JPWO2022186070A5 - - Google Patents

Claims (8)

an object detection unit (33) for detecting an object on at least one of the rear side and the rear side of the own vehicle (40);
an area setting unit (35) for setting a control area to at least one of the rear side and the rear side of the own vehicle;
a driving support unit (37) that executes driving support control of the own vehicle when an object is detected within the control area by the object detection unit;
an area changing unit (36) for changing the rear end of the control area so that, when the vehicle turns, the control area becomes smaller toward the inside of the vehicle and becomes larger toward the outside of the vehicle; with
The area changing unit sets a reference position, which is a position on the travel locus of the own vehicle as a reference for changing the control area, based on the rotation angle of the own vehicle on the travel locus of the own vehicle, and A driving support device (30) for changing the rear end of the control area based on a lateral line extending in a turning radius direction of the own vehicle at a reference position . The region changing unit selects, from among past positions of the vehicle at which the rotation angle of the vehicle exceeds a predetermined angle threshold, an over-angle position that is closest to the current position of the vehicle, and 2. The driving support device according to claim 1 , wherein the reference position is set closer to the current position of the vehicle than the over-angle position. The region changing unit sets, as the reference position, the position of the vehicle recorded immediately after the position exceeding the corner in the history of the position of the vehicle recorded as the travel locus of the vehicle, and the control 3. The driving support device according to claim 2 , wherein the rear end of the area is set to a horizontal line at the reference position. The driving support device according to claim 2 or 3 , wherein the angle threshold increases as the lane width of the own lane on which the own vehicle travels increases. The driving support device according to any one of claims 2 to 4 , wherein the angle threshold increases as the vehicle travels at a higher speed. The area setting unit sets an adjacent lane area, which is an area of adjacent lanes of the own vehicle estimated based on the travel locus of the own vehicle, to a rear side of the own vehicle in the control area. The driving support device according to any one of claims 1 to 5 , which is set as a side control area. The driving assistance device according to claim 6 , wherein the area setting unit sets the side edge of the adjacent lane area based on the lane width of the own lane in which the own vehicle travels. The driving support device according to any one of claims 2 to 5 , wherein the region setting unit narrows the width of the control region along the lateral line as the position of the vehicle beyond the corner is closer to the rear end of the vehicle.