Vehicle driving assistant and vehicle driving assisting method

A driving assisting system for a vehicle, the driving assisting system comprising:

• a side obstacle detector configured to detect an obstacle present in an obstacle detection area, wherein the obstacle detection area includes at least a posterolateral direction of the vehicle;
• an obstacle approach prevention controller configured to implement an obstacle approach prevention control which assists an approach prevention for preventing the vehicle from approaching an obstacle detected by the side obstacle detector;
• an overtaking state detector configured to detect an overtaking state which is at least one of a first state where the vehicle is overtaking the obstacle detected by the side obstacle detector and a second state where the vehicle is estimated to overtake the obstacle;
• a control suppressor configured to suppress the obstacle approach prevention control when a determination that the overtaking state is established is made based on the detecting by the overtaking state detector compared with when the determination that the overtaking state is established is not made;
• and
• a future position estimator configured to estimate a future position which is a position of the vehicle after a certain time,
• wherein the obstacle approach prevention controller is configured to determine a start of the obstacle approach prevention control based on the future position estimated by the future position estimator,
• wherein the control suppressor is configured such that, when the determination that the overtaking state is established is made based on the detecting by the overtaking state detector, the control suppressor suppresses the start of the obstacle approach prevention control by the obstacle approach prevention controller compared with when the determination that the overtaking state is established is not made, to thereby suppress the obstacle approach prevention control, and
• wherein the control suppressor is configured to suppress the start of the obstacle approach prevention control by lessening the obstacle detection area.

A driving assisting system for a vehicle, the driving assisting system comprising:

• a side obstacle detector configured to detect an obstacle present in an obstacle detection area, wherein the obstacle detection area includes at least a posterolateral direction of the vehicle;
• an obstacle approach prevention controller configured to implement an obstacle approach prevention control which assists an approach prevention for preventing the vehicle from approaching an obstacle detected by the side obstacle detector;
• an overtaking state detector configured to detect an overtaking state which is at least one of a first state where the vehicle is overtaking the obstacle detected by the side obstacle detector and a second state where the vehicle is estimated to overtake the obstacle;
• a control suppressor configured to suppress the obstacle approach prevention control when a determination that the overtaking state is established is made based on the detecting by the overtaking state detector compared with when the determination that the overtaking state is established is not made;
• and
• a future position estimator configured to estimate a future position which is a position of the vehicle after a certain time,
• wherein the obstacle approach prevention controller is configured to determine a start of the obstacle approach prevention control based on the future position estimated by the future position estimator,
• wherein the control suppressor is configured such that, when the determination that the overtaking state is established is made based on the detecting by the overtaking state detector, the control suppressor suppresses the start of the obstacle approach prevention control by the obstacle approach prevention controller compared with when the determination that the overtaking state is established is not made, to thereby suppress the obstacle approach prevention control,
• wherein the obstacle approach prevention controller is configured to determine that the start of the obstacle approach prevention control is established, when the future position of the vehicle after the certain time estimated by the future position estimator is outside the obstacle or outside a control start position in a lane widthwise direction, where the control start position is set at a certain distance from a lane marker, and
• wherein the control suppressor is configured such that, when the determination that the overtaking state is established is made based on the detecting by the overtaking state detector, the control suppressor changes the control start position to the obstacle side, to thereby suppress the start of the obstacle approach prevention control.

A driving assisting system for a vehicle, the driving assisting system comprising:

• a side obstacle detector configured to detect an obstacle present in an obstacle detection area, wherein the obstacle detection area includes at least a posterolateral direction of the vehicle;
• an obstacle approach prevention controller configured to implement an obstacle approach prevention control which assists an approach prevention for preventing the vehicle from approaching an obstacle detected by the side obstacle detector;
• an overtaking state detector configured to detect an overtaking state which is at least one of a first state where the vehicle is overtaking the obstacle detected by the side obstacle detector and a second state where the vehicle is estimated to overtake the obstacle;
• a control suppressor configured to suppress the obstacle approach prevention control when a determination that the overtaking state is established is made based on the detecting by the overtaking state detector compared with when the determination that the overtaking state is established is not made;
• and
• a future position estimator configured to estimate a future position which is a position of the vehicle after a certain time,
• wherein the obstacle approach prevention controller is configured to determine a start of the obstacle approach prevention control based on the future position estimated by the future position estimator,
• wherein the control suppressor is configured such that, when the determination that the overtaking state is established is made based on the detecting by the overtaking state detector, the control suppressor suppresses the start of the obstacle approach prevention control by the obstacle approach prevention controller compared with when the determination that the overtaking state is established is not made, to thereby suppress the obstacle approach prevention control, and
• wherein the control suppressor is configured to suppress the start of the obstacle approach prevention control by shortening the certain time used by the future position estimator to estimate the future position.