Driving assistance apparatus
A driving assistance apparatus includes a driving environment information obtaining unit obtaining driving environment information ahead of a vehicle, a target object recognizer recognizing a target object based on the driving environment information, an object detection area setter setting an object detection area ahead of the vehicle, and a driving control arithmetic unit controlling a driving state of the vehicle when the target object is detected in the object detection area. The object detection area setter includes a stop area setter that sets a stop area, and a deceleration area setter that sets left and right deceleration areas. The driving control arithmetic unit includes a stop controller that controls the vehicle to stop when the target object is detected in the stop area, and a deceleration controller that controls the vehicle to decelerate when the target object is detected in at least one of the left and right deceleration areas.
1. A driving assistance apparatus to be applied to a vehicle, the driving assistance apparatus comprising:
a camera configured to obtain driving environment information on a driving environment ahead of the vehicle;
a target object recognizer configured to recognize a target object based on the driving environment information obtained by the camera;
an object detection area setter configured to set, ahead of the vehicle, an object detection area for detecting the target object recognized by the target object recognizer, wherein the object detection area setter comprises
a stop area setter configured to set a stop area ahead of the vehicle, and
a deceleration area setter configured to set a left deceleration area and a right deceleration area respectively to left and right of the stop area; and
a driving control arithmetic unit configured to control a driving state of the vehicle in a case where the target object is detected in the object detection area, wherein the driving control arithmetic unit comprises
a stop controller configured to control the vehicle to stop in a case where the target object recognized by the target object recognizer is detected in the stop area, and
a deceleration controller configured to control the vehicle to decelerate in a case where the target object recognized by the target object recognizer is detected in at least one of the left deceleration area and the right deceleration area,
wherein a width of the left deceleration area and a width of the right deceleration area are set so that the width of the right deceleration area is wider than the width of the left deceleration area on a left-hand traffic road, and the width of the left deceleration area is wider than the width of the right deceleration area on a right-hand traffic road.
2. The driving assistance apparatus according to claim 1 , wherein the width of the left deceleration area and the width of the right deceleration area are set so that the width of the right deceleration area is wider than a lane width of a right adjacent lane on the left-hand traffic road, and the width of the left deceleration area is wider than a lane width of a left adjacent lane on the right-hand traffic road, the right adjacent lane being on a right side of and adjacent to a driving lane where the vehicle travels, the left adjacent lane being on a left side of and adjacent to the driving lane.
3. The driving assistance apparatus according to claim 2 , wherein
a width of the stop area is set to a lane width of the driving lane, and
in a case where the vehicle is traveling in a direction of turning left or right, the stop area is widened to a right side from the driving lane on a left-hand traffic road, and the stop area is widened to a left side from the driving lane on a right-hand traffic road.
4. The driving assistance apparatus according to claim 3 , wherein a width of the left deceleration area and a width the right deceleration area are set by a preset initial widening amount in a case where there is no adjacent lane on a side of each of the left deceleration area and the right deceleration area.
5. The driving assistance apparatus according to claim 2 , wherein a width of the left deceleration area and a width the right deceleration area are set by a preset initial widening amount in a case where there is no adjacent lane on a side of each of the left deceleration area and the right deceleration area.
6. The driving assistance apparatus according to claim 1 , wherein
a width of the stop area is set to a lane width of a driving lane where the vehicle travels, and
in a case where the vehicle is traveling in a direction of turning left or right, the stop area is widened to a right side from the driving lane on a left-hand traffic road, and the stop area is widened to a left side from the driving lane on a right-hand traffic road.
7. The driving assistance apparatus according to claim 6 , wherein a width of the left deceleration area and a width the right deceleration area are set by a preset initial widening amount in a case where there is no adjacent lane on a side of each of the left deceleration area and the right deceleration area.
8. The driving assistance apparatus according to claim 1 , wherein a width of the left deceleration area and a width the right deceleration area are set by a preset initial widening amount in a case where there is no adjacent lane on a side of each of the left deceleration area and the right deceleration area.
9. A driving assistance apparatus to be applied to a vehicle, the driving assistance apparatus comprising:
a camera configured to obtain driving environment information on a driving environment ahead of the vehicle;
a target object recognizer configured to recognize a target object based on the driving environment information obtained by the camera;
an object detection area setter configured to set, ahead of the vehicle, an object detection area for detecting the target object recognized by the target object recognizer, wherein the object detection area setter comprises
a stop area setter configured to set a stop area ahead of the vehicle, and
a deceleration area setter configured to set a left deceleration area and a right deceleration area respectively to left and right of the stop area; and
a driving control arithmetic unit configured to control a driving state of the vehicle in a case where the target object is detected in the object detection area, wherein the driving control arithmetic unit comprises
a stop controller configured to control the vehicle to stop in a case where the target object recognized by the target object recognizer is detected in the stop area, and
a deceleration controller configured to control the vehicle to decelerate in a case where the target object recognized by the target object recognizer is detected in at least one of the left deceleration area and the right deceleration area,
wherein a width of the stop area is set to a lane width of a driving lane where the vehicle travels, and
wherein in a case where the vehicle is traveling in a direction of turning left or right, the stop area is widened to a right side from the driving lane on a left-hand traffic road, and the stop area is widened to a left side from the driving lane on a right-hand traffic road.
10. The driving assistance apparatus according to claim 9 , wherein a width of the left deceleration area and a width the right deceleration area are set by a preset initial widening amount in a case where there is no adjacent lane on a side of each of the left deceleration area and the right deceleration area.
11. A driving assistance apparatus to be applied to a vehicle, the driving assistance apparatus comprising:
circuitry configured to
recognize a target object based on driving environment information on a driving environment ahead of the vehicle,
set an object detection area ahead of the vehicle for detecting the target object, and
control a driving state of the vehicle upon detecting the target object in the object detection area,
set a stop area ahead of the vehicle and set a left deceleration area and a right deceleration area respectively to left and right of the stop area,
control the vehicle to stop upon detecting the target object in the stop area, and
control the vehicle to decelerate upon detecting the target object in at least one of the left deceleration area and the right deceleration area,
wherein a width of the left deceleration area and a width of the right deceleration area are set so that the width of the right deceleration area is wider than the width of the left deceleration area on a left-hand traffic road, and the width of the left deceleration area is wider than the width of the right deceleration area on a right-hand traffic road.
12. A driving assistance apparatus according claim 11 ,
wherein a width of the stop area is set to a lane width of a driving lane where the vehicle travels, and
wherein in a case where the vehicle is traveling in a direction of turning left or right, the stop area is widened to a right side from the driving lane on a left-hand traffic road, and the stop area is widened to a left side from the driving lane on a right-hand traffic road.