Driving assistance device

A driving assistance device comprising:

• a travel trajectory generation unit configured to generate a travel trajectory of a vehicle;
• a travel trajectory correction unit configured to correct the travel trajectory when the travel trajectory needs to be corrected while the vehicle is moving along the travel trajectory;
• a control pattern selection unit configured to select, when the travel trajectory is corrected, a deceleration control pattern of the vehicle for stopping the vehicle at a next stop position in the corrected travel trajectory from a plurality of patterns, based on a remaining distance from a current position of the vehicle to the next stop position in the corrected travel trajectory and a vehicle speed of the vehicle at a time when the travel trajectory is corrected;
• and
• a vehicle control unit configured to perform a deceleration control on the vehicle according to the selected deceleration control pattern, wherein
• a plurality of the deceleration control patterns include
• a first deceleration control pattern in which control is performed by switching a jerk limit section in which a deceleration control is performed by fixing a jerk, which is a change rate of deceleration, a constant deceleration section in which deceleration is performed at a constant deceleration, and a position control section in which the vehicle speed is controlled to correspond to the remaining distance from the current position of the vehicle to the next stop position in this order,
• a second deceleration control pattern in which control is performed by switching the constant deceleration section and the position control section in this order, and
• a third deceleration control pattern including only the position control section.