A driving assistance device performs one or both of instructing to stop a vehicle when an approach degree between the vehicle and a target object satisfies a first condition and instructing to avoid coming into contact with the target object by steering, performs a first preliminary operation when the approach degree satisfies a second condition, performs a second preliminary operation when the approach degree satisfies a third condition and when it is determined that there is no space where the vehicle is movable after performing avoidance by the steering to any traveling path on a side of the target object, when it is determined that there is a misrecognized lane based on a lane width of a lane divided by two division lines among a plurality of recognized division lines, the traveling path on the side of the target object based on the lane other than the misrecognized lanes.
DRIVING ASSISTANCE DEVICE, DRIVING ASSISTANCE METHOD, AND STORAGE MEDIUM
2025-06-05
Patent
Electronic Resource
English
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