| CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 50/14 (2013.01); B60W 2540/18 (2013.01); B60W 2554/4041 (2020.02)] | 8 Claims |
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1. A driving assistance apparatus, comprising an electronic control unit which executes a driving assistance control to alert a driver of an own vehicle for avoiding a collision of the own vehicle with an oncoming vehicle when the own vehicle performs a crossing movement,
the crossing movement being a movement of the own vehicle to turn, crossing a line along which the oncoming vehicle moves,
wherein the electronic control unit is configured to:
detect and set the oncoming vehicle as an alert-target oncoming vehicle;
execute the driving assistance control when determining that the own vehicle is going to collide with the alert-target oncoming vehicle after determining that the crossing movement of the own vehicle starts and before a predetermined after-crossing-start elapsing time elapses;
keep the driving assistance control unexecuted after an after-crossing-start elapsing time threshold elapses;
set as the alert-target oncoming vehicle, a vehicle which is in a predetermined area ahead of the own vehicle and approaches the own vehicle;
set as the alert-target oncoming vehicle, a vehicle which is in the predetermined area corresponding to a predetermined front right area ahead of the own vehicle on the right and approaches the own vehicle when determining that a right turn crossing movement of the own vehicle starts,
the right turn crossing movement of the own vehicle being the crossing movement of the own vehicle to turn right, crossing the line along which the oncoming vehicle moves, and
set as the alert-target oncoming vehicle, a vehicle which is in the predetermined area corresponding to a predetermined front left area ahead of the own vehicle on the left and approaches the own vehicle when determining that a left turn crossing movement of the own vehicle starts,
the left turn crossing movement of the own vehicle being the crossing movement of the own vehicle to turn left, crossing the line along which the oncoming vehicle moves.
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