The invention provides a driving assistance device, a driving assistance method, and a storage medium capable of performing an appropriate preliminary operation in accordance with a situation around a vehicle. A driving assistance device is provided with: a brake control unit that instructs a brake device of a vehicle to stop the vehicle when a first condition is satisfied; and a steering avoidance control unit that instructs a steering device of the vehicle so as 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 a second condition is satisfied. The driving assistance device is further provided with a second preliminary operation control unit that performs a second preliminary operation when a third condition is satisfied and when it is determined that there is no space on any one of the travel paths on the side of the target object that the vehicle can travel after avoiding by steering at a time point when the third condition is satisfied. The second preliminary operation control unit changes the setting of the second preliminary operation in accordance with the situation on the travel path on the side of the target object.

    本发明提供能够进行与车辆的周边状况相应的适当的预备动作的驾驶支援装置、驾驶支援方法以及存储介质。驾驶支援装置,其具备:制动控制部,其在满足第一条件时,向车辆的制动装置指示而使车辆停止;以及转向回避控制部,其以利用转向来回避与对象物体的接触的方式向车辆的转向装置指示,制动控制部包括在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满足第三条件并且在满足第三条件的时间点判定为在对象物体的侧方的行驶路中的任一方均不存在在进行了利用转向的回避后能够行进的空间时进行第二预备动作的第二预备动作控制部,第二预备动作控制部根据对象物体的侧方的行驶路中的状况来变更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、驾驶支援方法以及存储介质


    Contributors:
    OKA KEISUKE (author) / KITAHARA YOHEI (author) / KANEDA YUJI (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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