Driving assist apparatus
In a driving assist apparatus which performs a warning about an object approaching a self-vehicle from a rear side when a first intention that is an intention of a driver who is going to make the self-vehicle turn at an intersection is detected, an arrival time that is a period from a first time point that is a time point when the first intention is detected until the self-vehicle reaches an intersection point of running paths estimated for the object and self-vehicle is estimated, a stoppage time that is a period from the first time point until stoppage of the self-vehicle is completed is estimated according to operation states of an accelerator and/or brake at the first time point, necessity of the warning is judged based on the arrival time and stoppage time, and the warning is performed only when the warning is judged to be necessary.
1. A driving assist apparatus comprising an intention detecting part to detect a first intention that is an intention of a driver who is going to make a self-vehicle turn to the left or right at an intersection in front of said self-vehicle, a moving object detecting part to detect a first object that is a moving object approaching said self-vehicle from a rear side on a side to which said self-vehicle turns to the left or right when said first intention is detected, and a warning part to perform a first warning that is a warning about said first object when said first object is detected, wherein:
said moving object detecting part is configured to,
estimate an arrival time that is a period from a first time point that is a time point when said first intention is detected to a second time point that is a time point when said self-vehicle reaches a first intersection point that is an intersection point of a first locus that is a running path estimated for said first object and a second locus that is a running path estimated for said self-vehicle,
estimate a stoppage time that is a period from said first time point to a third time point that is a time point when stoppage of said self-vehicle is completed under a predetermined condition according to operation states of an accelerator pedal and/or a brake pedal by said driver at said first time point,
judge necessity of said first warning based on said arrival time and said stoppage time, and
make said warning part perform said first warning only when said first warning is judged to be necessary.
2. The driving assist apparatus according to claim 1 , wherein:
said moving object detecting part is configured to,
judge that said first warning is necessary when said arrival time is equal to or longer than said stoppage time, and
judge that said first warning is unnecessary when said arrival time is shorter than said stoppage time.
3. The driving assist apparatus according to claim 1 , wherein:
said moving object detecting part is configured to,
judge the necessity of said first warning further based on a time-to-collision of said self-vehicle and said first object at said first time point.
4. The driving assist apparatus according to claim 3 , wherein:
said moving object detecting part is configured to,
judge that said first warning is unnecessary when said time-to-collision is longer than a predetermined threshold value even in a case where said first warning is judged to be necessary based on said arrival time and said stoppage time.