US 12,115,976 B2
Driving assistance device and vehicle
Motokatsu Tomozawa, Kariya (JP); Tsutomu Mochida, Toyota (JP); Shinya Otani, Nagoya (JP); and Shinya Sannodo, Toyota (JP)
Assigned to AISIN CORPORATION, Aichi (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by AISIN CORPORATION, Aichi (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 26, 2022, as Appl. No. 17/952,617.
Claims priority of application No. 2021-159891 (JP), filed on Sep. 29, 2021.
Prior Publication US 2023/0096747 A1, Mar. 30, 2023
Int. Cl. B60W 30/06 (2006.01); B60W 40/06 (2012.01); G05D 1/00 (2024.01); G06V 20/58 (2022.01)
CPC B60W 30/06 (2013.01) [B60W 40/06 (2013.01); G05D 1/0016 (2013.01); G06V 20/586 (2022.01); B60W 2420/403 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A driving assistance device that provides driving assistance to a vehicle including a sensor that collects peripheral information in accordance with an instruction from a terminal possessed by a user of the vehicle, the driving assistance device comprising:
a detection unit that detects an obstacle and a parking area at a periphery of the vehicle based on the peripheral information from the sensor;
a road width calculator that calculates, as a road width in which the vehicle is movable, an area sandwiched by a first boundary line extending in a predetermined direction including an end portion of the parking area on an entrance side and a second boundary line extending in the predetermined direction including an end portion of the first obstacle on the vehicle side facing the end portion of the parking area;
a route calculator that calculates a movement route of the vehicle through the area sandwiched by the first and second boundary lines and the parking area to a target position, the parking area being a departure position or the target position; and
a movement controller that moves the vehicle along the movement route, wherein
when a second obstacle is detected on the inner side of the first and second boundary lines and on the second boundary line side with respect to the vehicle in an advancing direction of the vehicle after the start of the driving assistance, and the second obstacle is continuously detected at a time point the vehicle moving on the movement route reaches a predetermined timing, the road width calculator calculates an area sandwiched by a third boundary line extending in the predetermined direction including an end portion of the second obstacle on the vehicle side and the first boundary line as a new road width.