# US 12,110,010 B2 · Driving assistance device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,010 B2 - Document ID: US12110010B2 - Status: Granted - Kind: B2 - Application number: 17/040,054 - Filed: 2018-04-13 - Published: 2021-01-28 - Granted: 2024-10-08 - Earliest claimed: 2018-04-13 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Yoshiaki Adachi; Yuji Hamada; Takayoshi Takehara; Masahiko Ikawa - Web page: https://patentgrep.com/patent/US12110010B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/18145: {Cornering} - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - G08G 1/09: Arrangements for giving variable traffic instructions ({railroad crossing signals B61L; reflectors E01F, G08B}; indicating arrangements for variable information by selection or combination of individual elements G09F9/00) - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - B60W 2520/105: Longitudinal acceleration - B60W 2540/20: Direction indicator values - B60W 2554/402: Type - B60W 2554/4029: Pedestrians - B60W 2556/45: External transmission of data to or from the vehicle - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A driving assistance device includes processing circuitry to acquire host vehicle information, receive mobile object information from a mobile object outside the host vehicle using wireless communication, determinate a right or left turn of the host vehicle based on the host vehicle information, obtain a prediction point by calculating a right or left turn point of the host vehicle based on the host vehicle information, determine whether or not the host vehicle collides with the mobile object using the host vehicle information, the mobile object information, and the prediction point, and perform driving assistance of the host vehicle based on a result of the collision determination. The processing circuitry obtains the prediction point by calculating, on a basis of a preset deceleration, a distance required for the speed of the host vehicle HV included in the host vehicle information to reach a target speed set in advance. ## Claims ### Claim 1 A driving assistance device comprising: processing circuitry to acquire host vehicle information that is vehicle information of a host vehicle, to receive mobile object information from a mobile object outside the host vehicle using wireless communication, to predict whether the host vehicle will make a right turn or a left turn on a basis of the host vehicle information, to obtain 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, to determine if the prediction point is within a surrounding area of an intersection, to update 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, to determine whether or not the host vehicle collides with the mobile object using the host vehicle information, the mobile object information, and the prediction point, and to perform 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, wherein the processing circuitry obtains 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, the processing circuitry determines a running state of the host vehicle from speed information and acceleration information included in the host vehicle information, and the processing circuitry distinguishes 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. ### Claim 2 (depends on 1) The driving assistance device according to claim 1, wherein the processing circuitry sets a parameter to be used to calculate the prediction point, and sets the deceleration and the target speed using the host vehicle information, the mobile object information, and information set by a user, and calculates the prediction point based, in part, on the parameter. ### Claim 3 (depends on 1) The driving assistance device according to claim 1, wherein the processing circuitry determines which one of the right turn and the left turn is a behavior of the host vehicle using speed information, acceleration information and blinker information included in the host vehicle information. ### Claim 4 (depends on 2) The driving assistance device according to claim 2, wherein the processing circuitry determines which one of the right turn and the left turn is a behavior of the host vehicle using speed information, acceleration information and blinker information included in the host vehicle information. ### Claim 5 (depends on 1) The driving assistance device according to claim 1, wherein the processing circuitry determines, on a basis of the prediction point and the mobile object information, the mobile object approaching the prediction point as the mobile object having a possibility of collision. ### Claim 6 (depends on 2) The driving assistance device according to claim 2, wherein the processing circuitry determines, on a basis of the prediction point and the mobile object information, the mobile object approaching the prediction point as the mobile object having a possibility of collision. ### Claim 7 (depends on 2) The driving assistance device according to claim 2, wherein the information set by the user is retrieved from a user set file set by a driver of the host vehicle. ### Claim 8 (depends on 1) The driving assistance device according to claim 1, further comprising: a locator that stores road map information and calculates a current position of the host vehicle on a road map based on the host vehicle information, wherein the processing circuitry is further configured to determine the right turn or the left turn of the host vehicle when the current position of the vehicle is calculated to be a location that is not included in the stored road map information. ### Claim 9 (depends on 1) The driving assistance device according to claim 1, wherein the location of the intersection is obtained from stored road map information, and the surrounding area of the intersection is an area including a road portion having a length equal to or shorter than a predetermined distance from the intersection. ### Claim 10 (depends on 1) The driving assistance device according to claim 1, wherein the processing circuitry is further configured to determine whether the host vehicle collides with the mobile object when the prediction point is determined to be outside the surrounding area of the intersection. ### Claim 11 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. ### Claim 12 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.