Driving assistance device

A driving assistance device, comprising:

• a preceding vehicle detection portion that detects a preceding vehicle in front of a host vehicle in which the driving assistance device is disposed;
• a speed control portion that controls a speed adjustment of the host vehicle to make an inter-vehicle distance between the host vehicle and the preceding vehicle becomes a target inter-vehicle distance;
• a preceding vehicle travel trajectory acquisition portion that acquires a travel trajectory of the preceding vehicle;
• an entering vehicle detection portion that detects an entering vehicle which enters between the host vehicle and the preceding vehicle;
• an entering vehicle travel trajectory acquisition portion that acquires a travel trajectory of the entering vehicle detected by the entering vehicle detection portion;
• a target trajectory setting portion that sets a target travel trajectory of the host vehicle based on at least one of the travel trajectory of the preceding vehicle or the travel trajectory of the entering vehicle;
• a steering control portion that controls an adjustment of a steer amount of the host vehicle based on the target travel trajectory;
• and
• a location determination portion that determines a location where a deviation amount between the travel trajectory of the entering vehicle and the travel trajectory of the preceding vehicle becomes a predetermined value or below,
• wherein the speed control portion is configured to set the entering vehicle as the preceding vehicle of the speed control portion when the entering vehicle is detected by the entering vehicle detection portion,
• wherein the location determination portion is configured to set a value smaller than the deviation amount between the travel trajectory of the entering vehicle and the travel trajectory of the preceding vehicle at the location where the speed control portion sets the entering vehicle as the preceding vehicle as the predetermined value, and
• wherein the target trajectory setting portion is configured to set the target travel trajectory of the host vehicle based on the travel trajectory of the preceding vehicle before entering of the entering vehicle until reaching the location determined by the location determination portion, and sets the target travel trajectory of the host vehicle based on the travel trajectory of the entering vehicle after the location determined by the location determination portion.

A driving assistance device that performs a driving assistance of a host vehicle in which the driving assistance device is disposed based on a travelling state of other vehicle detected at surroundings of the host vehicle, comprising:

• a speed control portion configured to set any one of a preceding vehicle which travels in front of the host vehicle, and an entering vehicle which enters between the host vehicle and the preceding vehicle as an adjustment object vehicle, and controls a speed adjustment of the host vehicle, to make an inter-vehicle distance between the set adjustment object vehicle and the host vehicle become a predetermined distance;
• a target trajectory setting portion configured to acquire a travel trajectory of the preceding vehicle and the travel trajectory of the entering vehicle respectively, sets any one travel trajectory of the acquired travel trajectories as an object trajectory, and sets a target travel trajectory as the travel target of the host vehicle based on the set object trajectory;
• a steering control portion configured to control an adjustment of a steer amount of the host vehicle based on the target travel trajectory set by the target trajectory setting portion;
• and
• a location determination portion that determines a location where a deviation amount between the travel trajectory of the entering vehicle and the travel trajectory of the preceding vehicle becomes a predetermined value or below,
• wherein the target trajectory setting portion is configured to take an event of setting the adjustment object vehicle as the entering vehicle and an event of setting the object trajectory as the travel trajectory of the preceding vehicle as conditions, and switches the setting of the object trajectory from the travel trajectory of the preceding vehicle to the travel trajectory of the entering vehicle at the location determined by the location determination portion.