Abstract: Provided is a collision avoidance assistance device with improved functionality and usability, which can suppress an excessive application or emergency application of the brakes in assisting avoidance of a collision with an object traveling in a lane orthogonal to a host vehicle (a road crossing the host vehicle).

Abstract: The present invention provides a driving support device that performs driving support of a vehicle, comprising: a detector configured to detect a surrounding situation of the vehicle; a control unit configured to operate the driving support of the vehicle in a case where a positional relationship between a detected target by the detector and the vehicle satisfies an operating condition; a specifying unit configured to specify a traveling course of the vehicle; and a determination unit configured to determine whether there is an intersecting structure that three-dimensionally intersects a traveling road of the vehicle in the specified traveling course, wherein in a case where the determination unit determines that there is the intersecting structure in the traveling course, the control unit changes the operating condition such that operation of the driving support with respect to the detected target is restricted.

Abstract: A driving assistance device mounted in a vehicle operates together with an automated driving control device for automatically controlling steering, acceleration, and deceleration of the vehicle in either of a first state in which a driver is not gripping a steering operation element and a second state in which the driver is gripping the steering operation element, the driving assistance device including a storage medium storing computer-readable instructions and at least one processor connected to the storage medium. The at least one processor makes an operation start condition of a second preliminary operation loose when the automated driving control device is operating in the second state as compared with when the automated driving control device is not operating.

Abstract: A driving assistance device mounted in a vehicle operates together with an automated driving control device for automatically controlling steering, acceleration, and deceleration of the vehicle in either of a first state in which a driver is not gripping a steering operation element and a second state in which the driver is gripping the steering operation element, the driving assistance device including a storage medium storing computer-readable instructions and at least one processor connected to the storage medium. The at least one processor makes an operation start condition of a second preliminary operation strict when the automated driving control device is operating in the first state as compared with when the automated driving control device is not operating.

Abstract: At least one processor executes a first preliminary operation control process of notifying that an object is present when an indicator value is less than a second threshold and there is a travel path along which the vehicle is able to travel on one of left and right sides of the object and executes a second preliminary operation control process of notifying a driver when the indicator value is less than a third threshold and there is no travel path on both left and right sides of the object. The second preliminary operation or the first preliminary operation is executed when the indicator value is less than the third threshold, there is a travel path along which the vehicle is able to travel, and it is estimated that there is an interfering object in the travel path on the assumption that the vehicle has approached the object.

Abstract: A sameness judgment unit of an object recognition apparatus sets a threshold value for a relative distance between the first object and the second object, for judging whether or not the first object and the second object are the same. If at least a portion of the first object exists on a travel path of a vehicle, and the second object exists outside of the travel path, the sameness judgment unit judges that the first object and the second object are different objects, even if the relative distance is less than or equal to the threshold value.

Abstract: A sameness judgment unit of an object recognition apparatus sets a threshold value for a relative distance between the first object and the second object, for judging whether or not the first object and the second object are the same. If at least a portion of the first object exists on a travel path of a vehicle, and the second object exists outside of the travel path, the sameness judgment unit judges that the first object and the second object are different objects, even if the relative distance is less than or equal to the threshold value.