{
  "$type": "site.standard.document",
  "description": "A driving assistance device includes a forward recognizer configured to recognize a forward situation of a vehicle, a brake controller configured to perform brake control, and a determiner configured to determine execution of the brake control and drive control based on target data obtained by the…",
  "path": "/patents/1303529",
  "publishedAt": "2021-11-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18154",
    "SUBARU CORPORATION"
  ],
  "textContent": "A driving assistance device includes a forward recognizer configured to recognize a forward situation of a vehicle, a brake controller configured to perform brake control, and a determiner configured to determine execution of the brake control and drive control based on target data obtained by the forward recognizer and/or from map information. The brake controller performs the brake control to stop the vehicle at a position before a stop line of a road surface, based on a recognition result from the forward recognizer. When the vehicle stops and the forward situation is determined to be safe the determiner slowly drives the vehicle to another position before a crossing road edge where the road on which the vehicle drives intersects with another road. When the vehicle is at the other position and the forward situation is determined to be safe, the determiner slowly drives the vehicle from the other position by a predetermined distance.",
  "title": "DRIVING ASSISTANCE DEVICE"
}