Driving assistance device and driving assistance method

A method for assisting driving, the method performed by a self-vehicle, the method comprising:

• acquiring, from a peripheral vehicle existing around the self-vehicle, peripheral vehicle information indicating a vehicle speed, a position, and a traveling track of the peripheral vehicle through vehicle-to-vehicle communication;
• predicting a collision possibility between the self-vehicle and the peripheral vehicle based on self-vehicle information indicating a vehicle speed, a position, and a traveling track of the self-vehicle and the peripheral vehicle information;
• and
• notifying an occupant of the self-vehicle based on a prediction result by the prediction,
• wherein the predicting comprises:
• in a case where the peripheral vehicle exists within a first angular range in front of the self-vehicle, setting a first determination region of a road to be offset to an opposite lane side with respect to the self-vehicle in a direction orthogonal to a predicted course of the self-vehicle and to include a first reference position where the self-vehicle accelerates after decelerating to a threshold value or less or where the self-vehicle temporarily stops as a first reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the first determination region;
• and
• in a case where the peripheral vehicle exists within a second angular range on a side of the self-vehicle, setting a second determination region of the road using an intersection between a predicted course of the self-vehicle and a predicted course of the peripheral vehicle as a second reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the second determination region.

A non-transitory storage medium configured to store a program which causes a computer mounted on a self-vehicle to:

• acquire, from a peripheral vehicle existing around the self-vehicle, peripheral vehicle information indicating a vehicle speed, a position, and a traveling track of the peripheral vehicle through vehicle-to-vehicle communication;
• predict a collision possibility between the self-vehicle and the peripheral vehicle based on self-vehicle information indicating a vehicle speed, a position, and a traveling track of the self-vehicle and the peripheral vehicle information;
• and
• notify an occupant of the self-vehicle based on a prediction result by the prediction,
• wherein the predicting comprises:
• in a case where the peripheral vehicle exists within a first angular range in front of the self-vehicle, setting a first determination region of a road to be offset to an opposite lane side with respect to the self-vehicle in a direction orthogonal to a predicted course of the self-vehicle and to include a first reference position where the self-vehicle accelerates after decelerating to a threshold value or less or where the self-vehicle temporarily stops as a first reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the first determination region;
• and
• in a case where the peripheral vehicle exists within a second angular range on a side of the self-vehicle, setting a second determination region of the road using an intersection between a predicted course of the self-vehicle and a predicted course of the peripheral vehicle as a second reference position, and predicting a collision possibility between the self-vehicle and the peripheral vehicle in the second determination region.