US 12,472,971 B2
Driving assistance device
Naotsugu Shimizu, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Dec. 28, 2023, as Appl. No. 18/399,355.
Application 18/399,355 is a continuation of application No. PCT/JP2022/023490, filed on Jun. 10, 2022.
Claims priority of application No. 2021-111035 (JP), filed on Jul. 2, 2021.
Prior Publication US 2024/0140469 A1, May 2, 2024
Int. Cl. B60W 50/14 (2020.01); B60W 30/095 (2012.01); B60W 50/00 (2006.01)
CPC B60W 50/14 (2013.01) [B60W 30/0956 (2013.01); B60W 2050/0083 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2552/30 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2556/20 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A driving assistance device comprising:
an object detecting part that detects an object behind and/or to the left and/or right rear of a host vehicle;
an area setting part that sets a warning area behind and/or to the left or right rear of the host vehicle;
a notification part that issues a notification when an object is detected within the warning area by the object detecting part; and
an area changing part that calculates, based on a variation in curvature of a traveling trajectory of the host vehicle, an area reliable distance defining an area with high reliability, the reliability indicating how well the traveling trajectory matches a course along a shape of a traveling path of the host vehicle, based on the area reliable distance, sets a reference position that is a position on the traveling trajectory of the host vehicle serving as a reference for changing the warning area, and based on a lateral line extending in a turning radius direction of the host vehicle at the reference position, changes a rear end of the warning area.