US 12,485,891 B2
Driving assistance apparatus, vehicle, and non-transitory recording medium
Yui Niizeki, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Sep. 13, 2023, as Appl. No. 18/466,193.
Claims priority of application No. 2022-148793 (JP), filed on Sep. 20, 2022.
Prior Publication US 2024/0092360 A1, Mar. 21, 2024
Int. Cl. B60W 30/095 (2012.01); G06V 20/58 (2022.01)
CPC B60W 30/0956 (2013.01) [G06V 20/58 (2022.01); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A driving assistance apparatus configured to assist in driving of a vehicle, the driving assistance apparatus comprising:
one or more processors; and
one or more memories communicably coupled to the one or more processors, wherein the one or more processors are configured to execute:
a blind spot region detection process of detecting a blind spot region as viewed from the vehicle formed by a blind spot forming object, based on data regarding a surrounding environment of the vehicle;
a mobile body detection process of detecting a mobile body that has entered the blind spot region from outside the blind spot region, based on the data regarding the surrounding environment of the vehicle;
a cumulative blind spot region calculation process of calculating a cumulative blind spot region in response to detection of the mobile body that has entered the blind spot region from outside the blind spot region, the cumulative blind spot region being a region that continues to be detected as the blind spot region from a time point at which an entry of the mobile body from outside the blind spot region into the blind spot region is detected;
a contact risk estimation process of estimating a risk of contact between the vehicle and the mobile body, based on a movement direction and a movement speed of the mobile body at the time point, and a temporal change in the cumulative blind spot region after the time point;
a driving condition setting process of setting a traveling path to reduce the risk of contact and setting a target steering angle and a target acceleration or deceleration rate based on the set traveling path; and
a vehicle controlling process of controlling traveling of the vehicle based on the target steering angle and the target acceleration or deceleration rate,
wherein the contact risk estimation process further includes:
estimating a course and a speed of the mobile body in the cumulative blind spot region, based on the movement direction and the movement speed of the mobile body at the time point and the temporal change in the cumulative blind spot region after the time point;
predicting an entry position and an entry speed at which the mobile body enters onto a path of the vehicle based on the course and the speed of the mobile body in the cumulative blind spot region; and
estimating the risk of contact based on the predicted entry position and the entry speed of the mobile body.