US 11,987,239 B2
Driving assistance device
Masaaki Yamaoka, Tokyo-to (JP); Florin Baiduc, Chiba (JP); Yuki Yoshihama, Tokyo-to (JP); Yuki Hayakawa, Tokyo-to (JP); Masayasu Tanase, Ichikawa (JP); and Gang Zhang, Saitama (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 2, 2020, as Appl. No. 17/010,305.
Claims priority of application No. 2019-161985 (JP), filed on Sep. 5, 2019.
Prior Publication US 2021/0070288 A1, Mar. 11, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); B60W 40/072 (2012.01); B60W 50/14 (2020.01); G06V 20/58 (2022.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/18163 (2013.01); B60W 40/072 (2013.01); B60W 50/14 (2013.01); G06V 20/58 (2022.01); B60W 2050/143 (2013.01); B60W 2554/802 (2020.02); B60W 2556/40 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A driving assistance device, comprising a processor configured to:
determine whether, due to poor visibility caused by at least one of fog, rain, and snow, an expected distance of visibility for a driver of a vehicle is below a predetermined distance from the vehicle in a traveling direction of the vehicle, based on a detection result of the at least one of fog, rain, and snow;
while the vehicle is in an original lane, detect an entry operation that will cause the vehicle to enter an opposite lane, based on information representing driver operation of the vehicle; and
control steering of the vehicle to return to or remain in the original lane, responsive to:
a determination that the expected distance of visibility for the driver is below the predetermined distance, and
the detection of the entry operation.