US 12,214,784 B2
Driving assistance control apparatus, driving assistance system, and driving assistance control method for vehicle
Yuta Komoguchi, Kariya (JP); Yohei Masui, Kariya (JP); and Kenji Kato, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Dec. 3, 2020, as Appl. No. 17/110,337.
Application 17/110,337 is a continuation of application No. PCT/JP2019/021346, filed on May 29, 2019.
Claims priority of application No. 2018-107540 (JP), filed on Jun. 5, 2018.
Prior Publication US 2021/0086768 A1, Mar. 25, 2021
Int. Cl. B60W 30/12 (2020.01); B60W 30/165 (2020.01); B60W 30/18 (2012.01); B60W 40/06 (2012.01)
CPC B60W 30/12 (2013.01) [B60W 30/165 (2013.01); B60W 30/18154 (2013.01); B60W 40/06 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/802 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A driving assistance control apparatus for an own vehicle, comprising:
a processor;
a non-transitory computer-readable storage medium; and
a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
control a driving assisting unit configured to perform driving assistance including at least lane deviation prevention assistance;
acquire a traveling environment of the own vehicle;
determine, based on the traveling environment, whether a current position of the own vehicle is near an intersection;
determine, based on the traveling environment, whether a preceding vehicle is present near a road edge;
determine, based on the traveling environment, whether an obstacle is present near the own vehicle on a side of the road edge; and
while the lane deviation prevention assistance is being performed by the driving assisting unit, in response to determining that the current position of the own vehicle is near the intersection and that the preceding vehicle is present near the road edge and no obstacle is present near the own vehicle on the side of the road edge, cancel the lane deviation prevention assistance and command the driving assisting unit to perform driving assistance in which the preceding vehicle is tracked.