US 12,351,237 B2
Driving assistance device, driving assistance method, and non-transitory storage medium
Kumiko Miyano, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed on Sep. 19, 2023, as Appl. No. 18/369,861.
Claims priority of application No. 2022-171778 (JP), filed on Oct. 26, 2022.
Prior Publication US 2024/0140529 A1, May 2, 2024
Int. Cl. B62D 15/02 (2006.01); G08G 1/16 (2006.01)
CPC B62D 15/0265 (2013.01) [G08G 1/16 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A driving assistance device comprising:
a sensor configured to detect a moving object ahead of a target vehicle and obstacles including a first obstacle and a second obstacle; and
a control device configured to:
determine whether the second obstacle is present, the second obstacle being located opposite to a traveling lane of the target vehicle with respect to the first obstacle in a lateral direction and forcing the moving object to move in the lateral direction toward the traveling lane due to collaborative action with the first obstacle, the first obstacle hindering the moving object from moving in a longitudinal direction, the longitudinal direction being a direction along the traveling lane of the target vehicle, and the lateral direction being a width direction of the traveling lane of the target vehicle; and
relax an execution condition of steering assistance for detouring around the moving object in a case where the second obstacle is present rather than in a case where the second obstacle is not present.