Driving assistance system, driving assistance device, driving assistance method, and storage medium storing driving assistance program

A driving assistance device configured to be mounted in a host vehicle to control driving assistance for the host vehicle, the driving assistance device comprising a processor configured to cause the driving assistance device to carry out:

• executing deceleration control that decelerates the host vehicle according to a distance from the host vehicle to a specific area which is switchable between a crossing allowable state and a crossing prohibited state, wherein the crossing allowable state is a state where crossing the specific area is allowed and the crossing prohibited state is a state where the crossing the specific area is prohibited;
• obtaining state information regarding a state for the specific area;
• obtaining a crossing instruction of a user of the host vehicle that instructs the host vehicle to cross the specific area;
• stopping the deceleration control in response to the obtaining of the crossing instruction based on the state information indicating the crossing allowable state;
• prohibiting the stopping of the deceleration control until the obtaining of the crossing instruction based on the state information indicating the crossing allowable state;
• and
• stopping the deceleration control before the obtaining of the crossing instruction based on the state information indicating the crossing allowable state and a reliability of the state information falling within an acceptable range.

A driving assistance method executed by a processor for controlling driving assistance for a host vehicle, the driving assistance method comprising:

• executing deceleration control that decelerates the host vehicle according to a distance from the host vehicle to a specific area which is switchable between a crossing allowable state and a crossing prohibited state, wherein the crossing allowable state is a state where crossing the specific area is allowed and the crossing prohibited state is a state where the crossing the specific area is prohibited;
• obtaining state information regarding a state for the specific area;
• obtaining a crossing instruction of a user of the host vehicle that instructs the host vehicle to cross the specific area;
• stopping the deceleration control in response to the obtaining of the crossing instruction based on the state information indicating the crossing allowable state;
• prohibiting the stopping of the deceleration control until the obtaining of the crossing instruction based on the state information indicating the crossing allowable state;
• and
• stopping the deceleration control before the obtaining of the crossing instruction based on the state information indicating the crossing allowable state and a reliability of the state information falling within an acceptable range.

A non-transitory storage medium storing a driving assistance program for controlling driving assistance for a host vehicle, the driving assistance program being configured to, when executed by a processor, cause the processor to carry out:

• executing deceleration control that decelerates the host vehicle according to a distance from the host vehicle to a specific area which is switchable between a crossing allowable state and a crossing prohibited state, wherein the crossing allowable state is a state where crossing the specific area is allowed and the crossing prohibited state is a state where the crossing the specific area is prohibited;
• obtaining state information regarding a state for the specific area;
• obtaining a crossing instruction of a user of the host vehicle that instructs the host vehicle to cross the specific area;
• stopping the deceleration control in response to the obtaining of the crossing instruction based on the state information indicating the crossing allowable state;
• prohibiting the stopping of the deceleration control until the obtaining of the crossing instruction based on the state information indicating the crossing allowable state;
• and
• stopping the deceleration control before the obtaining of the crossing instruction based on the state information indicating the crossing allowable state and a reliability of the state information falling within an acceptable range.