle to the left and right sides, Cooperative control of the host vehicle is This includes coordinating control of the steering angle applied to the wheels by the steering actuator (42) and the braking force in the host vehicle.