JP-WO2025100101-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 To determine the driving trajectory of the host vehicle during the avoidance control period in which the host vehicle is controlled to avoid a collision, The system is configured to control the steering angle and braking force applied to the wheels of the host vehicle, respectively, according to the driving trajectory. The determination of the operating track is The system selects a control mode that matches the estimated response characteristics of the host vehicle during the avoidance control period, from among a single control mode that controls the host vehicle's turning attitude during the avoidance control period by adjusting the steering angle independently, and a coordinated control mode that controls the turning attitude during the avoidance control period by coordinating the steering angle and braking force. In the standalone control mode, the driving trajectory is determined such that the required yaw rate is defined to control the turning attitude by independently adjusting the rudder angle. This includes determining the driving trajectory in a coordinated control mode such that the required yaw rate is defined to control the turning attitude through the coordinated action of the steering angle and braking force. The determination of the operating track is This includes defining the required yaw rate for controlling the turning attitude by coordinating the left-right distribution of braking force with the steering angle in the cooperative control mode. 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, To determine the driving trajectory of the host vehicle during the avoidance control period in which the host vehicle is controlled to avoid a collision, The command includes instructions to control the steering angle and braking force applied to the wheels of the host vehicle, respectively, according to the driving trajectory. The determination of the operating track is The system selects a control mode that matches the estimated response characteristics of the host vehicle during the avoidance control period, from among a single control mode that controls the host vehicle's turning attitude during the avoidance control period by adjusting the steering angle independently, and a coordinated control mode that controls the turning attitude during the avoidance control period by coordinating the steering angle and braking force. In the standalone control mode, the driving trajectory is determined such that the required yaw rate is defined to control the turning attitude by independently adjusting the rudder angle. This includes determining the driving trajectory in a coordinated control mode such that the required yaw rate is defined to control the turning attitude through the coordinated action of the steering angle and braking force. The determination of the operating track is This includes defining the required yaw rate for controlling the turning attitude by coordinating the left-right distribution of braking force with the steering angle in the cooperative control mode. A third aspect of this disclosure is: A driver assistance method performed by a processor to assist in avoiding collisions with targets during the operation of a host vehicle, To determine the driving trajectory of the host vehicle during the avoidance control period in which the host vehicle is controlled to avoid a collision, This includes controlling the steering angle and braking force applied to the wheels of the host vehicle according to the driving trajectory, The determination of the operating track is The system selects a control mode that matches the estimated response characteristics of the host vehicle during the avoidance control period, from among a single control mode that controls the host vehicle's turning attitude during the avoidance control period by adjusting the steering angle independently, and a coordinated control mode that controls the turning attitude during the avoidance control period by coordinating the steering angle and braking force. In the standalone control mode, the driving trajectory is determined such that the required yaw rate is defined to control the turning attitude by independently adjusting the rudder angle. This includes determining the driving trajectory in a coordinated control mode such that the required yaw rate is defined to control the turning attitude through the coordinated action of the steering angle and braking force. The determination of the operating track is This includes defining the required yaw rate for controlling the turning attitude by coordinating the left-right dis