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We present the SCExAO direct imaging discovery and characterization of alow-mass companion to the nearby young A7IV star, HD 91312. SCExAO/CHARIS $JHK$(1.1-2.4 $\mu m$) spectra and SCExAO/HiCIAO $H$ band imaging identify thecompanion over a two year baseline in a highly inclined orbit with a maximumprojected separation of 8 au. The companion, HD 91312 B, induces an8.8-$\sigma$ astrometric acceleration on the star as seen with the Gaia &Hipparcos satellites and a long-term radial velocity trend as previouslyidentified by Borgniet et al. (2019). HD 91312 B's spectrum is consistent withthat of an early-to-mid M dwarf. Hipparcos and Gaia absolute astrometry,radial-velocity data, and SCExAO/CHARIS astrometry constrain its dynamical massto be $0.337^{+0.042}_{-0.044}$M$_\odot$, consistent with - but far moreprecise than - masses derived from spectroscopy, and favors a nearly edge-onorbit with a semi-major axis of $\sim$9.7 au. This work is an example ofprecisely characterizing properties of low-mass companions at solar system-likescales from a combination of direct imaging, astrometry, and radial-velocitymethods.

SCExAO/CHARIS Direct Imaging of A Low-Mass Companion At A Saturn-Like Separation from an Accelerating Young A7 Star