US 12,304,465 B2
Driving assistance device, driving assistance method, and storage medium
Yuji Yasui, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Sep. 27, 2022, as Appl. No. 17/953,428.
Claims priority of application No. 2021-161668 (JP), filed on Sep. 30, 2021.
Prior Publication US 2023/0097675 A1, Mar. 30, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 10/20 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 50/14 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2540/18 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/801 (2020.02); B60W 2710/202 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A driving assistance device comprising:
a storage device configured to store a program; and
a processor connected to the storage device,
wherein the processor executes the program stored in the storage device to:
recognize a physical object located at least at one side of a moving object in a traveling direction, the moving object having to avoid contact with the physical object,
generate a future avoidance trajectory along which the moving object is moveable while avoiding the contact with the physical object,
acquire a steering state of the moving object,
calculate a first avoidance trajectory error indicating an amount of deviation between the steering state and the avoidance trajectory at a reference point in time,
calculate a second avoidance trajectory error indicating an amount of deviation between the steering state and the avoidance trajectory at a past point in time, the past point in time being earlier than the reference point in time,
obtain a first threshold value being a positive value,
obtain a second threshold value being a negative value,
calculate an amount of error change between the first avoidance trajectory error and the second avoidance trajectory error,
determine whether or not the amount of the error change exceeds the first threshold value or is less than the second threshold value,
calculate an index value by making a weight of the second avoidance trajectory error greater than a weight of the first avoidance trajectory error when the amount of the error change does not exceed the first threshold value or is greater than or equal to the second threshold value,
calculate the index value by making the weight of the first avoidance trajectory error greater than the weight of the second avoidance trajectory error when the amount of the error change exceeds the first threshold value or is less than the second threshold value, and
guide a driver of the moving object or the moving object such that the steering state of the moving object is changed in accordance with the index value.