A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a yaw rate change rate of a first vehicle to which the driving assistance apparatus is to be applied, based on a yaw rate of the first vehicle obtained at multiple time points; calculates a predicted path of a second vehicle; calculates a predicted path of the first vehicle assuming that the yaw rate change rate is kept constant; calculates a provisional contact point, based on an intersection point of the predicted path of the first vehicle and the predicted path of the second vehicle; calculates a provisional contact time when the first vehicle reaches the provisional contact point; and determines whether the first vehicle and the second vehicle come into contact with each other, assuming that the first vehicle and the second vehicle at the provisional contact time travel straight to cross each other.
DRIVING ASSISTANCE APPARATUS, DRIVING ASSISTANCE METHOD, AND NON-TRANSITORY RECORDING MEDIUM
2024-04-18
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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