Vehicle driving assistance system and vehicle driving assistance method
The vehicle driving assistance device addresses the issue of obstructing following vehicles by determining the stopping position based on the preceding vehicle's predicted stop, ensuring safe passage and preventing collisions.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- TOYOTA JIDOSHA KK
- Filing Date
- 2023-03-03
- Publication Date
- 2026-06-30
AI Technical Summary
Existing vehicle driving assistance technologies fail to prevent vehicles from inadvertently obstructing the passage of following vehicles at exits like intersections or parking lot entrances, even when there are no right-turning oncoming vehicles.
A vehicle driving assistance device that determines the stopping position of a vehicle based on the predicted stopping position of the preceding vehicle, considering factors such as distance, clearance width, and exit dimensions, to ensure safe passage for following vehicles.
Prevents vehicles from obstructing the passage of following vehicles by accurately determining the stopping position, either before or after the exit, thereby enhancing safety and preventing collisions.
Abstract
Description
Technical Field
[0001] This disclosure relates to a technology for assisting in the driving of a vehicle.
Background Art
[0002] Patent Document 1 discloses a technology for preventing traffic jams on the oncoming lane side caused by obstructing the passage of a right-turning vehicle (right-turn oncoming vehicle) in the oncoming lane. In this conventional technology, at an intersection without a stop line located in front of the driving road, when it is determined that there is a high possibility that another vehicle will cross the driving lane of the own vehicle and it is determined that the intersection cannot be passed without stopping, the own vehicle is controlled to stop in front of the intersection.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] By the way, when the preceding vehicle of a vehicle stops after passing through an exit of the driving road such as an intersection without a traffic signal or an entrance to a parking lot of a store, even if there is no right-turn oncoming vehicle, a case may occur where it obstructs the passage of a following vehicle scheduled to enter the exit.
[0005] One object of this disclosure is to provide a technology that can prevent inadvertently obstructing the passage of a following vehicle of a vehicle.
Means for Solving the Problems
[0006] The first aspect of this disclosure relates to a vehicle driving assistance device. The vehicle driving assistance device comprises a storage device for storing map information and a processor for performing a process of following a preceding vehicle. In the process of following a preceding vehicle, the processor detects an exit from the road ahead of the vehicle's road based on at least one of the map information and a recognition sensor mounted on the vehicle, and if it detects the intention of a following vehicle to enter the exit, it determines the vehicle's stopping position near the exit based on the estimated stopping position of the preceding vehicle just before the exit.
[0007] The second aspect of this disclosure, in addition to the first aspect, further has the following features: When determining the stopping position of a vehicle, the processor determines the stopping position of the vehicle to be a position following the predicted stopping position of the preceding vehicle if the distance from the point of passage at the exit to the predicted stopping position of the preceding vehicle is greater than or equal to a predetermined distance. Furthermore, when determining the stopping position of a vehicle, the processor determines the stopping position of the vehicle to be the position before passing the exit if the distance from the point of passage at the exit to the predicted stopping position of the preceding vehicle is less than a predetermined distance.
[0008] A third aspect of this disclosure, in addition to the first aspect, further has the following features: In determining the vehicle's stopping position, the processor calculates the clearance width of the exit if the vehicle's stopping position were to follow the predicted stopping position of the preceding vehicle, based on data of the vehicle's total length, information of at least one of the exit location included in the map information and the exit location detected by the recognition sensor, and information of at least one of the exit width included in the map information and the exit width detected by the recognition sensor. Furthermore, in determining the vehicle's stopping position, if the clearance width of the exit is greater than or equal to a predetermined width, the processor determines the vehicle's stopping position to be the position following the predicted stopping position of the preceding vehicle. In addition, in determining the vehicle's stopping position, if the clearance width of the exit is less than a predetermined width, the processor determines the vehicle's stopping position to be the position before passing the exit.
[0009] A fourth aspect of this disclosure, in addition to the second aspect, further has the following features: If the distance from the exit point to the predicted stopping position of the preceding vehicle is less than a predetermined distance, the processor further determines the vehicle's stopping position to be before passing the exit and to the left of the vehicle's lane on the road.
[0010] The fifth aspect of this disclosure, in addition to the third aspect, further has the following features: If the exit width is less than a predetermined width, the processor further determines the vehicle's stopping position to be before passing through the exit and to the left of the vehicle's lane on the road.
[0011] A sixth aspect of this disclosure relates to a method for assisting the driving of a vehicle. The method for assisting the driving of a vehicle includes performing a process of following a preceding vehicle, and in the process of following a preceding vehicle, detecting an exit from a road located ahead of the vehicle's road based on map information and at least one of recognition sensors mounted on the vehicle, and if the intention of a following vehicle to enter the exit is detected, determining the vehicle's stopping position near the exit based on the estimated stopping position of the preceding vehicle just before the exit. [Effects of the Invention]
[0012] According to this disclosure, when a vehicle is following a preceding vehicle, if the following vehicle detects an intention to enter an exit on a road, the vehicle's stopping position near the exit is determined based on the predicted stopping position of the preceding vehicle estimated before the exit. This ensures that the vehicle stops at an appropriate position either before or after passing the exit. Consequently, it becomes possible to prevent the vehicle from inadvertently obstructing the passage of following vehicles. [Brief explanation of the drawing]
[0013] [Figure 1] This is a diagram illustrating the overview of the vehicle driving assistance system according to Embodiment 1. [Figure 2] This is a diagram illustrating a specific example of the first example of a vehicle driving assistance device according to Embodiment 1. [Figure 3]This figure illustrates a specific example of a second example of the vehicle driving assistance device according to Embodiment 1. [Figure 4] This is a block diagram showing an example configuration of a vehicle driving assistance system according to Embodiment 1. [Figure 5] This flowchart shows an example of processing by a vehicle driver assistance system according to Embodiment 1. [Figure 6] This is a diagram illustrating a specific example of a vehicle driving assistance device according to Embodiment 2. [Modes for carrying out the invention]
[0014] A vehicle driving assistance device and a vehicle driving assistance method according to embodiments of this disclosure will be described with reference to the attached drawings. Furthermore, elements common to each figure are denoted by the same reference numerals, and redundant explanations are omitted.
[0015] 1. Embodiment 1 1-1. Overview Figure 1 is a diagram illustrating the overview of a driver assistance device 10 for a vehicle 1 according to Embodiment 1. The driver assistance device 10 for the vehicle 1 (also simply referred to as the "driver assistance device") assists in driving the vehicle 1. Typically, the driver assistance device 10 is mounted on the vehicle 1. At least a portion of the driver assistance device 10 may be located in an external device outside the vehicle 1, or it may remotely assist in driving the vehicle 1. In other words, the driver assistance device 10 may be distributed between the vehicle 1 and the external device.
[0016] The vehicle 1, which is provided with driving assistance by the driving assistance device 10, may be a vehicle that performs autonomous driving or a vehicle that performs manual driving.
[0017] The driver assistance device 10 has a follow-up processing mode function that allows it to follow the preceding vehicle 2. The driver assistance device 10 switches the follow-up processing mode to enabled (ON) when predetermined conditions are met. On the other hand, the driver assistance device 10 keeps the follow-up processing mode disabled (OFF) when the predetermined conditions are not met.
[0018] The predetermined conditions are set based on, for example, the recognition result of the surrounding situation of vehicle 1. Specifically, as shown in FIG. 1(A), when the recognition result of the surrounding situation of vehicle 1 includes at least the recognition result of the preceding vehicle 2 located in front of vehicle 1, the driving support device 10 determines that the predetermined conditions are satisfied. That is, as an example of the predetermined conditions, it is possible that there is at least a preceding vehicle 2 in front of vehicle 1.
[0019] Note that the recognition result of the surrounding situation of vehicle 1 is recognized by a recognition sensor (camera, radar, LiDAR) mounted on vehicle 1.
[0020] When the following processing mode is effectively switched, the driving support device 10 performs following processing to follow the preceding vehicle 2 traveling in front of vehicle 1. Examples of the following processing include setting the distance between vehicle 1 and the preceding vehicle 2 to a predetermined interval (for example, 5 to 10 m).
[0021] Consider the case where vehicle 1 passes through the exit 6 of the driving road 5 located in front of vehicle 1 during the execution of the following processing. In this case, as shown in FIG. 1(A), even if there is a right-turning oncoming vehicle 4 scheduled to enter the exit 6 of the driving road 5, if the preceding vehicle 2 does not stop after passing through the exit 6 of the driving road 5, the traveling of vehicle 1 following the preceding vehicle 2 may be continued. Note that examples of the exit 6 of the driving road 5 include an intersection without a traffic signal, an entrance to a parking lot of a store, etc. Further, the recognition result of the surrounding situation of vehicle 1 described above further includes information on the detection position of the exit 6 of the driving road 5 and the recognition result of the right-turning oncoming vehicle 4.
[0022] Here, as shown in FIG. 1(B), consider the case where there is a stopped vehicle 7 in front of the preceding vehicle 2 and after passing through the exit 6 of the driving road 5. In this case, the driving support device 10 may invalidate the following processing mode before the exit 6 of the driving road 5 and stop vehicle 1 before passing through the exit 6 of the driving road 5. Thereby, when the oncoming vehicle 9 shown in FIG. 1(B) is the right-turning oncoming vehicle 4, the passage of the right-turning oncoming vehicle 4 is prevented. Note that vehicle 1 after the following processing mode is invalidated travels based on the automatic driving function mode.
[0023] Furthermore, let's consider the case where there is a vehicle 3 following vehicle 1, as shown in Figure 1(C). In this case, there are cases where vehicle 3 following vehicle 1 does not enter the exit 6 of road 5 and continues straight, and cases where vehicle 3 following vehicle 1 enters the exit 6 of road 5. In the case where vehicle 3 following vehicle 1 enters the exit 6 of road 5, if vehicle 1 stops before passing the exit 6 of road 5, even though vehicle 1 could stop in a position following vehicle 2, it will obstruct the passage of vehicle 3 following vehicle 1.
[0024] Accordingly, the driver assistance device 10 according to Embodiment 1 determines whether the vehicle following vehicle 1, vehicle 3, intends to enter the exit 6 of the road 5. If it is determined that the vehicle following vehicle 1, vehicle 3 intends to enter the exit 6 of the road 5, the driver assistance device 10 estimates the predicted stopping position of the preceding vehicle 2 just before the exit 6 of the road 5. Subsequently, based on the estimated predicted stopping position of the preceding vehicle 2, the driver assistance device 10 determines the stopping position of vehicle 1 near the exit 6 of the road 5.
[0025] The intentions of the following vehicle 3 are detected, for example, based on changes in the vehicle state of the following vehicle 3. Examples of changes in the vehicle state of the following vehicle 3 include changes in the illumination of the following vehicle 3's turn signals, changes in the distance between the vehicle and the following vehicle 3, changes in the lateral position of the following vehicle 3, and facial movements of the driver of the following vehicle 3. Facial movements of the driver of the following vehicle 3 are recognized, for example, by a rear camera installed on vehicle 1.
[0026] The predicted stopping position of the preceding vehicle 2 is estimated, for example, based on changes in the distance between the vehicle and the preceding vehicle 2, and changes in the relative speed between the vehicle and the preceding vehicle 2. The distance between the vehicle and the preceding vehicle 2 and the relative speed between the vehicle and the preceding vehicle 2 are calculated based on information obtained from the recognition sensor mounted on vehicle 1. The predicted stopping position of the preceding vehicle 2 may also be information included in the recognition result of the preceding vehicle 2 as described above.
[0027] Examples of stopping positions for vehicle 1 include a position that follows the predicted stopping position of the preceding vehicle 2 (first candidate stopping position 20), a position before passing the exit 6 of the road 5 (second candidate stopping position 30), and so on, as shown in Figure 1(C).
[0028] The following describes two specific examples of how to determine the stopping position of vehicle 1 when a vehicle 3 following vehicle 1 detects an intention to enter the exit 6 of the road 5.
[0029] 1-2. Specific Examples 1-2-1. Example 1 Figure 2 is a diagram illustrating a specific example of the first example of the driver assistance device 10 according to Embodiment 1. In this specific example of the first example of the driver assistance device 10 according to Embodiment 1, as shown in Figure 2(A), the stopping position of vehicle 1 is determined based on the distance (first clearance width 40) from the point where the vehicle passes the exit 6 of the road 5 to the predicted stopping position of the preceding vehicle 2.
[0030] Specifically, if the first clearance width 40 is greater than or equal to a predetermined distance, the driver assistance device 10 determines the stopping position of the vehicle 1 as the first candidate stopping position 20, as shown in Figure 2(B). On the other hand, if the first clearance width 40 is less than the predetermined distance, the driver assistance device 10 determines the stopping position of the vehicle 1 as the second candidate stopping position 30, as shown in Figure 2(C).
[0031] The first clearance width 40 is calculated based on the distance from vehicle 1 to the predicted stopping position of the preceding vehicle 2 and the location information of the exit 6 of the road 5. The distance from vehicle 1 to the predicted stopping position of the preceding vehicle 2 is measured, for example, by a recognition sensor mounted on vehicle 1. The location information of the exit 6 of the road 5 may be information included in map information (first information), information detected by the recognition sensor (second information), or information calculated from the first and second information. The predetermined distance may be, for example, the total length of vehicle 1, or a predetermined ratio (for example, 80%) of the total length of vehicle 1.
[0032] 1-2-2. Second Example Figure 3 is a diagram illustrating a specific example of the second example of the driver assistance device 10 according to Embodiment 1. In this specific example of the second example of the driver assistance device 10 according to Embodiment 1, as shown in Figure 3(A), the stopping position of the vehicle 1 is determined based on the clearance width (second clearance width 50) of the exit 6 of the roadway 5 when the stopping position of the vehicle 1 is set to the first candidate stopping position 20.
[0033] Specifically, if the second clearance width 50 is greater than or equal to a predetermined width, the driver assistance device 10 determines the stopping position of the vehicle 1 as the first candidate stopping position 20, as shown in Figure 3(B). On the other hand, if the second clearance width 50 is less than the predetermined width, the driver assistance device 10 determines the stopping position of the vehicle 1 as the second candidate stopping position 30, as shown in Figure 3(C).
[0034] The second clearance width 50 is calculated based on the distance from vehicle 1 to the predicted stopping position of preceding vehicle 2, the location information of the exit 6 of the road 5, and the data of the width of the exit 6 of the road 5. The distance from vehicle 1 to the predicted stopping position of preceding vehicle 2 is measured in the same way as the first clearance width 40 described above. The location information of the exit 6 of the road 5 and the data of the width of the exit 6 of the road 5 may be information included in map information (third information), information detected by a recognition sensor (fourth information), or information calculated from the third and fourth information. The predetermined width is, for example, the standard vehicle width plus a predetermined margin (for example, 1 m).
[0035] 1-2-3. Effects As described above, in the vehicle 1 driving assistance device 10 according to Embodiment 1, when vehicle 1 is following a preceding vehicle 2, if the device detects that the following vehicle 3 intends to enter the exit 6 of the road 5, the stopping position of vehicle 1 near the exit 6 of the road 5 is determined based on the predicted stopping position of the preceding vehicle 2 estimated before the exit 6 of the road 5. As a result, vehicle 1 stops at an appropriate position either after passing the exit 6 of the road 5 or before passing the exit 6 of the road 5. Therefore, it is possible to prevent vehicle 1 from unintentionally obstructing the passage of the following vehicle 3.
[0036] 1-3. Example Configuration Figure 4 is a block diagram showing an example configuration of the driver assistance device 10 according to Embodiment 1. The driver assistance device 10 includes an information processing device 100. The information processing device 100 includes one or more processors 110 (hereinafter simply referred to as processor 110) and one or more storage devices 120 (hereinafter simply referred to as storage devices 120). The processor 110 performs various processes. The storage devices 120 store various information necessary for the processing performed by the processor 110. Examples of storage devices 120 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc.
[0037] The various types of information stored in the storage device 120 include map information 121, data 122 showing the total length of vehicle 1, and recognition results 123 showing the surrounding conditions of vehicle 1. The map information 121 includes location information for the exit 6 of the road 5 and data showing the width of the exit 6 of the road 5. The recognition results 123 showing the surrounding conditions of vehicle 1 include the recognition results for the road 5 of vehicle 1, the recognition results for the preceding vehicle 2, the recognition results for the oncoming vehicle 4 turning right, and information on the detected location of the exit 6 of the road 5.
[0038] The various types of information stored in the storage device 120 also include a driver assistance program (not shown). The driver assistance program is a computer program executed by the processor 110. The functions of the information processing device 100 are realized when the processor 110 executes the driver assistance program. The driver assistance program may be stored in the storage device 120, in the memory built into the processor 110, or recorded on a computer-readable storage medium.
[0039] 1-4. Processing Example Figure 5 is a flowchart showing an example of processing by the information processing device 100 in the driver assistance device 10 according to Embodiment 1. The processing example of the second example described above can be explained by replacing "first clearance width 40" with "second clearance width 50" and "predetermined distance" with "predetermined width" in the processing example of the first example. Therefore, the processing example of the first example will be explained here, and the explanation of the processing example of the second example will be omitted.
[0040] In step S100, the information processing device 100 determines whether a predetermined condition is met. If it is determined that the predetermined condition is met (step S100; Yes), the process proceeds to step S110. Otherwise (step S100; No), the process ends. The predetermined condition includes at least the presence of a preceding vehicle 2 in front of vehicle 1. Whether or not a preceding vehicle 2 is present in front of vehicle 1 is recognized by a recognition sensor mounted on vehicle 1.
[0041] In step S110, the information processing device 100 enables (ON) the follow-up processing mode to follow the preceding vehicle 2. The process then proceeds to step S120.
[0042] In step S120, the information processing device 100 determines whether or not it has detected an exit 6 of the road 5 in front of the vehicle 1. If it is determined that an exit 6 of the road 5 has been detected in front of the vehicle 1 (step S120; Yes), the process proceeds to step S130. Otherwise (step S120; No), the process returns to step S120.
[0043] In step S130, the information processing device 100 determines whether or not it has detected the intention of the following vehicle 3 to enter the exit 6 of the road 5. If it is determined that the intention of the following vehicle 3 to enter the exit 6 of the road 5 has been detected (step S130; Yes), the process proceeds to step S140. Otherwise (step S130; No), the process proceeds to step S180.
[0044] In step S140, the information processing device 100 calculates the first available space width 40. The process then proceeds to step S150.
[0045] In step S150, the information processing device 100 determines whether the first empty space width 40 is greater than or equal to a predetermined distance. If it is determined that the first empty space width 40 is greater than or equal to a predetermined distance (step S150; Yes), the process proceeds to step S160. Otherwise (step S150; No), the process proceeds to step S170.
[0046] In step S160, the information processing device 100 determines the stopping position of vehicle 1 as the first candidate stopping position 20.
[0047] In step S170, the information processing device 100 determines the stopping position of vehicle 1 to be the second candidate stopping position 30.
[0048] In step S180, the information processing device 100 determines whether a predetermined time has elapsed. If it is determined that the predetermined time has elapsed (step S180; Yes), the process proceeds to step S190. Otherwise (step S180; No), the process returns to step S130.
[0049] In step S190, the information processing device 100 determines the stopping position of vehicle 1 to be a position that follows the preceding vehicle 2.
[0050] 2. Embodiment 2 Figure 6 is a diagram illustrating a specific example of the driver assistance device 10 according to Embodiment 2. In the driver assistance device 10 according to Embodiment 1, if the first clearance width 40 is less than a predetermined distance or the second clearance width 50 is less than a predetermined width, the stopping position of the vehicle 1 is determined to be the second candidate stopping position 30. In this case, as shown in Figure 6(A), if the clearance width (third clearance width 60) between the left edge of the road 5 (for example, the white line) and the vehicle 1 stopped at the second candidate stopping position 30 is greater than or equal to a predetermined value, it is assumed that the motorcycle 70 will pass through the third clearance width 60 and overtake the vehicle 1. If the timing of the motorcycle 70 overtaking the vehicle 1 coincides with the timing of the vehicle 1 starting, there is a risk of the motorcycle 70 and the vehicle 1 colliding. Alternatively, as shown in Figure 6(A), if the timing of the motorcycle 70 overtaking the vehicle 1 coincides with the timing of the oncoming vehicle 4 turning right entering the exit 6 of the road 5, there is a risk of the motorcycle 70 and the oncoming vehicle 4 turning right colliding.
[0051] According to the driving support device 10 of Embodiment 2, as shown in Figure 6(B), if the first clearance width 40 is less than a predetermined distance or the second clearance width 50 is less than a predetermined width, the stopping position of the vehicle 1 is further determined to be before passing the exit 6 of the road 5 and to be on the left side of the vehicle 1's driving lane 8 on the road 5.
[0052] The position of vehicle 1 on the left side of the driving lane 8 on the driving road 5 means the position where the third clearance width 60 is less than a predetermined value. The third clearance width 60 is calculated, for example, based on the white line recognition information of the driving road 5 and the information of the second candidate stopping position 30. The white line recognition information of the driving road 5 may be information included in the recognition result of the surrounding conditions of vehicle 1 as described above.
[0053] This provides the same effects as in Embodiment 1, and also ensures the safety of moving objects (vehicle 1, following vehicle 3, oncoming vehicle 4 turning right, motorcycle 70, etc.) traveling near the exit 6 of the road 5.
[0054] 3. Embodiment 3 If the system does not detect that the following vehicle 3 intends to enter the exit 6 of the road 5, the stopping position of vehicle 1 is determined to follow the position of the preceding vehicle 2, as shown in step S190 of Figure 5. In this case, it is conceivable that the stopping position of vehicle 1 may be a position midway through the exit 6 of the road 5 that does not meet the conditions of the first clearance width 40 or the second clearance width 50. In this case, even if it does not obstruct the passage of the following vehicle 3, if there is an oncoming vehicle 4 that is planning to enter the exit 6 of the road 5 and is turning right, it may obstruct the passage of the oncoming vehicle 4 that is turning right.
[0055] According to the driver assistance device 10 of Embodiment 3, if the following vehicle 3 of vehicle 1 does not detect an intention to enter the exit 6 of the road 5, and if a right-turning oncoming vehicle 4 is recognized just before the exit 6 of the road 5, the processing of steps S140 to S170 shown in Figure 5 may be performed. This provides the same effect as Embodiment 1, and also prevents obstruction of the passage of the right-turning oncoming vehicle 4 that is planning to enter the exit 6 of the road 5.
[0056] Furthermore, the recognition result for the oncoming vehicle 4 turning right may be information included in the recognition result for the surrounding conditions of vehicle 1. In addition, the recognition result for the oncoming vehicle 4 turning right may include the predicted stopping position of the oncoming vehicle 4 turning right. [Explanation of Symbols]
[0057] 1…Vehicle, 2…Preceding vehicle, 3…Following vehicle, 4…Oncoming vehicle turning right, 5…Road, 6…Exit of Road 5, 7…Stopped vehicle, 8…Lane, 9…Oncoming vehicle, 10…Driving assistance system for vehicle 1, 20…First candidate stopping position, 30…Second candidate stopping position, 40…First available space, 50…Second available space, 60…Third available space, 70…Motorcycle, 100…Information processing device, 110…Processor, 120…Storage device, 121…Map information, 122…Total length data of vehicle 1, 123…Recognition result of the surrounding situation of vehicle 1
Claims
1. A device that assists in the operation of a vehicle, A storage device for storing map information, A processor that performs the process of following the vehicle in front, Equipped with, In the process of following the preceding vehicle, the aforementioned processor Based on the map information and at least one of the recognition sensors mounted on the vehicle, an exit from the road located ahead of the vehicle's travel path is detected, and if the intention of a following vehicle to enter the exit is detected, the distance from the point on the road passing the exit to the predicted stopping position of the preceding vehicle is calculated based on the predicted stopping position of the preceding vehicle estimated before the exit. If the aforementioned distance is greater than or equal to a predetermined distance, the stopping position of the vehicle is determined to be a position that follows the predicted stopping position of the preceding vehicle. If the aforementioned distance is less than the predetermined distance, the vehicle's stopping position is determined to be the position before passing the exit. A vehicle driving assistance device characterized by the following features.
2. A vehicle driving assistance device according to claim 1, The processor, in determining the stopping position of the vehicle, Based on the data of the vehicle's total length, at least one of the information of the exit's location included in the map information and the exit's location detected by the recognition sensor, and at least one of the information of the exit's width included in the map information and the exit's width detected by the recognition sensor, the clearance width of the exit is calculated when the vehicle's stopping position is set to a position that follows the predicted stopping position of the preceding vehicle. If the aforementioned clearance is greater than or equal to a predetermined width, the stopping position of the vehicle is determined to be a position that follows the predicted stopping position of the preceding vehicle. If the clearance is less than the predetermined width, the vehicle's stopping position is determined to be the position before passing through the exit. A vehicle driving assistance device characterized by the following features.
3. A vehicle driving assistance device according to claim 1, If the distance is less than the predetermined distance, the processor further The system is configured to determine the stopping position of the vehicle before it passes through the exit and at a position slightly to the left of the vehicle's lane on the road. A vehicle driving assistance device characterized by the following features.
4. A method for assisting the driving of a vehicle, This involves executing a process to follow the vehicle in front, In the process of following the preceding vehicle, based on map information and at least one of the recognition sensors mounted on the vehicle, an exit from the road located ahead of the vehicle's road is detected, and if the intention of a following vehicle to enter the exit is detected, the distance from the point where the vehicle passes the exit on the road to the predicted stopping position of the preceding vehicle is calculated based on the predicted stopping position of the preceding vehicle estimated before the exit. If the aforementioned distance is greater than or equal to a predetermined distance, the stopping position of the vehicle is determined to be a position that follows the predicted stopping position of the preceding vehicle. If the aforementioned distance is less than the predetermined distance, the stopping position of the vehicle is determined to be the position before passing the exit, including A method for assisting the driving of a vehicle, characterized by the features described above.