Driving support device, driving support method, and storage medium

A driving support device comprising:

• a recognizer configured to recognize a surrounding situation of a vehicle;
• a steering determiner configured to determine whether an amount of steering which is received by a steering operator receiving a steering operation of a driver on the vehicle while traveling for a predetermined time or in a predetermined distance is equal to or less than a threshold value;
• a steering controller configured to control at least steering of the vehicle such that the vehicle travels in a traveling lane when it is determined that the vehicle tends to depart from the traveling lane on the basis of a recognition result from the recognizer;
• and
• an output controller configured to cause an output to output information for prompting the driver to grasp the steering operator when the steering determiner determines that the amount of steering is equal to or less than the threshold value,
• wherein the output controller curbs outputting of the information from the output when the steering determiner determines that the amount of steering is equal to or less than the threshold value and when the driver grasps the steering operator and the traveling lane of the vehicle recognized by the recognizer has a predetermined shape.

A driving support device comprising:

• a steering determiner configured to determine whether an amount of steering which is received by a steering operator receiving a steering operation of a driver on a vehicle while traveling for a predetermined time or in a predetermined distance is equal to or less than a threshold value;
• and
• an output controller configured to cause an output to output information for prompting the driver to grasp the steering operator when the steering determiner determines that the amount of steering is equal to or less than the threshold value,
• wherein the output controller causes the steering operator to perform a predetermined operation before the information is output from the output when the steering determiner determines that the amount of steering is equal to or less than the threshold value, and curbs outputting of the information when a reaction to the predetermined operation is input by the driver.

A driving support device comprising:

• a recognizer configured to recognize a surrounding situation of a vehicle;
• a steering determiner configured to determine whether an amount of steering which is received by a steering operator receiving a steering operation of a driver on the vehicle while traveling for a predetermined time or in a predetermined distance is equal to or less than a threshold value;
• and
• an output controller configured to cause an output to output information for prompting the driver to grasp the steering operator when the steering determiner determines that the amount of steering is equal to or less than the threshold value,
• wherein the output controller curbs outputting of the information from the output when the steering determiner determines that the amount of steering is equal to or less than the threshold value but when the driver grasps the steering operator and the traveling lane of the vehicle recognized by the recognizer has a predetermined shape.

A driving support method that is performed by a computer, the driving support method comprising:

• recognizing a surrounding situation of a vehicle;
• determining whether an amount of steering which is received by a steering operator receiving a steering operation of a driver on the vehicle while traveling for a predetermined time or in a predetermined distance is equal to or less than a threshold value;
• controlling at least steering of the vehicle such that the vehicle travels in a traveling lane when it is determined that the vehicle tends to depart from the traveling lane on the basis of a recognition result;
• causing an output to output information for prompting the driver to grasp the steering operator when it is determined that the amount of steering is equal to or less than the threshold value;
• causing the steering operator to perform a predetermined operation before the information is output from the output when it is determined that the amount of steering is equal to or less than the threshold value;
• and
• curbing outputting of the information when a reaction to the predetermined operation is input by the driver.

A non-transitory computer-readable storage medium storing a program, the program causing a computer to perform:

• recognizing a surrounding situation of a vehicle;
• determining whether an amount of steering which is received by a steering operator receiving a steering operation of a driver on the vehicle while traveling for a predetermined time or in a predetermined distance is equal to or less than a threshold value;
• controlling at least steering of the vehicle such that the vehicle travels in a traveling lane when it is determined that the vehicle tends to depart from the traveling lane on the basis of a recognition result;
• causing an output to output information for prompting the driver to grasp the steering operator when it is determined that the amount of steering is equal to or less than the threshold value;
• causing the steering operator to perform a predetermined operation before the information is output from the output when it is determined that the amount of steering is equal to or less than the threshold value;
• and
• curbing outputting of the information when a reaction to the predetermined operation is input by the driver.