CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/18163 (2013.01); B60W 40/072 (2013.01); B60W 50/14 (2013.01); G06V 20/58 (2022.01); B60W 2050/143 (2013.01); B60W 2554/802 (2020.02); B60W 2556/40 (2020.02)] | 7 Claims |
1. A driving assistance device, comprising a processor configured to:
determine whether, due to poor visibility caused by at least one of fog, rain, and snow, an expected distance of visibility for a driver of a vehicle is below a predetermined distance from the vehicle in a traveling direction of the vehicle, based on a detection result of the at least one of fog, rain, and snow;
while the vehicle is in an original lane, detect an entry operation that will cause the vehicle to enter an opposite lane, based on information representing driver operation of the vehicle; and
control steering of the vehicle to return to or remain in the original lane, responsive to:
a determination that the expected distance of visibility for the driver is below the predetermined distance, and
the detection of the entry operation.
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