The invention provides a driving support device, a vehicle control system, a driving support method, and a storage medium capable of performing an appropriate preliminary operation according to an automatic driving state. When the degree of proximity between the vehicle and the target object satisfies a second condition, the driving support device performs a first preliminary operation. When it is determined that the degree of proximity satisfies a third condition and there is no space on any one of the travel roads on the side of the target object at the point in time when the third condition is satisfied, a second preliminary operation is performed. When the automatic driving control device is operated in the second state, the operation start condition of the second preliminary operation is relaxed compared with when the automatic driving control device is not operated.
本发明提供能够进行与自动驾驶的状态相应的恰当的预备动作的驾驶支援装置、车辆控制系统、驾驶支援方法及存储介质。驾驶支援装置在车辆与对象物体之间的接近程度满足第二条件的情况下,进行第一预备动作,在判定为所述接近程度满足第三条件、且在满足所述第三条件的时间点在所述对象物体的侧方的行驶路中的任意行驶路上均不存在通过所述转向进行了躲避后能够行进的空间的情况下,进行第二预备动作,在所述自动驾驶控制装置以所述第二状态动作着的情况下,与所述自动驾驶控制装置未动作的情况相比,缓和所述第二预备动作的工作开始条件。
Driving assistance device, vehicle control system, driving assistance method, and storage medium
驾驶支援装置、车辆控制系统、驾驶支援方法及存储介质
2023-09-19
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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