US 12,403,910 B2
Driving assistance device, vehicle, driving assistance method, and storage medium
Daichi Kato, Wako (JP); Haruhiko Nishiguchi, Wako (JP); and Akio Futatsudera, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 17, 2023, as Appl. No. 18/111,186.
Claims priority of application No. 2022-050383 (JP), filed on Mar. 25, 2022.
Prior Publication US 2023/0303077 A1, Sep. 28, 2023
Int. Cl. B60W 10/00 (2006.01); B60Q 1/34 (2006.01); B60W 30/18 (2012.01); B60W 50/08 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/18163 (2013.01) [B60Q 1/346 (2013.01); B60W 50/08 (2013.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A driving assistance device in a vehicle, the driving assistance device comprising
a control unit configured to perform a lane change from a traveling lane in which the vehicle travels to a branch lane branching from the traveling lane, by driving assistance capable of automatically performing the lane change on an initiative of a system,
wherein the control unit
notifies, by way of a display or a voice output device, of an end of the driving assistance in the branch lane before the vehicle enters the branch lane at a notification position a predetermined distance before a reference position at which the branching of the branch lane starts,
acquires a travel distance in the branch lane, an elapsed time in the branch lane, and information indicating passage of an end position of the branch lane detected based on map information or external environment recognition information, after the lane change is completed by crossing a division line of the traveling lane, and
ends the driving assistance in the branch lane in a case where the travel distance exceeds a predetermined threshold distance, in a case where the elapsed time exceeds a predetermined threshold time, or in a case of passing through the end position of the branch lane detected based on the map information or the external environment recognition information.