A driving assistance device, a driving assistance method, and a storage medium capable of performing an appropriate preparation operation in accordance with a vehicle peripheral situation, the device including: a brake control unit that refers to an output of a first detector that detects presence of an object in front of the vehicle, and that, when a degree of proximity of a target object among the objects to the vehicle satisfies a first condition, controls the brake of the vehicle; instructing a brake device of the vehicle to stop the vehicle; and a steering avoidance control unit that instructs a steering device of the vehicle to avoid contact with the target object by steering, the brake control unit including a first preliminary operation control unit that performs a first preliminary operation when the degree of proximity satisfies a second condition. The driving assistance device is further provided with a second preliminary operation control unit that performs a second preliminary operation when the degree of proximity satisfies a third condition and it is determined that there is no space in which the vehicle can travel after avoiding the target object, and that performs a second preliminary operation when it is determined that the driver performs an operation indicating the possibility of changing the vehicle travel lane. The first or second preliminary operation control unit changes the setting of the first or second preliminary operation.

    能进行与车辆周边状况相应的恰当预备动作的驾驶支援装置、驾驶支援方法及存储介质,该装置具备:制动控制部,参照检知车辆前方物体存在的第一检知器件的输出,在物体中的对象物体与车辆接近程度满足第一条件时,指示车辆的制动装置使车辆停止;转向躲避控制部,指示车辆的转向装置通过转向躲避与对象物体接触,制动控制部包括在接近程度满足第二条件时进行第一预备动作的第一预备动作控制部,驾驶支援装置还具备在接近程度满足第三条件、且判定为不存在躲避对象物体后能行进的空间时,进行第二预备动作的第二预备动作控制部,在判定为驾驶员进行表示变更车辆行驶车道的可能性的动作时,第一或第二预备动作控制部变更第一或第二预备动作的设定。


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    Title :

    Driving assistance device, driving assistance method, and storage medium


    Additional title:

    驾驶支援装置、驾驶支援方法及存储介质


    Contributors:
    OKA KEISUKE (author)

    Publication date :

    2023-09-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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