The invention relates to a driving assistance apparatus, a driving assistance method, and a non-transitory storage medium. A driving assistance device includes: a sensor configured to sense a moving body present in front of a host vehicle and an obstacle including a first obstacle and a second obstacle; and a control device. The control device is configured to determine the presence or absence of a second obstacle. The second obstacle is located on a side opposite to a traveling lane of the host vehicle with respect to the first obstacle in a lateral direction, and forces the moving body to move in the lateral direction toward the traveling lane by cooperating with the first obstacle. The first obstacle obstructs movement of the moving body in the longitudinal direction. The control device is configured to relax an execution condition for steering assistance to avoid the moving body in a case where the second obstacle is present compared to a case where the second obstacle is not present.
本公开涉及驾驶辅助装置、驾驶辅助方法以及非暂时性存储介质。驾驶辅助装置具备:传感器,被配置为感测存在于本车辆的前方的移动体以及包括第一障碍物和第二障碍物的障碍物;以及控制装置。所述控制装置被配置为判定有无第二障碍物。所述第二障碍物在横向上位于相对于所述第一障碍物与所述本车辆的行驶车道相反的一侧,通过与所述第一障碍物的协同作用来迫使所述移动体进行朝向所述行驶车道的在所述横向上的移动。所述第一障碍物妨碍所述移动体在纵向上的移动。所述控制装置被配置为与不存在所述第二障碍物的情况相比,在存在所述第二障碍物的情况下,放宽用于回避所述移动体的转向辅助的执行条件。
Driving assistance device, driving assistance method, and non-transitory storage medium
驾驶辅助装置、驾驶辅助方法以及非暂时性存储介质
2024-04-26
Patent
Electronic Resource
Chinese
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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