US 12,065,141 B2
Driving assistance device
Hiroya Sannomiya, Kariya (JP); and Takaharu Oguri, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Aug. 11, 2021, as Appl. No. 17/399,868.
Application 17/399,868 is a continuation of application No. PCT/JP2020/003230, filed on Jan. 29, 2020.
Claims priority of application No. 2019-023030 (JP), filed on Feb. 12, 2019.
Prior Publication US 2021/0370931 A1, Dec. 2, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); G06V 20/58 (2022.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/18154 (2013.01); B60W 40/04 (2013.01); B60W 50/00 (2013.01); G06V 20/58 (2022.01); B60W 2554/4048 (2020.02)] 14 Claims
OG exemplary drawing
 
1. A driving assistance device for performing collision avoidance control for avoidance of a collision between an own vehicle and an object being around the own vehicle and detected by an object detector, the collision avoidance control being performed based on collision determination as to a collision between the own vehicle and the object, the driving assistance device comprising:
an object sensing section configured to sense an object around the own vehicle;
a blind spot area setting section configured to set a blind spot area at an area positioned in an own vehicle's blind spot blocked by an obstacle, which is a moving body, sensed by the object sensing section;
an early determination area setting section configured to set an early determination area including the blind spot area and extended from the blind spot area along a path of the obstacle estimated based on a traveling direction of the obstacle or a traveling state of the obstacle; and
a collision determination section configured to accelerate the collision determination for an object sensed in the early determination area, compared with the collision determination for an object sensed outside the early determination area,
wherein
the collision avoidance control of the own vehicle is performed based on the collision determination to avoid a collision between the own vehicle and the object.