US 11,952,008 B2
Driving assistance device for vehicle and driving assistance method for vehicle
Yousuke Miyamoto, Kariya (JP); Masumi Fukuman, Kariya (JP); and Akihiro Kida, Toyota (JP)
Assigned to DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Apr. 5, 2022, as Appl. No. 17/658,079.
Application 17/658,079 is a continuation of application No. PCT/JP2020/033409, filed on Sep. 3, 2020.
Claims priority of application No. 2019-188085 (JP), filed on Oct. 11, 2019.
Prior Publication US 2022/0227385 A1, Jul. 21, 2022
Int. Cl. G08B 25/00 (2006.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 50/16 (2020.01); G06V 20/58 (2022.01); B60W 50/14 (2020.01)
CPC B60W 50/16 (2013.01) [B60W 30/0956 (2013.01); B60W 40/04 (2013.01); G06V 20/58 (2022.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/42 (2013.01); B60W 2554/801 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A driving assistance device for a vehicle, comprising:
an obstacle detection unit that detects an obstacle in a periphery of the vehicle using a sensing result of a peripheral monitoring sensor for monitoring the periphery of the vehicle;
an avoidance determination unit that sequentially determines whether an avoidance of the obstacle detected by the obstacle detection unit is necessary, according to a route of the vehicle; and
a warning processing unit that controls a warning device to issue a warning when the avoidance determination unit determines that the avoidance of the obstacle is necessary, wherein:
in a case where the avoidance determination unit determines that the avoidance of the obstacle is unnecessary after starting the warning, the warning processing unit controls the warning device to continue issuing the warning when an obstacle distance, which is a distance of the obstacle to the vehicle, is less than a predetermined threshold value set in advance.