US 12,139,140 B2
Driving assistance device
Satoru Akahane, Tokyo-to (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 14, 2022, as Appl. No. 17/693,507.
Claims priority of application No. 2021-041607 (JP), filed on Mar. 15, 2021.
Prior Publication US 2022/0289192 A1, Sep. 15, 2022
Int. Cl. B60W 30/16 (2020.01); B60W 10/18 (2012.01); B60W 30/12 (2020.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01)
CPC B60W 30/16 (2013.01) [B60W 10/18 (2013.01); B60W 30/12 (2013.01); B60W 30/143 (2013.01); B60W 30/18163 (2013.01); B60W 2520/105 (2013.01); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2720/106 (2013.01); B60W 2754/30 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A driving assistance device comprising one or more processors configured to control operation of a host vehicle, wherein
the one or more processors are configured to perform first following control controlling acceleration and deceleration of the host vehicle so that the host vehicle follows a first preceding vehicle running in front of the host vehicle in the same lane as the host vehicle, and perform second following control prohibiting the first following control while a lane change is being performed and controlling acceleration and deceleration of the host vehicle so that the host vehicle follows a second preceding vehicle running in front of the host vehicle in a destination lane, if the lane change of the host vehicle is started during the first following control,
the one or more processors are configured to brake the host vehicle when a target deceleration degree determined based on a relative relationship between the host vehicle and the first preceding vehicle becomes equal to or less than a target deceleration degree threshold value, and
the target deceleration degree threshold value during the lane change is smaller than the target deceleration degree threshold value before the lane change.