Patent ID: 11919509
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A driving assist apparatus comprising:
an obstacle detection section which detects an obstacle present in a heading direction of a vehicle;
a steering angle sensor which detects a steering angle of a steering wheel of said vehicle;
a collision possibility determination section which determines a possibility of said vehicle colliding with said obstacle when a predetermined determination condition is satisfied;
an execution condition determination section which determines that a process execution condition is satisfied when said steering angle falls within a predetermined angular range; and
a collision avoidance process execution section which executes a collision avoidance process, including at least one of a process of providing a warning to a driver of said vehicle and a process of decreasing speed of said vehicle, when said collision possibility determination section determines that said vehicle collides with said obstacle and said execution condition determination section determines that said process execution condition is satisfied,
wherein said execution condition determination section executes at least one of:
(i) a process of expanding said predetermined angular range when said vehicle is determined to be making a right turn such that said predetermined angular range becomes wider in a clockwise direction as compared with said predetermined angular range in a case where said vehicle is not determined to be making the right turn; and
(ii) a process of expanding said predetermined angular range when said vehicle is determined to be making a left turn such that said predetermined angular range becomes wider in a counterclockwise direction as compared with said predetermined angular range in a case where said vehicle is not determined to be making the left turn,

wherein said execution condition determination section executes at least one of:
(i) a process of determining that said vehicle is making the right turn in a case where a state in which said steering angle represents a state in which the operation direction of said steering wheel is the clockwise direction and the operation amount of said steering wheel is larger than a predetermined right turn angle, continues beyond a predetermined clockwise continuation time;
(ii) a process of determining that said vehicle is making the left turn in a case where a state in which said steering angle represents a state in which the operation direction of said steering wheel is the counterclockwise direction and the operation amount of said steering wheel is larger than a predetermined left turn angle, continues beyond a predetermined counterclockwise continuation time;
(iii) a process of expanding the predetermined angular range to the second angular range which is expanded clockwise from the predetermined angular range when the vehicle is determined to be making the right turn; and
(iv) a process of expanding the predetermined angular range to a second angular range which is expanded counterclockwise from the predetermined angular range when the vehicle is determined to be making the left turn.