Driving assistance device
A driving assistance device performs collision avoidance control for avoidance of a collision between a vehicle and an object being around the vehicle and detected by an object detector, the collision avoidance control being performed based on collision determination as to a collision between the object and the vehicle. The driving assistance device includes: an object sensing section that senses an object around the vehicle; a blind spot area setting section that sets a blind spot area at an area positioned in the vehicle's blind spot blocked by an obstacle sensed by the object sensing section; an early determination area setting section that sets an early determination area including the blind spot area and extended therefrom; and a collision determination section that accelerates the collision determination for an object sensed in the early determination area, compared with the collision determination for an object sensed outside the early determination area.
1. A driving assistance device for performing collision avoidance control for avoidance of a collision between an own vehicle and an object being around the own vehicle and detected by an object detector, the collision avoidance control being performed based on collision determination as to a collision between the own vehicle and the object, the driving assistance device comprising:
an object sensing section configured to sense an object around the own vehicle;
a blind spot area setting section configured to set a blind spot area at an area positioned in an own vehicle's blind spot blocked by an obstacle, which is a moving body, sensed by the object sensing section;
an early determination area setting section configured to set an early determination area including the blind spot area and extended from the blind spot area along a path of the obstacle estimated based on a traveling direction of the obstacle or a traveling state of the obstacle; and
a collision determination section configured to accelerate the collision determination for an object sensed in the early determination area, compared with the collision determination for an object sensed outside the early determination area,
wherein
the collision avoidance control of the own vehicle is performed based on the collision determination to avoid a collision between the own vehicle and the object.
2. The driving assistance device according to claim 1 , wherein
the early determination area setting section sets the early determination area for the blind spot area set for the obstacle sensed in a traveling direction of the own vehicle.
3. The driving assistance device according to claim 1 , wherein
the blind spot area setting section sets the blind spot area beyond the obstacle from the own vehicle.
4. The driving assistance device according to claim 1 , wherein
the blind spot area setting section sets the blind spot area based on an angle formed by the own vehicle and sensing points indicating an outer edge of the obstacle.
5. The driving assistance device according to claim 1 , wherein
the blind spot area setting section sets, within the area positioned in the own vehicle's blind spot, the blind spot area defined by a line substantially parallel to an orientation or the traveling direction of the obstacle.
6. The driving assistance device according to claim 1 , wherein
the early determination area setting section sets the early determination area obtained by extending the blind spot area toward a position at which a path of the own vehicle estimated based on a traveling state of the own vehicle and a path of the obstacle estimated based on the traveling state of the obstacle cross each other.
7. The driving assistance device according to claim 1 , wherein
the early determination area setting section sets the early determination area obtained by extending the blind spot area toward a path of the own vehicle estimated based on a traveling state of the own vehicle.
8. The driving assistance device according to claim 1 , wherein
when the own vehicle moves toward an intersection, the early determination area setting section sets the early determination area obtained by extending the blind spot area toward the own vehicle.
9. The driving assistance device according to claim 1 , wherein
when the own vehicle moves toward an intersection, the early determination area setting section sets the early determination area obtained by extending the blind spot area along a path of the own vehicle estimated based on a traveling state of the own vehicle.
10. The driving assistance device according to claim 1 , wherein
the early determination area setting section determines a size of the early determination area based on at least one of a velocity of the obstacle and a relative velocity of the obstacle to the own vehicle.
11. The driving assistance device according to claim 1 , wherein
the early determination area setting section sets the early determination area when the blind spot area is determined to include space for any object other than the obstacle.
12. The driving assistance device according to claim 11 , wherein
when the own vehicle moves toward an intersection, the early determination area setting section sets the early determination area irrespective of a result of determination as to whether the blind spot area includes space for any object other than the obstacle.
13. A driving assistance device for performing collision avoidance control for avoidance of a collision between an own vehicle and an object being around the own vehicle and detected by an object detector, the collision avoidance control being performed based on collision determination as to a collision between the own vehicle and the object, the driving assistance device comprising:
an object sensing section configured to sense an object around the own vehicle;
a blind spot area setting section configured to set a blind spot area at an area positioned in an own vehicle's blind spot blocked by an obstacle sensed by the object sensing section;
an early determination area setting section configured to set an early determination area including the blind spot area and extended from the blind spot area; and
a collision determination section configured to accelerate the collision determination for an object sensed in the early determination area, compared with the collision determination for an object sensed outside the early determination area, wherein
the early determination area setting section sets the early determination area when the blind spot area is determined to include space for any object other than the obstacle,
wherein
the collision avoidance control of the own vehicle is performed based on the collision determination to avoid a collision between the own vehicle and the object.
14. The driving assistance device according to claim 13 , wherein
when the own vehicle moves toward an intersection, the early determination area setting section sets the early determination area irrespective of a result of determination as to whether the blind spot area includes space for any object other than the obstacle.