| CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/14 (2013.01); B60W 2554/402 (2020.02); B60W 2554/4026 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] | 10 Claims |
|
1. A driving assistance device comprising:
a storage medium storing computer-readable instructions; and
at least one processor connected to the storage medium, the at least one processor executing the computer-readable instructions to:
execute a referring process of referring to an output of a detection device for detecting that an object is located in front of a vehicle;
execute one or both of a braking control process or a steering based avoidance control process;
the braking control process being a process that instructs a brake device of the vehicle to stop the vehicle when an indicator value that decreases as the vehicle approaches the object is less than a first threshold, the a steering-based avoidance control process being a process that instruct a steering device of the vehicle to avoid a collision with the object in steering,
execute a first preliminary operation control process of performing a first preliminary operation of notifying a driver of the vehicle that the object is present when the indicator value is less than a second threshold; and
execute a second preliminary operation control process of performing a second preliminary operation of notifying the driver of the vehicle that the object is present when the indicator value is less than a third threshold and it is determined, at a time point when the indicator value is less than the third threshold, that there is no travel path along which the vehicle is able to travel on both left and right sides of the object after the vehicle avoids the collision with the object in the steering,
wherein the first threshold is less than the second threshold and the second threshold is less than the third threshold,
wherein control content is changed in accordance with a type of the object in at least some of the steering-based avoidance control process, the first preliminary operation control process, and the second preliminary operation control process,
the first preliminary operation includes some or all of outputting braking force, displaying, outputting sound, and outputting vibration,
the second preliminary operation includes some or all of the outputting braking force, the displaying, the outputting sound, and the outputting vibration, and
the at least one processor executing the computer-readable instructions to perform (i) or (ii):
(i) when the type of the object is a two-wheeled vehicle, the timing of the first preliminary operation or the second preliminary operation is earlier than when the type of the object is a four-wheeled vehicle, or
(ii) the second preliminary operation is executed when the type of the object is the two-wheeled vehicle, and the second preliminary operation is not executed when the type of the object is the four-wheeled vehicle.
|