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, during driving of a host vehicle, collision avoidance with an object, the driving assistance program including instructions for causing a processor to execute:

• turning control of the host vehicle toward an avoidance direction for the collision avoidance before a collision risk between the host vehicle and the object increases to a collision avoidance range at which collision avoidance is required;
• and
• in response to the collision risk reaching the collision avoidance range in the host vehicle that has been subjected to turning control toward the avoidance direction, coordinated control of a braking force and a steering angle applied to wheels by an actuator system, in accordance with a driving trajectory planned for the host vehicle for the collision avoidance,
• wherein
• the turning control of the host vehicle includes turning control of the host vehicle toward the avoidance direction by limiting control to a left-right distribution of the braking force applied from a braking actuator to the wheels in the host vehicle, and
• the coordinated control of the host vehicle includes coordinated control of the steering angle applied from a steering actuator to the wheels in the host vehicle and the braking force.

A driving assistance method executed by a processor to assist, during driving of a host vehicle, collision avoidance with an object, the driving assistance method comprising:

• turning control of the host vehicle toward an avoidance direction for the collision avoidance before a collision risk between the host vehicle and the object increases to a collision avoidance range at which collision avoidance is required;
• and
• in response to the collision risk reaching the collision avoidance range in the host vehicle that has been subjected to turning control toward the avoidance direction, coordinated control of a braking force and a steering angle applied to wheels by an actuator system, in accordance with a driving trajectory planned for the host vehicle for the collision avoidance,
• wherein
• the turning control of the host vehicle includes turning control of the host vehicle toward the avoidance direction by limiting control to a left-right distribution of the braking force applied from a braking actuator to the wheels in the host vehicle, and
• the coordinated control of the host vehicle includes coordinated control of the steering angle applied from a steering actuator to the wheels in the host vehicle and the braking force.