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

Claim 1:
2. 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 the steering angle falls within a predetermined 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 is intended to execute a process of changing said process execution condition, depending on a travelling state of said vehicle,
wherein the traveling state of said vehicle includes a right turn traveling state in which said vehicle is making a right turn, a left turn traveling state in which said vehicle is making a left turn, and a non-turn traveling state in which said vehicle is making neither the right turn nor the left turn; and
wherein when said vehicle is in the right or left turn traveling state, said execution condition determination section executes the process of changing said process execution condition to a condition which is likely to become satisfied even when said steering angle increases to an angle which does not satisfy said process execution condition when said vehicle is in the non-turn traveling state,
wherein said execution condition determination section executes at least one of:
ii) a process of determining that said vehicle is making the right turn in the 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; and

iii) a process of determining that said vehicle is making the left turn in the 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.