| 摘要 |
A driving assistance device (300) including: a preceding vehicle detection portion (310); a speed assistance portion (330), that assists the speed adjustment of the host vehicle to obtain a target inter-vehicle distance; a preceding vehicle travel trajectory acquisition portion (340); an entering vehicle detection portion (320); an entering vehicle travel trajectory acquisition portion (350); a target trajectory setting portion (370), that sets the target travel trajectory of the host vehicle based on at least one of the travel trajectory of the preceding vehicle and the travel trajectory of the entering vehicle; a steer assistance portion (380), that assists the adjustment of the steer amount calculated based on the target travel trajectory; and a location determination portion (360), that determines the location where the deviation amount between the travel trajectory of the entering vehicle and the travel trajectory of the preceding vehicle becomes the predetermined value or below. The target trajectory setting portion (370) sets the target travel trajectory of the host vehicle based on the travel trajectory of the entering vehicle, after the location determined by the location determination portion (360). |
