| CPC B60W 50/14 (2013.01) [B60W 30/0956 (2013.01); B60W 30/18159 (2020.02); B60W 50/10 (2013.01); B60W 2554/4026 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02)] | 4 Claims |
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1. A driving assist apparatus comprising an intention detecting part to detect a first intention that is an intention of a driver who is going to make a self-vehicle turn to the left or right at an intersection in front of said self-vehicle, a moving object detecting part to detect a first object that is a moving object approaching said self-vehicle from a rear side on a side to which said self-vehicle turns to the left or right when said first intention is detected, and a warning part to perform a first warning that is a warning about said first object when said first object is detected, wherein:
said moving object detecting part is configured to,
estimate an arrival time that is a period from a first time point that is a time point when said first intention is detected to a second time point that is a time point when said self-vehicle reaches a first intersection point that is an intersection point of a first locus that is a running path estimated for said first object and a second locus that is a running path estimated for said self-vehicle,
estimate a stoppage time that is a period from said first time point to a third time point that is a time point when stoppage of said self-vehicle is completed under a predetermined condition according to operation states of an accelerator pedal and/or a brake pedal by said driver at said first time point,
judge necessity of said first warning based on said arrival time and said stoppage time, and
make said warning part perform said first warning only when said first warning is judged to be necessary.
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