To provide a driving support device, a driving support method, and a program which can appropriately determine validity of steering avoidance.SOLUTION: A driving support device comprises: a recognition part which recognizes an object existing around a movable body; a first driving support part which performs a first control to avoid contact with the movable body and the recognized object through steering operation; a second driving support part which performs a second control to avoid contact with the movable body and the recognized object through braking operation; and a management part which derives an estimated value of a yaw rate generated in the movable body based on reference information including at least a plurality of kinds of information different from measured value of the yaw rate outputted from a yaw rate sensor mounted on the movable body, and suppresses the first control when deviation between the measured value and the estimated value is larger than a reference value.SELECTED DRAWING: Figure 1
【課題】操舵回避の妥当性を適切に判定することが可能な運転支援装置、運転支援方法、およびプログラムを提供すること。【解決手段】移動体の周辺に存在する物体を認識する認識部と、前記移動体と前記認識された物体との接触を操舵により回避するための第1制御を行う第1運転支援部と、前記移動体と前記認識された物体との接触を制動により回避するための第2制御を行う第2運転支援部と、前記移動体に搭載されたヨーレートセンサにより出力されるヨーレートの測定値とは異なる複数種類の情報を少なくとも含む参照情報に基づいて、前記移動体に生じたヨーレートの推定値を導出し、前記測定値と前記推定値との乖離が基準よりも大きい場合に前記第1制御を抑制する管理部と、を備える運転支援装置。【選択図】図1
DRIVING SUPPORT DEVICE, MONITORING DEVICE, DRIVING SUPPORT METHOD, AND PROGRAM
運転支援装置、監視装置、運転支援方法、およびプログラム
2023-01-18
Patent
Elektronische Ressource
Japanisch
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