Driving support device, driving support method, and storage medium

A driving support method comprising:

• by a computer,
• calculating a first braking control amount of braking control;
• calculating, on the basis of a setting standard, a second braking control amount of the braking control executed at an execution frequency lower than an execution frequency of the braking control based on the first braking control amount;
• updating the setting standard on the basis of a relative relationship between an estimated braking behavior based on the first braking control amount and an actual braking behavior based on the first braking control amount;
• executing the braking control;
• calculating the first braking control amount when vehicle speed control according to a set vehicle speed is executed;
• and
• calculating the second braking control amount when emergency braking control is executed.

A computer-readable non-transitory storage medium that has stored a program causing a computer to execute:

• calculating a first braking control amount of braking control;
• calculating, on the basis of a setting standard, a second braking control amount of the braking control executed at an execution frequency lower than an execution frequency of the braking control based on the first braking control amount;
• updating the setting standard on the basis of a relative relationship between an estimated braking behavior based on the first braking control amount and an actual braking behavior based on the first braking control amount;
• executing the braking control;
• calculating the first braking control amount when vehicle speed control according to a set vehicle speed is executed;
• and
• calculating the second braking control amount when emergency braking control is executed.