Driving assist device

A driving assist device that recognizes an object in the vicinity of a vehicle, and assists a driver in driving the vehicle, the device comprising:

• a vehicle position detecting unit that detects a position of the vehicle as a global coordinate system,
• an object detecting unit that detects a position of the object in the vicinity of the vehicle as a local coordinate system;
• a three dimensional object detecting unit that detects a position of a three dimensional object in the vicinity of the vehicle as a local coordinate system;
• an object coordinate converting unit that converts the position of the object from the local coordinate system to the global coordinate system, based on the position of the vehicle and a change in the position of the vehicle;
• a three dimensional object coordinate converting unit that converts the position of the three dimensional object from the local coordinate system to the global coordinate system, based on the position of the vehicle and the change in the position of the vehicle;
• a first storage unit that stores the position of the global coordinate system of the object converted by the object coordinate converting unit;
• a second storage unit that stores the position of the global coordinate system of the three dimensional object converted by the three dimensional object coordinate converting unit;
• and
• an object recognition unit that recognizes the object at a predetermined detection position as a non-obstacle when the first storage unit stores the position of the object, and the second storage unit does not store the position of the three dimensional object at the predetermined position in which detection is performed by both of the object detecting unit and the three dimensional object detecting unit,
• wherein the driving assist device executes driving assistance that includes one or both from between an acceleration or deceleration control and steering control of the vehicle, based on a recognized result from the object recognition unit.