公开(公告)号：US20200010118A1

公开(公告)日：2020-01-09

申请号：US16575841

申请日：2019-09-19

Applicant: DENSO CORPORATION

Inventor： Naoki FUKAYA ,  Hiroto UESAKA ,  Toshihira KATSU ,  Shinji KAWAMURA ,  Yoshiki OHZAWA ,  Akihito TANAHASHI ,  Nozomi KAWASE ,  Waka SENGOKU

IPC: B62D15/02

Abstract: A driving assistance device acquires a surrounding area map, determines whether a subject vehicle is travelable in an assistance target scene based on the surrounding area map, generates a guide that guides the subject vehicle in the assistance target scene based on the surrounding area map, adjusts relative positions of an obstacle and the guide in the surrounding area map in accordance a reference position information, perform a steering assistance to assist steering of the subject vehicle in accordance with the guide when determines that the subject vehicle is travelable, and updates the reference position information in accordance with a degree of deviation between the guide and an actual trajectory along which the subject vehicle passes during the steering assistance.