The invention provides a driving support device, a driving support method, and a storage medium capable of performing an appropriate preliminary operation in accordance with a situation in the vicinity of a vehicle. 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 the degree of proximity satisfies a third condition and it is determined that there is no space on any of the travel roads on the side of the target object, which space can travel after being evaded by the steering, at the point in time when the third condition is satisfied, a second preliminary operation is performed. When the recognized lane is the leftmost lane or the rightmost lane of the roads, the timing of starting the first preliminary operation is advanced compared with when the recognized lane is neither the leftmost lane nor the rightmost lane of the roads.

    本发明提供能够进行与车辆的周边状况相应的恰当的预备动作的驾驶支援装置、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判定为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,在识别到的车道是道路中的最左侧的车道或道路中的最右侧的车道的情况下,与识别到的所述车道既不是道路中的最左侧的车道也不是道路中的最右侧的车道的情况相比,使所述第一预备动作的开始时机提前。


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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) / 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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