Driving assistance method and driving assistance device
A driving assistance device includes: a sensor (camera) configured to detect an object in front of a host vehicle; and a controller. The controller sets a detection range of the sensor (camera), and when the host vehicle is stopped, the controller extends the detection range in a vehicle width direction as compared with when the host vehicle is traveling following the preceding vehicle.
1. A driving assistance method including a controller which controls a host vehicle such that the host vehicle automatically travels following a preceding vehicle which is in front of the host vehicle, the method comprising:
setting a detection range of a sensor for detecting an object in front of the host vehicle;
when the host vehicle is stopped, extending the detection range in a vehicle width direction as compared with when the host vehicle is traveling following the preceding vehicle; and
when an object other than another vehicle is detected in the detection range extended in the vehicle width direction, canceling a system in which the host vehicle departs following the preceding vehicle.
2. The driving assistance method according to claim 1 , further comprising:
acquiring position information of the host vehicle;
determining whether or not the host vehicle is traveling on a limited-access road based on the position information; and
when it is determined that the host vehicle is traveling on the limited-access road and in a case where the object other than the other vehicle is detected in a detection range extended in the vehicle width direction, prohibiting the host vehicle from departing following the preceding vehicle.
3. The driving assistance method according to claim 1 , further comprising:
setting a first mode which permits the host vehicle to depart following the preceding vehicle in a case where the preceding vehicle has departed before a first predetermined time elapses after the host vehicle has stopped;
setting a second mode which permits the host vehicle to depart following the preceding vehicle in a case where the preceding vehicle has departed before a second predetermined time longer than the first predetermined time elapses; and
extending the detection range in the vehicle width direction in the second mode.
4. The driving assistance method according to claim 1 , wherein the sensor is a camera, and an object detected by the camera is at least either one of a pedestrian and a bicycle.
5. The driving assistance method according to claim 4 , wherein a rear end of the preceding vehicle is captured by the camera, the method further comprising:
detecting the pedestrian or the bicycle based on a change in the rear end of the preceding vehicle shown in an image captured by the camera.
6. A driving assistance device which controls a host vehicle such that the host vehicle automatically travels following a preceding vehicle which is in front of the host vehicle, the device comprising:
a sensor configured to detect an object in front of the host vehicle; and
a controller configured to:
set a detection range of the sensor;
when the host vehicle is stopped, extend the detection range in a vehicle width direction as compared with when the host vehicle is traveling following the preceding vehicle; and
when an object other than vehicles is detected in the detection range extended in the vehicle width direction, cancel a system in which the host vehicle departs following the preceding vehicle.
7. A driving assistance method including a controller which controls a host vehicle such that the host vehicle automatically travels following a preceding vehicle which is in front of the host vehicle, the method comprising:
setting a detection range of a sensor for detecting an object in front of the host vehicle;
when the host vehicle is stopped, extending the detection range in a vehicle width direction as compared with when the host vehicle is traveling following the preceding vehicle; and
when a pedestrian is detected in the detection range extended in the vehicle width direction, canceling a system in which the host vehicle departs following the preceding vehicle.