A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a first predicted path of a first vehicle to which the driving assistance apparatus is to be applied, the first predicted path being indicated by a circle having a radius obtained from a yaw rate of the first vehicle at a prediction reference time; calculates a second predicted path of a second vehicle, based on data regarding the second vehicle at the prediction reference time; calculates a provisional contact point, based on an intersection point of the first predicted path and the second predicted path; 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
Electronic Resource
English
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