Driving assistance device, driving assistance method, and program

1 . A driving assistance device comprising:

a storage medium storing computer-readable instructions; and

one or more processors connected to the storage medium, the processors executing the computer-readable instructions to:

stop a vehicle by instructing a braking device of the vehicle,

in a case in which a degree of approach, between a target object among objects and the vehicle, satisfies a first condition, by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle;

instruct a steering device of the vehicle to avoid a contact with the target object using steering; and

restrict a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road,

wherein the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition, and wherein the restricting of the preliminary operation delays:

a time at which the preliminary operation is performed, and

a time at which the vehicle is decelerated.

2 . A driving assistance device, comprising:

a storage medium storing computer-readable instructions; and

one or more processors connected to the storage medium,

the processors executing the computer-readable instructions to:

stop a vehicle by instructing a braking device of the vehicle in a case in which a degree of approach between a target object among objects and the vehicle satisfies a first condition by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle;

instruct a steering device of the vehicle to avoid a contact with the target object using steering; and

restrict a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road;

wherein the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition,

wherein the restricting of the preliminary operation is delaying a timing delays a time at which the preliminary operation is performed, and

the restricting of the preliminary operation delays a time at which an operation of giving a notification to a driver of the vehicle.

3 . The driving assistance device according to claim 1 , wherein the preliminary operation comprises an operation of raising a deceleration level of the vehicle or an operation of giving a notification to a driver of the vehicle.

4 . A driving assistance device, comprising:

a storage medium storing computer-readable instructions; and

one or more processors connected to the storage medium,

the processors executing the computer-readable instructions to:

stop a vehicle by instructing a braking device of the vehicle in a case in which a degree of approach between a target object among objects and the vehicle satisfies a first condition by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle;

instruct a steering device of the vehicle to avoid a contact with the target object using steering; and

restrict a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road,

wherein the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition,

wherein the preliminary operation comprises an operation of raising a deceleration level of the vehicle, and an operation of giving a notification to the driver of the vehicle, and

wherein the restricting of the preliminary operation comprises:

restricting a degree of raising of the deceleration level more than a degree of raising of the deceleration level performed in a case in which the target object is not present on a curved road, and

restricting a degree of the notification more than a degree of the notification performed in a case in which the target object is not present on a curved road.

5 . The driving assistance device according to claim 1 , wherein the preliminary operation comprises an operation of giving a notification to the driver of the vehicle, and wherein the restricting of the preliminary operation comprises restricting a degree of the notification more than a degree of the notification performed in a case in which the target object is not present on a curved road.

6 . The driving assistance device according to claim 1 , wherein the one or more processors executes the computer-readable instructions to, at least one of:

recognize the curved road by referring to an output of a detection device, or

recognize the curved road by referring to information included in map information.

7 . The driving assistance device according to claim 1 , wherein the one or more processors execute the computer-readable instructions to determine a degree of the restricting of the preliminary operation in accordance with a curvature of a curve of the curved road.

8 . The driving assistance device according to claim 1 , wherein the one or more processors execute the computer-readable instructions to:

restrict the preliminary operation in a case in which the curved road includes a plurality of lanes; and

perform no restriction of the preliminary operation in a case in which the curved road does not include a plurality of lanes.

9 . The driving assistance device according to claim 1 , wherein the one or more processors execute the computer-readable instructions to:

recognize objects by referring to the output of the detection device;

execute a process of repeatedly recognizing an object present on a curved road after it is determined that the recognized target object is present on the curved road;

cancel the preliminary operation in a case in which it is determined that the object is not present in a lane in which the vehicle is traveling among a plurality of lanes included in the curved road on the basis of a result of the recognition; and

release the restriction of the preliminary operation in a case in which it is determined that the object is present in a lane in which the vehicle is traveling among the plurality of lanes included in the curved road on the basis of the result of the recognition.

10 . The driving assistance device according to claim 1 , wherein the one or more processors execute the computer-readable instructions to:

perform the preliminary operation in a case in which it is determined:

that the degree of approach satisfies a predetermined condition that is lower than the first condition, and

a travelable space after the avoidance using the steering is not present in any of traveling roads of a lateral side of the target object, at a time point at which the predetermined condition is satisfied, in a case in which the target object is not present on a curved road.

11 . A driving assistance method using a driving assistance device, the driving assistance method comprising:

stopping a vehicle by instructing a braking device of the vehicle in a case in which a degree of approach between a target object among objects and the vehicle satisfies a first condition by referring to an output of a detection device detecting presence of the objects that are present in front of the vehicle;

instructing a steering device of the vehicle to avoid a contact with the target object using steering; and

restricting a preliminary operation performed in a case in which the target object is present on a curved road more than a preliminary operation performed in a case in which the target object is not present on a curved road,

wherein the preliminary operation is executed in a case in which the degree of approach between the vehicle and the target object is lower than the first condition, and wherein the restricting of the preliminary operation delays:

a time at which the preliminary operation is performed, and

a time at which the vehicle is decelerated.