Driving assistance device
The driving assistance device 1 controls the notification device 30 to issue a predetermined alert to the occupants of the own vehicle if, at a first point in time, it detects the existence of a first driving lane L 1 adjacent to the lane L 0 in which the own vehicle is traveling, and no stationary object is present in a predetermined area R[n+10] located ahead of the own vehicle in that first driving lane L 1 , and then, at a second point in time after the first point in time, when the own vehicle is positioned on the side of this predetermined area, it detects the presence of a solid object OB within said area and that the distance Δd between this solid object OB and the own vehicle is less than a threshold.
1 . A driving assistance device comprising:
a front detecting sensor configured to acquire information about objects in front of an own vehicle and a current lane in which the own vehicle is traveling;
an object distance sensor configured to detect a lateral object distance between a solid object in a lane adjacent to the current lane and the own vehicle;
a memory; and
a processor operatively coupled to the front detecting sensor and the object distance sensor, the processor being programmed to:
define a target area in the lane adjacent to the current lane that is a predetermined distance ahead of the own vehicle in the a traveling direction;
perform a first determination step at a first point in time before the own vehicle has reached a lateral side of the target area that no stationary object is present in the target area;
store a result of the first determination step in the memory;
after the own vehicle has reached the lateral side of the target area, perform a second determination step at a second point in time after the first point in time whether a solid object exists in the target area;
upon a determination in the second determination step that a solid object exists in the target area, determine a lateral distance to the solid object using the object distance sensor;
based on the determined lateral distance, determine whether the solid object is an approaching other vehicle; and
upon a determination that the solid object is an approaching other vehicle, output a predetermined alert to an operator of the own vehicle.
2 . The driving assistance device according to claim 1 , wherein the processor is programmed to:
perform the second determination when it is determined that a width of the adjacent lane is greater than a predetermined value and the distance between the solid object existing in the target area and the own vehicle is less than a first threshold while the own vehicle is positioned on the side of the target area, and
determine that that the solid object is an approaching other vehicle if the width of the adjacent lane is less than the predetermined value and the distance between the solid object existing in the target area and the own vehicle is less than a second threshold, which is smaller than the first threshold, under a condition where the own vehicle is positioned on the side of the target area.
3 . The driving assistance device according to claim 2 , wherein
the front detecting sensor includes a front camera that captures a foreground of the own vehicle including the target area to acquire image data, and based on the acquired image data, can acquire the existence and the width of the adjacent lane.
4 . The driving assistance device according to claim 3 , wherein
the front detecting sensor includes a millimeter-wave radar that acquires information about the solid object within the target area,
and the processor is programmed to determine the existence of the stationary object within the target area based on the information acquired by the front camera and the millimeter-wave radar.