Driving assistance device

A driving assistance method comprising:

• acquiring host vehicle information that is vehicle information of a host vehicle;
• receiving mobile object information from a mobile object outside the host vehicle using wireless communication;
• predicting whether the host vehicle will make a right turn or a left turn on a basis of the host vehicle information;
• obtaining a prediction point at which the host vehicle is predicted to make the right turn or the left turn by calculating a right turn point or a left turn point of the host vehicle on a basis of the host vehicle information;
• determining if the prediction point is within a surrounding area of an intersection,
• updating the prediction point to be at a location of the intersection, only if the prediction point is determined to be within the surrounding area of the intersection,
• determining whether or not the host vehicle collides with the mobile object using the host vehicle information, the mobile object information, and the prediction point;
• performing driving assistance of the host vehicle on a basis of a result of the collision determination, the driving assistance including at least one of screen display, sound output, vibration, and activation of automatic braking of the host vehicle;
• obtaining the prediction point by calculating, on a basis of a preset deceleration, a distance required for the speed of the host vehicle included in the host vehicle information to reach a target speed set in advance;
• determining a running state of the host vehicle from speed information and acceleration information included in the host vehicle information;
• and
• distinguishing between a right/left turn of the host vehicle and a lane change of the host vehicle based on the determined running state of the host vehicle.

A non-transitory computer readable medium storing computer instructions that when executed by a computer cause the computer to perform a driving assistance method comprising:

• acquiring host vehicle information that is vehicle information of a host vehicle;
• receiving mobile object information from a mobile object outside the host vehicle using wireless communication;
• predicting whether the host vehicle will make a right turn or a left turn on a basis of the host vehicle information;
• obtaining a prediction point at which the host vehicle is predicted to make the right turn or the left turn by calculating a right turn point or a left turn point of the host vehicle on a basis of the host vehicle information;
• determining if the prediction point is within a surrounding area of an intersection;
• updating the prediction point to be at a location of the intersection, only if the prediction point is determined to be within the surrounding area of the intersection;
• determining whether or not the host vehicle collides with the mobile object using the host vehicle information, the mobile object information, and the prediction point;
• performing driving assistance of the host vehicle on a basis of a result of the collision determination, the driving assistance including at least one of screen display, sound output, vibration, and activation of automatic braking of the host vehicle;
• obtaining the prediction point by calculating, on a basis of a preset deceleration, a distance required for the speed of the host vehicle included in the host vehicle information to reach a target speed set in advance;
• determining a running state of the host vehicle from speed information and acceleration information included in the host vehicle information;
• and
• distinguishing between a right/left turn of the host vehicle and a lane change of the host vehicle based on the determined running state of the host vehicle.