{
  "$type": "site.standard.document",
  "description": "Provided is a driving assistance device () including: a traffic light recognition device configured to recognize a lighting mode of a traffic light existing in front of an own vehicle; and a control device configured to determine a predetermined position in a periphery of the traffic light as a…",
  "path": "/patents/1352126",
  "publishedAt": "2023-10-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18154",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "Provided is a driving assistance device () including: a traffic light recognition device configured to recognize a lighting mode of a traffic light existing in front of an own vehicle; and a control device configured to determine a predetermined position in a periphery of the traffic light as a target position, execute deceleration control of decelerating the own vehicle until the own vehicle reaches the target position, calculate a predicted speed being a speed of the own vehicle at a time point at which the own vehicle reaches the target position in a case in which the own vehicle is decelerated from a current time point in a predetermined deceleration mode, execute the deceleration control in a first situation in which the predicted speed is equal to or lower than a threshold value determined based on the lighting mode of the traffic light, and to avoid executing the deceleration control in a second situation in which the predicted speed is higher than the threshold value. The threshold value at a time when a light color of the traffic light is yellow is smaller than the threshold value at a time when the light color of the traffic light is red.",
  "title": "DRIVING ASSISTANCE DEVICE, DRIVING ASSISTANCE METHOD, AND DRIVING ASSISTANCE PROGRAM"
}