US 12,110,010 B2
Driving assistance device
Yoshiaki Adachi, Tokyo (JP); Yuji Hamada, Tokyo (JP); Takayoshi Takehara, Tokyo (JP); and Masahiko Ikawa, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Appl. No. 17/040,054
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
PCT Filed Apr. 13, 2018, PCT No. PCT/JP2018/015475
§ 371(c)(1), (2) Date Sep. 22, 2020,
PCT Pub. No. WO2019/198223, PCT Pub. Date Oct. 17, 2019.
Prior Publication US 2021/0024060 A1, Jan. 28, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 2520/105 (2013.01); B60W 2540/20 (2013.01); B60W 2554/402 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A driving assistance device comprising:
processing circuitry
to acquire host vehicle information that is vehicle information of a host vehicle,
to receive mobile object information from a mobile object outside the host vehicle using wireless communication,
to predict whether the host vehicle will make a right turn or a left turn on a basis of the host vehicle information,
to obtain a prediction point at which the host vehicle is predicted to make the right turn or the left turn by calculating a right turn point or a left turn point of the host vehicle on a basis of the host vehicle information,
to determine if the prediction point is within a surrounding area of an intersection,
to update the prediction point to be at a location of the intersection, only if the prediction point is determined to be within the surrounding area of the intersection,
to determine whether or not the host vehicle collides with the mobile object using the host vehicle information, the mobile object information, and the prediction point, and
to perform driving assistance of the host vehicle on a basis of a result of the collision determination, the driving assistance including at least one of screen display, sound output, vibration, and activation of automatic braking of the host vehicle, wherein
the processing circuitry obtains the prediction point by calculating, on a basis of a preset deceleration, a distance required for the speed of the host vehicle included in the host vehicle information to reach a target speed set in advance,
the processing circuitry determines a running state of the host vehicle from speed information and acceleration information included in the host vehicle information, and
the processing circuitry distinguishes between a right/left turn of the host vehicle and a lane change of the host vehicle based on the determined running state of the host vehicle.