Driving assistance device and driving assistance method
A driving assistance device sets, in front of an own vehicle, an actuation region that is a region sandwiched by boundary lines, positioned at left and right, respectively. In a case where a target existing around the own vehicle has entered the actuation region, the device performs driving assistance for avoiding collision with the target or mitigating collision damage. The device, when setting the actuation region, in a case where the own vehicle is in a turning state, changes a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the actuation region, to a position closer to the own vehicle according to turning information. For a boundary line in an inside in a turning direction of the own vehicle, the device does not change a lateral position according to the turning information.
1. A driving assistance device communicable to a sensor which is an object detecting device for detecting a target existing around an own vehicle, comprising:
a memory;
a processor communicable to the memory; and
a set of computer-executable instructions stored on the memory that cause the processor to implement:
recognizing the target existing around the own vehicle, based on a detection result of the target, the detection result which is acquired from the sensor;
setting, in front of the own vehicle, a front region that is a region sandwiched by left and right boundary lines positioned leftwards and rightwards of the own vehicle, respectively; and
performing driving assistance for avoiding collision between the own vehicle and the target or for mitigating collision damage, in a case where the recognized target enters the front region, wherein
the processor, in a case where the own vehicle is in a turning state, performs a one-side control of reducing the front region by changing a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the front region, to a position closer to the own vehicle according to turning information that is information on the turning state of the own vehicle, and for a boundary line in an inside in a turning direction of the own vehicle, by not changing of a lateral position according to the turning information.
2. The driving assistance device according to claim 1 , wherein
the processor performs, by changing according to a traveling status of the own vehicle, the one-side control and a both-side control of reducing the front region, by changing lateral positions of the left and right boundary lines on both left and right sides of the front region to positions closer to the own vehicle according to the turning information.
3. The driving assistance device according to claim 2 , further comprising:
the set of computer-executable instructions that cause the processor to implement:
determining, as the traveling status of the own vehicle, whether the own vehicle is traveling on a curved road or whether the own vehicle is traveling unsteadily, wherein
the processor performs the one-side control, in a case where it is determined that the own vehicle is traveling on the curved road or traveling unsteadily.
4. The driving assistance device according to claim 1 , further comprising:
the set of computer-executable instructions that cause the processor to implement:
determining start of a collision avoidance operation by a driver for avoiding collision between the recognized target and the own vehicle, on a basis of the turning information, wherein
the processor, in a case where it is determined that the collision avoidance operation has been started, performs a both-side control of reducing the front region by changing lateral positions of the left and right boundary lines on both left and right sides of the front region to positions closer to the own vehicle according to the turning information.
5. The driving assistance device according to claim 4 , further comprising:
the set of computer-executable instructions that cause the processor to implement:
determining, in a case where it is determined that the collision avoidance operation has been started, whether the target is recognized in a traveling direction of the own vehicle and whether the recognized target is a target belonging to one of predetermined types, wherein
section the processor reduces the front region by the both-side control, in a case where it is determined that the collision avoidance operation has been started under a condition that it is determined that the target is a target belonging to one of the predetermined types.
6. The driving assistance device according to claim 1 , wherein
the turning information and other information different from the turning information are specified as a parameter for reducing the front region and
the one-side control changes a lateral position of a boundary line in the outside in a turning direction of the own vehicle of the left and right boundary lines of the front region according to the turning information and the other information, and changes a lateral position of a boundary line in the inside in a turning direction of the own vehicle according to the other information.
7. The driving assistance device according to claim 1 , wherein
the own vehicle mounts a radar device and an imaging device as target detecting devices to detect the target, and
the processor performs the driving assistance, in a case where at least one of targets detected by the radar device, a target detected by the imaging device, and a target recognized by fusing detection information of the radar device and detection information of the imaging device, has entered the front region.
8. A driving assistance method in a driving assistance device, comprising:
a target recognition step of recognizing a target existing around an own vehicle;
a region setting step of setting, in front of the own vehicle in a traveling direction, a front region that is a region sandwiched by left and right boundary lines positioned on a left side and on a right side of the own vehicle, respectively; and
a control step of performing driving assistance for avoiding collision between the own vehicle and the target or for mitigating collision damage, in a case where the target recognized by the target recognition step enters the front region, wherein
the region setting step, in a case where the own vehicle is in a turning state, performs a one-side control of reducing the front region by changing a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the front region, to a position closer to the own vehicle according to turning information that is information on the turning state of the own vehicle, and for a boundary line in an inside in a turning direction of the own vehicle, by not changing of a lateral position according to the turning information.