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

A non-transitory computer readable storage medium storing a driving assistance program for assisting collision avoidance with an object in driving of a host vehicle, the driving assistance program including instructions for causing a processor to execute the assistance, the instructions causing the processor to execute:

• performing phase advance adjustment of a phase of a required yaw rate required for the host vehicle so as to be advanced relative to a phase that follows a driving trajectory planned for the host vehicle toward collision avoidance;
• and
• controlling, in the host vehicle, a left-right distribution of a braking force applied from a braking actuator to wheels to a braking distribution correlated with the required yaw rate subjected to the phase advance adjustment.

A non-transitory computer readable storage medium storing a driving assistance program for assisting collision avoidance with an object in driving of a host vehicle, the driving assistance program including instructions for causing a processor to execute the assistance, the instructions causing the processor to execute:

• performing phase advance adjustment of a phase of a required yaw rate required for the host vehicle so as to be advanced relative to a phase that follows a driving trajectory planned for the host vehicle toward collision avoidance;
• and
• controlling, in the host vehicle, a front-rear distribution of a steering angle applied from a steering actuator to wheels to a steering distribution correlated with the required yaw rate subjected to the phase advance adjustment.

A driving assistance method executed by a processor for assisting collision avoidance with an object in driving of a host vehicle, the driving assistance method comprising:

• performing phase advance adjustment of a phase of a required yaw rate required for the host vehicle so as to be advanced relative to a phase that follows a driving trajectory planned for the host vehicle toward collision avoidance;
• and
• controlling, in the host vehicle, a left-right distribution of a braking force applied from a braking actuator to wheels to a braking distribution correlated with the required yaw rate subjected to the phase advance adjustment.

A driving assistance method executed by a processor for assisting collision avoidance with an object in driving of a host vehicle, the driving assistance method comprising:

• performing phase advance adjustment of a phase of a required yaw rate required for the host vehicle so as to be advanced relative to a phase that follows a driving trajectory planned for the host vehicle toward collision avoidance;
• and
• controlling, in the host vehicle, a front-rear distribution of a steering angle applied from a steering actuator to wheels to a steering distribution correlated with the required yaw rate subjected to the phase advance adjustment.