Driving assistance apparatus, method, and non-transitory recording medium for vehicle trajectory prediction and collision determination

Abstract

A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a yaw rate change rate of a first vehicle to which the driving assistance apparatus is to be applied, based on a yaw rate of the first vehicle obtained at multiple time points; predicts a sequential position of the first vehicle as a first vehicle position assuming that the yaw rate change rate is kept constant; predicts a sequential position of a second vehicle as a second vehicle position; determines whether contact occurs, based on presence or absence of a contact position where the first vehicle position partly overlaps with the second vehicle position; and ends prediction of the first vehicle position and the second vehicle position, upon determining that no contact occurs until a prediction end time that is a time when the first vehicle turns by a setting angle.