Patent ID: 11952008
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A driving assistance device for a vehicle, comprising:
an obstacle detection unit that detects an obstacle in a periphery of the vehicle using a sensing result of a peripheral monitoring sensor for monitoring the periphery of the vehicle;
an avoidance determination unit that sequentially determines whether an avoidance of the obstacle detected by the obstacle detection unit is necessary, according to a route of the vehicle; and
a warning processing unit that controls a warning device to issue a warning when the avoidance determination unit determines that the avoidance of the obstacle is necessary, wherein:
in a case where the avoidance determination unit determines that the avoidance of the obstacle is unnecessary after starting the warning, the warning processing unit controls the warning device to continue issuing the warning when an obstacle distance, which is a distance of the obstacle to the vehicle, is less than a predetermined threshold value set in advance.