DRIVING ASSISTANCE DEVICE

摘要

The present invention further reduces a driver's sense of discomfort while also successfully ensuring safety in intervention control for a predetermined operation of a vehicle. In the present invention, a driving assistance device for intervening in a predetermined operation of a vehicle is provided with: a region setting unit for setting a predetermined region that is a region pertaining to a behavior of the vehicle; an allowable control input range calculation unit for acquiring driving behavioral property information indicative of a driving behavioral property of the driver of the vehicle, and using the acquired driving behavioral property information to calculate an allowable control input range, which is a range of operation allowed at the current point in time so that predicted behaviors of the vehicle stay within the predetermined region over a predetermined prediction interval; a determination unit for determining whether an operation at the current point in time is within the allowable control input range; and an operation intervention execution unit for executing an intervention if the operation at the current point in time is determined to fall outside the allowable control input range.