CPC B60W 30/162 (2013.01) [B60W 30/165 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/802 (2020.02)] | 11 Claims |
1. A vehicle driving assistance apparatus to be applied to a vehicle, the vehicle driving assistance apparatus comprising:
one or more sensors configured to:
acquire environment information about a surrounding of the vehicle; and
detect a vehicle speed of the vehicle; and
at least one machine readable medium storing instructions and at least one processor configured to execute the instructions to:
detect a leading vehicle to be followed by the vehicle, on a basis of the environment information;
detect a moving body in the surrounding of the vehicle, on a basis of the environment information; and
when detecting the leading vehicle to be followed by the vehicle, cause the vehicle to perform following travel in which the vehicle follows the leading vehicle;
wherein the at least one processor is configured to execute the instructions to set a cut-in detection region detecting entrance of the moving body between the vehicle and the leading vehicle when the vehicle is caused to perform the following travel; and
wherein the at least one processor is configured to execute the instructions to set a protruding region in the cut-in detection region in accordance with at least the vehicle speed detected by the vehicle speed detector in such a manner that a length of protrusion in a left right direction of the protruding region increases as the vehicle speed decreases.
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