Driving assistance apparatus
A driving assistance apparatus includes an on-board sensor, and a processor. The processor sets the lateral distance between a first long side and the own vehicle to a first predetermined value, and sets the lateral distance between a second long side and the own vehicle to a second predetermined value, when the own vehicle is traveling in the central part of a first lane in the width direction of the first lane, and sets the lateral distance between the first long side and the own vehicle to the first predetermined value, and sets the lateral distance between the second long side and the own vehicle to a value smaller than the second predetermined value, when the own vehicle is displaced toward a second lane adjacent to the first lane from the central part of the first lane in the width direction of the first lane.
1 . A driving assistance apparatus comprising:
an on-board sensor that obtains information about a target present around an own vehicle; and
a processor that controls a notification device such that an alarm is issued when a three-dimensional object is present within an alarm target area having a band shape extending in a front-rear direction at a position diagonally behind the own vehicle, wherein
the processor is configured to
set a lateral distance between a first long side and the own vehicle to a first predetermined value, the first long side being a long side of the alarm target area and located on the own vehicle side, and set a lateral distance between a second long side and the own vehicle to a second predetermined value, the second long side being a long side of the alarm target area and located on an opposite side of the own vehicle, when the own vehicle is traveling in a central part of a first lane in a width direction of the first lane,
set the lateral distance between the first long side and the own vehicle to the first predetermined value, and set the lateral distance between the second long side and the own vehicle to a value smaller than the second predetermined value, when the own vehicle is displaced toward a second lane adjacent to the first lane from the central part of the first lane in the width direction of the first lane,
calculate a third predetermined value based on a width of the first lane and a width of the own vehicle, and
set the lateral distance between the first long side and the own vehicle to the third predetermined value, and set the lateral distance between the second long side and the own vehicle to the third predetermined value.
2 . The driving assistance apparatus according to claim 1 , wherein the processor is configured to obtain a lateral displacement amount when the own vehicle is displaced toward the second lane from the central part of the first lane in the width direction of the first lane, and set the lateral distance between the second long side and the own vehicle to a value obtained by subtracting the lateral displacement amount from the second predetermined value.
3 . The driving assistance apparatus according to claim 1 , wherein the processor is configured to set the second predetermined value based on a width of the first lane.
4 . The driving assistance apparatus according to claim 1 , wherein the processor is configured to:
calculate the predetermined value using the following equation:
W[WL, WV]=WL /2 −Δd 3 +WL
where W[WL, WV] is the third predetermined value, WL is the width of the first lane, WV is the width of the own vehicle, and Δd 3 is the first predetermined value; and
set the lateral distance between the first long side and the own vehicle to a first value using the following equation:
Δ d 4 [ΔYa]=Δd 3 +W[WL, WV]−ΔYa
where Δd 4 [ΔYa] is the first value, Δd 3 is the first predetermined value, W[WL, WV] is the third predetermined value, and ΔYa is a lateral displacement amount of the own vehicle in a first direction; and
set the lateral distance between the second long side and the own vehicle to a second value using the following equation:
Δ d 4 [ΔYb]=Δd 3 +W[WL, WV]−ΔYb
where Δd 4 [ΔYb] is the second value, Δd 3 is the first predetermined value, W[WL, WV] is the third predetermined value, and ΔYb is a lateral displacement amount of the own vehicle in a second direction.
5 . The driving assistance apparatus according to claim 1 , wherein the third predetermined value is calculated as a result of the width of the first lane being less than a threshold value.
6 . The driving assistance apparatus according to claim 1 , wherein the value smaller than the second predetermined value is based on an end portion of the second lane.
7 . The driving assistance apparatus according to claim 1 , wherein the alarm target area comprises a curved shape when the own vehicle turns.
8 . The driving assistance apparatus according to claim 1 , wherein the processor is configured to:
set a longitudinal direction between a first short side and the own vehicle to a fourth predetermined value, the first short side being a short side of the alarm target area; and
set the longitudinal direction between the first short side and the own vehicle to the fourth predetermined value, when the own vehicle is displaced towards the second lane within the first lane.
9 . A driving assistance method comprising:
obtaining information about a target present around an own vehicle; and
controlling a notification device such that an alarm is issued when a three-dimensional object is present within an alarm target area having a band shape extending in a front-rear direction at a position diagonally behind the own vehicle, wherein
the controlling is configured to include
setting a lateral distance between a first long side and the own vehicle to a first predetermined value, the first long side being a long side of the alarm target area and located on the own vehicle side, and setting a lateral distance between a second long side and the own vehicle to a second predetermined value, the second long side being a long side of the alarm target area and located on an opposite side of the own vehicle, when the own vehicle is traveling in a central part of a first lane in a width direction of the first lane,
setting the lateral distance between the first long side and the own vehicle to the first predetermined value, and setting the lateral distance between the second long side and the own vehicle to a value smaller than the second predetermined value, when the own vehicle is displaced toward a second lane adjacent to the first lane from the central part of the first lane in the width direction of the first lane,
calculating a third predetermined value based on a width of the first lane and a width of the own vehicle, and
setting the lateral distance between the first long side and the own vehicle to the third predetermined value, and setting the lateral distance between the second long side and the own vehicle to the third predetermined value.
10 . The driving assistance method according to claim 9 , further comprising:
calculating the predetermined value using the following equation:
W[WL, WV]=WL/ 2 −WV/ 2 −Δd 3 +WL
where W[WL, WV] is the third predetermined value, WL is the width of the first lane, WV is the width of the own vehicle, and Δd 3 is the first predetermined value; and
setting the lateral distance between the first long side and the own vehicle to a first value using the following equation:
Δ d 4 [ΔYa]=Δd 3 +W[WL, WV]−ΔYa
where Δd 4 [ΔYa] is the first value, Δd 3 is the first predetermined value, W[WL, WV] is the third predetermined value, and ΔYa is a lateral displacement amount of the own vehicle in a first direction; and
setting the lateral distance between the second long side and the own vehicle to a second value using the following equation:
Δ d 4 [ΔYb]=Δd 3 +W[WL, WV]−ΔYb
where Δd 4 [ΔYb] is the second value, Δd 3 is the first predetermined value, W[WL, WV] is the third predetermined value, and ΔYb is a lateral displacement amount of the own vehicle in a second direction.
11 . The driving assistance method according to claim 9 , wherein the third predetermined value is calculated as a result of the width of the first lane being less than a threshold value.
12 . The driving assistance method according to claim 9 , wherein the value smaller than the second predetermined value is based on an end portion of the second lane.
13 . The driving assistance method according to claim 9 , wherein the alarm target area comprises a curved shape when the own vehicle turns.
14 . The driving assistance method according to claim 9 , further comprising:
setting a longitudinal direction between a first short side and the own vehicle to a fourth predetermined value, the first short side being a short side of the alarm target area; and
setting the longitudinal direction between the first short side and the own vehicle to the fourth predetermined value, when the own vehicle is displaced towards the second lane within the first lane.
15 . A non-transitory storage medium storing a driving assistance program that causes a computer included in an own vehicle to execute:
obtaining information about a target present around the own vehicle; and
controlling a notification device such that an alarm is issued when a three-dimensional object is present within an alarm target area having a band shape extending in a front-rear direction at a position diagonally behind the own vehicle, wherein the controlling is configured to include
setting a lateral distance between a first long side and the own vehicle to a first predetermined value, the first long side being a long side of the alarm target area and located on the own vehicle side, and setting a lateral distance between a second long side and the own vehicle to a second predetermined value, the second long side being a long side of the alarm target area and located on an opposite side of the own vehicle, when the own vehicle is traveling in a central part of a first lane in a width direction of the first lane,
setting the lateral distance between the first long side and the own vehicle to the first predetermined value, and setting the lateral distance between the second long side and the own vehicle to a value smaller than the second predetermined value, when the own vehicle is displaced toward a second lane adjacent to the first lane from the central part of the first lane in the width direction of the first lane,
calculating a third predetermined value based on a width of the first lane and a width of the own vehicle, and
setting the lateral distance between the first long side and the own vehicle to the third predetermined value, and set the lateral distance between the second long side and the own vehicle to the third predetermined value.
16 . The non-transitory storage medium according to claim 15 , wherein the driving assistance program causes the computer included in the own vehicle to execute:
calculating the predetermined value using the following equation:
W[WL, WV]=WL /2 −WV/ 2 −Δd 3 +WL
where W[WL, WV] is the third predetermined value, WL is the width of the first lane, WV is the width of the own vehicle, and Δd 3 is the first predetermined value; and
setting the lateral distance between the first long side and the own vehicle to a first value using the following equation:
Δ d 4 [Ya]=Δd 3 +W [WL, WV]−ΔYa
where Δd 4 [ΔYa] is the first value, Δd 3 is the first predetermined value, W[WL, WV] is the third predetermined value, and ΔYa is a lateral displacement amount of the own vehicle in a first direction; and
setting the lateral distance between the second long side and the own vehicle to a second value using the following equation:
Δ d 4 [ΔYb]=Δd 3 +W[WL, WV]−ΔYb
where Δd 4 [ΔYb] is the second value, Δd 3 is the first predetermined value, W[WL, WV] is the third predetermined value, and ΔYb is a lateral displacement amount of the own vehicle in a second direction.
17 . The non-transitory storage medium according to claim 15 , wherein the third predetermined value is calculated as a result of the width of the first lane being less than a threshold value.
18 . The non-transitory storage medium according to claim 15 , wherein the value smaller than the second predetermined value is based on an end portion of the second lane.
19 . The non-transitory storage medium according to claim 15 , wherein the alarm target area comprises a curved shape when the own vehicle turns.
20 . The non-transitory storage medium according to claim 15 , wherein the driving assistance program causes the computer included in the own vehicle to execute:
setting a longitudinal direction between a first short side and the own vehicle to a fourth predetermined value, the first short side being a short side of the alarm target area; and
setting the longitudinal direction between the first short side and the own vehicle to the fourth predetermined value, when the own vehicle is displaced towards the second lane within the first lane.