The invention provides a driving assistance device, a vehicle, a driving assistance method, and a storage medium, which can smoothly end driving assistance in a branch lane after a lane change from a driving lane to the branch lane across a division line. A driving assistance device in a vehicle is provided with a control unit that changes a lane from a travel lane in which the vehicle travels to a branch lane that branches from the travel lane by driving assistance that can automatically change the lane under the guidance of a system. The control unit acquires information indicating the travel distance within the branch lane, the elapsed time within the branch lane, and the end position of the branch lane detected on the basis of map information or external identification information after the lane change has been completed across the dividing line of the travel lane, and if the travel distance exceeds a predetermined threshold distance, controls the lane change unit to change the lane when the travel distance exceeds the predetermined threshold distance. The driving assistance is terminated in the branch lane when the vehicle passes through the end position of the branch lane, or when the elapsed time exceeds a predetermined threshold time, or when the vehicle passes through the end position of the branch lane.

    本发明提供驾驶辅助装置、车辆、驾驶辅助方法以及存储介质,在从行驶车道跨越划分线向分支车道进行车道变更之后,使驾驶辅助在分支车道内顺畅地结束。车辆中的驾驶辅助装置具备控制部,该控制部通过能够由系统主导自动地进行车道变更的驾驶辅助,从车辆行驶的行驶车道向从行驶车道分支的分支车道进行车道变更。控制部在跨越行驶车道的划分线完成车道变更之后,获取表示在分支车道内的行驶距离、在分支车道内的经过时间、通过了基于地图信息或外界识别信息检测出的分支车道的末端位置的信息,在行驶距离超过预定的阈值距离的情况下,或者经过时间超过预定的阈值时间的情况下,或者在通过了分支车道的末端位置的情况下,在分支车道内结束驾驶辅助。


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    Title :

    Driving assistance device, vehicle, driving assistance method, and storage medium


    Additional title:

    驾驶辅助装置、车辆、驾驶辅助方法以及存储介质


    Contributors:

    Publication date :

    2023-09-26


    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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