Driving assistance apparatus, driving assistance method, and non-transitory storage medium storing program thereof

A driving assistance method comprising:

• a step of obtaining radar object information on an object present ahead of a host vehicle from a radar device configured to use radar waves, said radar object information including a radar ground speed representing a ground speed of said object;
• a step of obtaining camera object information on an object present ahead of said host vehicle based on an image captured by a camera device, said camera object information including a type of said object and a camera ground speed which represents a ground speed of said object included in said camera object information;
• a step of generating fusion object information by fusing said radar object information and said camera object information;
• and
• a step of performing driving assistance control to reduce a collision risk between an object present ahead of said host vehicle and said host vehicle, in a case where a specific situation is occurring with respect to a specific object whose fusion object information has been generated, said specific situation is a situation in which said radar ground speed of said specific object serving as a fusion ground speed of said specific object included in said generated fusion object information is within a first range including 0 and said camera ground speed of said specific object is within a second range including 0.

A non-transitory storage medium storing a program, said program causing a computer to implement:

• a step of obtaining radar object information on an object present ahead of a host vehicle from a radar device configured to use radar waves, said radar object information including a radar ground speed representing a ground speed of said object;
• a step of obtaining camera object information on an object present ahead of said host vehicle based on an image captured by a camera device, said camera object information including a type of said object and a camera ground speed which represents a ground speed of said object included in said camera object information;
• a step of generating fusion object information by fusing said radar object information and said camera object information;
• and
• a step of performing driving assistance control to reduce a collision risk between an object present ahead of said host vehicle and said host vehicle, in a case where a specific situation is occurring with respect to a specific object whose fusion object information has been generated, said specific situation is a situation in which said radar ground speed of said specific object serving as a fusion ground speed of said specific object included in said generated fusion object information is within a first range including 0 and said camera ground speed of said specific object is within a second range including 0.