Driving assistance device
The driving assistance device comprises a pedestrian crossing detection unit that detects the pedestrian crossing length ahead of the host vehicle based on imaging information from a camera, a lane width acquisition unit that acquires the lane width of the own lane, and a driving assistance unit that calculates the reference pedestrian crossing length based on the lane width and performs driving assistance when the pedestrian crossing length is shorter than the reference pedestrian crossing length.
1 . A driving assistance device for assisting an operation of a host vehicle traveling on an own lane adjacent to an adjacent lane, comprising:
at least one processor configured to execute instructions for:
detecting the length of a pedestrian crossing in an extending direction ahead of the host vehicle, referred to as the pedestrian crossing length, based on imaging information from a camera;
acquiring a lane width of the own lane; and
calculating a reference pedestrian crossing length based on the acquired lane width;
wherein, when the detected pedestrian crossing length is shorter than the calculated reference pedestrian crossing length, performing driving assistance that includes at least one of steering control of the host vehicle, or deceleration control;
setting a vehicle detection area on a side of the own lane for detecting other vehicles, and detecting the presence or absence of other vehicles within the set vehicle detection area, wherein setting the vehicle detection area comprises setting the vehicle detection area comprising:
a longitudinal range extending from an edge of the pedestrian crossing closest to the host vehicle toward the host vehicle, and
a lateral range offset from a lane boundary line of the host lane,
performing the driving assistance when another vehicle is detected within the vehicle detection area and the detected pedestrian crossing length is shorter than the calculated reference pedestrian crossing length,
detecting the presence or absence of other vehicles within the vehicle detection area that are traveling at speeds lower than a predetermined vehicle speed threshold, and
performing the driving assistance when another vehicle below the vehicle speed threshold is detected within the vehicle detection area and the detected pedestrian crossing length is shorter than the calculated reference pedestrian crossing length.
2 . The driving assistance device according to claim 1 , wherein the at least one processor is configured to execute instructions for performing steering control of the host vehicle to steer the host vehicle away from the adjacent lane.
3 . The driving assistance device according to claim 1 , wherein the driving assistance further includes notifying the occupants of the host vehicle.