Driving assistance system, driving assistance device, driving assistance method, and program

A non-transitory storage medium storing a program comprising instructions causing a computer to perform:

• determining whether or not a current situation is a risk situation where there is a possibility of collision with an object, based on an input signal from an external sensor detecting an environment around a vehicle;
• executing assistance control for the vehicle to avoid the collision with the object, based on determining that the current situation is the risk situation;
• determining whether or not a preparatory action for avoiding the collision has been performed by a driver, based on an input signal from a motion sensor, including a plurality of sensors, that detects the driver's motion;
• change execution timing of the assistance control depending on whether or not the preparatory action has been performed within a given determination time period;
• and
• change, among the plurality of sensors in the motion sensor, a combination of sensors used to determine whether the preparatory action has been performed, according to traveling scene.

A driving assistance device comprising:

• a communicator for communicating with another device;
• and
• a controller, including a processor and a memory, that executes assistance control for a vehicle to avoid collision with an object based on data received by the communicator,
• wherein the controller is configured to:
• acquire, via the communicator, a detection result of an external sensor detecting an environment around the vehicle;
• determine whether or not a current situation is a risk situation where there is a possibility of the collision with the object, based on an output signal of the external sensor;
• execute the assistance control, based on determining that the current situation is the risk situation;
• acquire via the communicator, a detection result of a motion sensor, including a plurality of sensors, detecting motion of a driver;
• determine whether or not a preparatory action for avoiding the collision has been performed by the driver, based on the detection result of the motion sensor;
• change execution timing of the assistance control depending on whether or not the preparatory action has been performed within a given determination time period;
• and
• change, among the plurality of sensors in the motion sensor, a combination of sensors used to determine whether the preparatory action has been performed, according to traveling scene.

A driving assistance device comprising:

• a communicator for communicating with another device;
• and
• a controller, including a processor and a memory, that executes behavior control for a vehicle to avoid collision with an object based on data received by the communicator, the behavior control including steering control or braking control,
• wherein the controller is configured to:
• acquire, via the communicator, a detection result of an external sensor detecting an environment around the vehicle;
• determine whether or not a current situation is a risk situation where there is a possibility of the collision with the object, based on an output signal of the external sensor;
• start the behavior control based on determining the current situation is the risk situation;
• acquire, via the communicator, a detection result of a motion sensor detecting motion of the driver;
• determine whether or not a preparatory action for avoiding the collision has been performed by the driver, based on the detection result of the motion sensor;
• and
• change magnitude of the behavior control depending on whether or not the preparatory action has been performed within a given determination time period.

A driving assistance system comprising:

• an external sensor that detects an environment around a vehicle;
• a motion sensor that detects motion of a driver;
• and
• a controller, including a processor and a memory, that executes behavior control for the vehicle to avoid collision with an object, the behavior control including steering control or braking control,
• wherein the controller is configured to:
• determine whether or not a current situation is a risk situation where there is a possibility of the collision with the object, based on an output signal of the external sensor;
• start the behavior control based on determining that the current situation is the risk situation;
• determine whether or not a preparatory action for avoiding the collision has been performed by the driver, based on an output signal of the motion sensor;
• and
• change magnitude of the behavior control depending on whether or not the preparatory action has been performed within a given determination time period.

A non-transitory storage medium storing a program comprising instructions causing a computer to perform:

• determining whether or not a current situation is a risk situation where there is a possibility of collision with an object, based on an input signal from an external sensor detecting an environment around a vehicle;
• starting behavior control for the vehicle to avoid the collision with the object, based on determining the current situation is the risk situation, wherein the behavior control includes steering control or braking control;
• determining whether or not a preparatory action for avoiding the collision has been performed by the driver, based on an input signal from a motion sensor detecting motion of the driver;
• and
• changing magnitude of the behavior control depending on whether or not the preparatory action has been performed within a given determination time period.