| CPC B60T 7/12 (2013.01) [B60Q 9/00 (2013.01); B60T 2201/022 (2013.01); B60T 2201/024 (2013.01); B60T 2201/03 (2013.01); B60T 2210/30 (2013.01); B60T 2210/32 (2013.01)] | 7 Claims |
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1. A braking assist control device for a vehicle equipped with a detector and a braking assist device, the braking assist control device comprising:
an acquisition unit configured to acquire information on an ambient environment of an own vehicle from the detector; and
a control unit configured to, based on the acquired information on the ambient environment,
determine whether the own vehicle is approaching an intersection;
determine whether an own lane in which the own vehicle is traveling is a non-priority lane with respect to an intersecting lane, in which a vehicle traveling in the own lane does not have priority over a vehicle traveling in the intersecting lane;
determine whether the acquired information on the ambient environment indicates that the own lane is permanently a non-priority lane with respect to the intersecting lane; and
cause the braking assist device to perform intersection entry prevention assist based on determining that the own vehicle is approaching the intersection, the own lane is a non-priority lane with respect to the intersecting lane, and the acquired information indicating that the own lane is permanently a non-priority lane with respect to the intersecting lane,
wherein:
the acquired information on the ambient environment includes lighting-state information indicative of a temporal lighting state of at least one road traffic light related to the intersection and road traffic-sign information indicative of at least one permanent traffic sign related to the intersection;
the road traffic-sign information represents that the own lane is a permanently non-priority lane with respect to the intersecting lane; and
the control unit is configured to, even when the lighting-state information represents that entry of the own vehicle into the intersection has priority over the vehicle traveling in the intersecting lane, prevent the own vehicle from entering the intersection.
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