Abstract: A driving assistance device includes a sensor configured to detect a moving object ahead of a target vehicle and obstacles including a first obstacle and a second obstacle, and a control device. The control device is configured to determine whether the second obstacle is present. The second obstacle is located opposite to a traveling lane of the target vehicle with respect to the first obstacle in a lateral direction and forces the moving object to move in the lateral direction toward the traveling lane due to collaborative action with the first obstacle. The first obstacle hinders the moving object from moving in a longitudinal direction. The control device is configured to relax an execution condition of steering assistance for detouring around the moving object in a case where the second obstacle is present rather than in a case where the second obstacle is not present.

Abstract: A driving support system that supports driving of a vehicle executes steering support control that steers the vehicle in a first direction away from a risk factor in front of the vehicle. A target steering amount in the steering support control is represented by a function of a relative relationship parameter including a lateral distance between the vehicle and the risk factor. A straight road is a road having a curvature less than a first curvature. A curved road is a road having a curvature equal to or greater than the first curvature. When a road ahead from the vehicle to the risk factor includes the curved road, the driving support system reduces the target steering amount for the same relative relationship parameter or advances a start timing of the steering support control as compared to when the road ahead is the straight road.

Abstract: A driving support system that supports driving of a vehicle executes steering support control that steers the vehicle in a first direction away from a risk factor in front of the vehicle. A target steering amount in the steering support control is represented by a function of a relative relationship parameter including a lateral distance between the vehicle and the risk factor. A straight road is a road having a curvature less than a first curvature. A curved road is a road having a curvature equal to or greater than the first curvature. When a road ahead from the vehicle to the risk factor includes the curved road, the driving support system reduces the target steering amount for the same relative relationship parameter or advances a start timing of the steering support control as compared to when the road ahead is the straight road.

Abstract: A driving assistance apparatus includes: an executor configured to perform at least one of a deceleration control and a steering control of a host vehicle, as an avoidance assistance control; a first determinator configured to determine whether or not the target is a vehicle; a second determinator configured to determine whether the target is a stopped vehicle, which has a possibility to move before the host vehicle passes it, or parked vehicle, which does not have a possibility to move before the host vehicle passes it, if it is determined by the first determinator that the target is a vehicle; and a controller programmed to control the executor to change a control aspect of the avoidance assistance control between if it is determined by the second determinator that the target is the stopped vehicle and if it is determined by the second determinator that the target is the parked vehicle.