Patent ID: 11932265
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A non-transitory storage medium storing a program causing a driving assistance system to execute a driving assistance method comprising the steps of:
detecting a target, around a subject vehicle;
obtaining an accelerating operation amount corresponding to an operation amount of a driver of the subject vehicle;
detecting a vehicle speed, the vehicle speed being a speed of the subject vehicle; and
performing pre-collision control for avoiding a collision with the target further including the steps of:
performing a braking control to apply braking force to the subject vehicle during preliminary and main braking;
storing permission information when a permission condition that the obtained accelerating operation amount is equal to or larger than a first operation amount threshold value, and the detected vehicle speed is equal to or less than a speed threshold value, is established; and
determining, when a possibility of a collision between the target and the subject vehicle is equal to or higher than a possibility threshold value, that a control start condition is satisfied irrespective of the vehicle speed at a point in time at which the possibility becomes equal to or larger than the possibility threshold value; and
performing, when the control start condition is satisfied, the pre-collision control when the permission information is stored, and not to perform, when the control start condition is satisfied, the pre-collision control when the permission information is not stored.