Driver assistance device and driver assistance method for vehicle
The driver assist ECU determines whether there is another vehicle on the collision course based on the other vehicle information. ECU determines whether a predetermined execution condition for executing the collision avoidance assist operation is satisfied when it is determined that there are other vehicles on the collision course, and starts executing the collision avoidance assist operation when it is determined that the execution condition is satisfied. ECU changes the execution condition based on an approaching direction determination result as to whether the other vehicle on the collision course is approaching from the direction of the driver's seat of the host vehicle or is approaching from the direction on the passenger seat of the host vehicle, and a visual perception determination result as to whether the probability that the driver of the host vehicle has visually perceived the other vehicle on the collision course is high.
1 . A driver assistance device for a vehicle, the driver assistance device comprising a controller configured to: acquire another vehicle information that is information on a location of another vehicle with respect to a host vehicle, the other vehicle being another vehicle present in a region located diagonally in front of the host vehicle; when determination is made based on the another vehicle information that there is another vehicle on a collision course, determine whether an executing condition for executing a collision avoidance assist operation for avoiding a collision between the host vehicle and the other vehicle on the collision course is satisfied, the other vehicle on the collision course being another vehicle traveling in such a manner that a constant bearing, decreasing range phenomenon occurs for the host vehicle; and when determination is made that the execution condition is satisfied, start execution of the collision avoidance assist operation, wherein
the controller is configured to change the execution condition based on both of
an approaching direction determination result as to whether the other vehicle on the collision course is approaching from a direction of a driver's seat of the host vehicle or is approaching from a direction of a passenger's seat of the host vehicle, and
a visual perception determination result as to whether a probability that a driver of the host vehicle has visually perceived the other vehicle on the collision course is high, and
the controller is further configured to
when the other vehicle on the collision course is approaching from the direction of the driver's seat, change the execution condition in such a manner that a timing of starting the execution of the collision avoidance assist operation is earlier than when the other vehicle on the collision course is approaching from the direction of the passenger's seat, and
when the probability that the driver has visually perceived the other vehicle on the collision course is low, change the execution condition in such a manner that the timing of starting the execution of the collision avoidance assist operation is earlier than when the probability that the driver has visually perceived the other vehicle on the collision course is high.