Honda Motor Co., Ltd.

Kenjiro Torii

Yuji Yasui

Aya Miura

Takeru Goto

Kosuke Toda

Keming Ding

Provided is a mobile object control device configured to: recognize a surrounding situation of a mobile object; set, based on the recognized surrounding situation, a risk area in which positions of the surrounding situation are associated with risk values that are indicator values indicating degrees to which the mobile object is to avoid traveling; generate a target trajectory indicating a route along which the mobile object is to travel in the future; cause the mobile object to travel along the generated target trajectory; and set at least one observation point in each of three or more provisional trajectories branching at a specific location ahead of the mobile object, and generate the target trajectory based on the risk area and the at least one observation point.

Driving assistance device, driving assistance method, and storage medium

A driving assistance device of an embodiment includes a recognizer configured to recognize a surrounding situation of a mobile object, a determiner configured to determine, on the basis of the surrounding situation, whether to prompt a driver of the mobile object to perform a steering operation and whether there is a possibility of a risk occurring for the mobile object, and a notification controller configured to cause a speaker to output a guidance sound prompting the driver of the mobile object to perform a steering operation and a warning sound with respect to the risk on the basis of a result of the determination by the determiner, in which the notification controller causes output modes for the guidance sound and the warning sound to be different from each other.

A driving assistance device includes a storage device storing a program and a hardware processor connected to the storage device. The hardware processor reads and executes the program stored in the storage device to recognize a risky physical object located near a mobile object on the basis of an output of a physical object detection device, cause at least one speaker to output a notification sound on the basis of a position of the risky physical object, and when the notification sound is output, cause the at least one speaker to output a first notification sound if the risky physical object is located in a first region including a region in front of the mobile object and cause the at least one speaker to output a second notification sound if the risky physical object is located in a second region including a region behind the mobile object. The first notification sound is a sound having a pitch different from that of the second notification sound.

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Wako, Japan

Kenjiro Torii