Patent ID: 9643601
Date: 2017-05-09
CPC Classifications: B60K,B60W,B62D,G06K,G08G

Claim:
1. A driving assistance device comprising: an acceleration operation amount detection unit configured to detect an acceleration operation amount of an acceleration operator operated by a driver to instruct acceleration; a driving force control unit configured to generate the acceleration depending on the acceleration operation amount detected by the acceleration operation amount detection unit in a host vehicle; an imaging unit configured to acquire a captured image obtained by capturing an image of a periphery of the host vehicle; a line detection unit configured to detect a line positioned on a road surface from the captured image; a railway crossing detection unit configured to detect a railway crossing which crosses railway lines based on the captured image; a parking frame extraction unit configured to extract a parking frame which is estimated as a line in a direction along a front-back direction of the host vehicle when the host vehicle is parked, based on the line detected by the line detection unit; and an acceleration suppression control unit configured to suppress the acceleration when the parking frame extraction unit extracts the parking frame and the railway crossing is not detected in the captured image, and to not suppress the acceleration regardless of whether the parking frame extraction unit extracts the parking frame or not when the parking frame extraction unit extracts the parking frame and the railway crossing is detected in the captured image.