Patent ID: 11964653
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A driving assistance system comprising:
a memory that stores surroundings information indicating surroundings of a vehicle detected by sensors mounted on the vehicle; and
a processor configured to:
acquire a position of a target in front of the vehicle and a position of a boundary of a roadway area in front of the vehicle based on the surroundings information, to determine whether the target is in the roadway area based on the position of the target and the position of the boundary, to calculate a distance between the target and the boundary when the target is in the roadway area, and to determine whether the target is crossing the roadway area based on a relationship between the distance and a time,
determine that the target is crossing the roadway area when a second distance is larger than a first distance and when a difference between the second distance and the first distance is equal to or larger than a threshold value, the first distance is the distance at a first time, and the second distance is the distance at a second time, the second time being later than the first time; and
perform at least one of steering control and deceleration control of the vehicle so as to avoid the target when it is determined that the target is crossing the roadway area.