Driving assistance system, driving assistance program, and driving assistance method

Abstract

A processor of a driving assistance system that assists with avoidance of collision with a target in driving of a host vehicle is configured to: adjust the phase of a requested yaw rate (Y_c) requested from the host vehicle to advance further than a phase which is according to a driving trajectory (Td) planned for the host vehicle for collision avoidance; and control the left-right distribution of a braking force (Fb) imparted to a wheel from a braking actuator in the host vehicle to be a braking distribution (Ab) correlated with the requested yaw rate (Y_c), which has been adjusted to advance.