Driving assistance device, driving assistance method, and program

A driving assistance device comprising:

• a storage medium storing computer-readable instructions;
• and
• one or more processors connected to the storage medium,
• the processors executing the computer-readable instructions to:
• stop a vehicle by instructing a braking device of the vehicle in a case in which a degree of approach between a target object among objects and the vehicle satisfies a first condition by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle;
• instruct a steering device of the vehicle to avoid a contact with the target object using steering;
• and
• restrict a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road;
• wherein the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition.

A driving assistance method using a driving assistance device, the driving assistance method comprising:

• stopping a vehicle by instructing a braking device of the vehicle in a case in which a degree of approach between a target object among objects and the vehicle satisfies a first condition by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle;
• and
• instructing a steering device of the vehicle to avoid a contact with the target object using steering;
• and
• restricting a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road,
• wherein the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition.

A non-transitory computer storage medium storing a program therein, causing a computer to execute:

• a process of stopping a vehicle by instructing a braking device of the vehicle in a case in which a degree of approach between a target object among objects and the vehicle satisfies a first condition by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle;
• and
• a process of instructing a steering device of the vehicle to avoid a contact with the target object using steering;
• and
• a process of restricting a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road,
• wherein the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition.