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Driving-assistance device and driving-assistance method

  • US 10,421,398 B2
  • Filed: 11/21/2012
  • Issued: 09/24/2019
  • Est. Priority Date: 11/21/2012
  • Status: Active Grant
First Claim
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1. A driving-assistance device configured to, when a three-dimensional object is present on a forward course of a host vehicle, implement driving assistance for avoiding a collision between the host vehicle and the three-dimensional object on a condition that an unavoidable three-dimensional object is present in a normal travel area of the host vehicle wherein the normal travel area includes the forward course, the driving-assistance device comprising:

  • an electronic control unit, wherein the electronic control unit is configured to set the normal travel area specified by a plurality of forward courses along which the host vehicle is capable of traveling, in the vicinity of the host vehicle,wherein the electronic control unit is configured to determine that the unavoidable three-dimensional object is present in the normal travel area when an avoidance line which is a travel route of the host vehicle for which there is capability of avoiding a collision with the three-dimensional object is not present within the normal travel area,wherein the electronic control unit is configured to change the normal travel area based on information regarding lateral acceleration of the host vehicle, the normal travel area expanding along a vehicle-width direction as a forward movement of the host vehicle,wherein the electronic control unit is configured to adjust a degree of width of the normal travel area in accordance with a predetermined rule which is set in advance on the basis of at least one of a moving state and a type of the three-dimensional object,wherein the driving-assistance device is configured to implement the driving assistance based on a variable timing,andwherein the electronic control unit sets the degree of width to become smaller as a speed of approach between the host vehicle and the three-dimensional object becomes higher so as to decrease a timing of the variable timing of when the driving assistance is implemented.

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