A driving assistance device includes a sensor configured to detect a moving object ahead of a target vehicle and obstacles including a first obstacle and a second obstacle, and a control device. The control device is configured to determine whether the second obstacle is present. The second obstacle is located opposite to a traveling lane of the target vehicle with respect to the first obstacle in a lateral direction and forces the moving object to move in the lateral direction toward the traveling lane due to collaborative action with the first obstacle. The first obstacle hinders the moving object from moving in a longitudinal direction. The control device is configured to relax an execution condition of steering assistance for detouring around the moving object in a case where the second obstacle is present rather than in a case where the second obstacle is not present.
DRIVING ASSISTANCE DEVICE, DRIVING ASSISTANCE METHOD, AND NON-TRANSITORY STORAGE MEDIUM
2024-05-02
Patent
Electronic Resource
English
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