US 12,459,570 B2
Driving assistance device
Karin Morita, Kariya (JP); Sho Hashimoto, Toyota (JP); and Yumi Shimanaka, Toyota (JP)
Assigned to DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Feb. 23, 2023, as Appl. No. 18/173,474.
Application 18/173,474 is a continuation of application No. PCT/JP2021/030029, filed on Aug. 17, 2021.
Claims priority of application No. 2020-141756 (JP), filed on Aug. 25, 2020.
Prior Publication US 2023/0192192 A1, Jun. 22, 2023
Int. Cl. B62D 15/02 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); B60W 50/12 (2012.01)
CPC B62D 15/0265 (2013.01) [B60W 30/09 (2013.01); B60W 50/12 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 2554/4044 (2020.02)] 4 Claims
OG exemplary drawing
 
4. A driving assistance device that provides driving assistance for avoiding a collision between an own vehicle and an object around the own vehicle, based on detection information on the object, the driving assistance device comprising a processor and a memory storing a program, the processor executes the program to cause performance of operations comprising:
determining, based on the detection information, an object to be a primary target of which a collision with the own vehicle is to be avoided;
setting, based on the detection information, a secondary determination region in which to determine an object to be a secondary target of which a collision with the own vehicle is to be avoided on an avoidance steering route of the own vehicle for avoiding a collision with the primary target;
determining, based on the detection information, an object to be the secondary target in the secondary determination region; and
providing steering assistance to the own vehicle, wherein:
avoidance steering of the own vehicle is suppressed if it is determined that the primary target exists and it is determined that the secondary target exists,
the operations further include setting margins around the secondary target and setting an existence region where the secondary target exists including the margins, based on the detection information, the margins being set larger in a case in which the secondary target exists farther away than a point where it is predicted that the own vehicle will start avoidance steering, than in a case in which the secondary target exists nearer than the point,
the operations further include changing the size of at least one margin based on at least one of the type, speed, size, or position of the secondary target acquired as the detection information, and
if the existence region is within the secondary determination region, it is determined that the secondary target exists.