Driving support device, driving support method, and storage medium

A driving support method performed by a computer installed in a vehicle comprising a detector comprising at least one of a radar device and an LIDAR and an optical sensor and configured to detect an obstacle in front of a host vehicle, the driving support method comprising the steps of:

• calculating a likelihood of collision between the obstacle detected by the detector and the host vehicle when surroundings of the host vehicle are dark;
• performing at least one of alarm control and travel control when the likelihood is equal to or higher than a predetermined value, the alarm control being a driving support that outputs an alarm to an occupant of the host vehicle, the travel control being a driving support that controls at least one of speed and steering of the host vehicle;
• and
• when the obstacle has been detected in front of the host vehicle and an oncoming vehicle with respect to the host vehicle has been detected, advancing a timing to start at least one of the alarm control and the travel control as compared to a case where the obstacle has been detected in front of the host vehicle and the oncoming vehicle has not been detected.

A non-transitory computer readable storage medium storing a program causing a computer, which is installed in a vehicle having a detector including at least one of a radar device and an LIDAR and an optical sensor and configured to detect an obstacle in front of a host vehicle, to perform:

• calculating a likelihood of collision between the obstacle detected by the detector and the host vehicle when surroundings of the host vehicle are dark;
• performing at least one of alarm control and travel control when the likelihood is equal to or higher than a predetermined value, the alarm control being a driving support that outputs an alarm to an occupant of the host vehicle, the travel control being a driving support that controls at least one of speed and steering of the host vehicle;
• and
• when the obstacle has been detected in front of the host vehicle and an oncoming vehicle with respect to the host vehicle has been detected, advancing a timing to start at least one of the alarm control and the travel control as compared to a case where the obstacle has been detected in front of the host vehicle and the oncoming vehicle has not been detected.