FIELD: driving assistance methods.
SUBSTANCE: inventions relates to a driving assistance method and device. The device contains: a sensor, a controller, a motion control device. The sensor detects the position of the first obstacle in front of the vehicle in question in the first lane on which the vehicle in question is traveling. Determines the position of the second obstacle ahead of the considered vehicle in the second lane. In this case, the second lane is an oncoming lane adjacent to the first lane. The controller determines whether the position of the second obstacle is on a side closer than the position of the first obstacle in the direction of movement of the considered vehicle, and whether the considered vehicle, when stopped in front of the first obstacle, can interfere with the movement of an oncoming vehicle. When the position of the second obstacle is on the closer side than the position of the first obstacle in the direction of travel of the subject vehicle, and the subject vehicle, when stopped in front of the first obstacle, may interfere with the movement of the oncoming vehicle, the controller determines the stop position as the stop position of the subject vehicle as the position in front of the second obstacle in the direction of movement of the considered vehicle relative to the second obstacle. The motion control device is configured to provide driving assistance based on the determined stop position.
EFFECT: creation of a system that allows preventing the considered vehicle from obstructing the movement of an oncoming vehicle is achieved.
11 cl, 12 dwg
