Patent ID: 11941983
Assignee: HITACHI ASTEMO, LTD.
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A driving assistance device comprising:
a recording unit that records a plurality of past traveling positions of a vehicle and position estimation information relating to the past traveling positions;
a relative position estimation unit that estimates a relative position of the vehicle from an output of a sensor that detects a surrounding of the vehicle, adds a history of the relative position to the past traveling position, and adds the output of the sensor, which is used to estimate the relative position, to the position estimation information;
a position estimation unit that estimates a position of the vehicle with respect to the past traveling positions from the output of the sensor and the position estimation information of the recording unit, and adds a history of the estimated position to the past traveling position;
a deviation determination unit that determines deviation from the plurality of past traveling positions by using a distribution of the plurality of past traveling positions, the position of the vehicle with respect to the plurality of past traveling positions, and a predetermined reference value; and
a control unit that controls the vehicle to cancel a warning or deviation, when the deviation is determined.