| CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 50/16 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2554/80 (2020.02); B60W 2710/18 (2013.01)] | 10 Claims |
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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:
receive an output of a sensor that detects that an object is located in front of a vehicle;
actuate a brake device of the vehicle, stopping the vehicle, and/or a steering device of the vehicle, avoiding a collision with the object by steering, when an indicator value that decreases as the vehicle approaches the object is less than a first threshold;
execute a first preliminary operation when the indicator value is less than a second threshold;
execute a second preliminary operation when the indicator value is less than a third threshold and it is determined that there is no travel path along which the vehicle is able to travel on both lateral sides of the object when the vehicle avoids the collision with the object by steering, wherein the first threshold is less than the second threshold and the second threshold is less than the third threshold; and
change a setting of the second preliminary operation in accordance with whether or not a number of other vehicles located in a travel path on the lateral side of the object is greater than or equal to a first specific value and speeds of the other vehicles are less than or equal to a second specific value.
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