Vehicle driving assistance device, vehicle driving assistance method, and vehicle driving assistance program

Abstract

To provide a vehicle operation support device capable of preventing an own vehicle from deviating from an own traffic lane in executing steering avoidance control which forcibly steers the own vehicle, when the same is in a risk of colliding with an object in front thereof, so that the same passes by the object while allowing the own vehicle to travel in the own traffic lane.SOLUTION: When determining that an own vehicle 100 is likely to deviate from an own traffic lane while steering avoidance control is in execution, a vehicle operation support device 10: sets an angle obtained by changing a steering angle specified in a steering control pattern causing the own vehicle to direct toward a center of the own traffic lane to a target steering angel; and sets a value obtained by increasing deceleration specified in a deceleration control pattern to target deceleration.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present invention relates to a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program. [Background technology]

[0002] There is known a vehicle driving assistance device that, when it is determined that an object exists in front of the vehicle and that the vehicle may collide with the object, performs steering avoidance control to avoid a collision between the vehicle and the object by forcibly steering the vehicle to change lanes to an adjacent lane (see, for example, Patent Document 1). When this conventional vehicle driving assistance device determines that the vehicle may collide with an object and changes lanes to an adjacent lane, it sets a route that will prevent the vehicle from colliding with the object based on the distance between the vehicle and the object and the relative speed of the vehicle with respect to the object, and drives the vehicle along that route. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-160995 Summary of the Invention

[0004] There may be a situation where the host vehicle cannot change lanes to the adjacent lane when there is a possibility that the host vehicle will collide with an object ahead of the host vehicle. In this case, it is possible to take a measure to avoid a collision between the host vehicle and the object by forcibly steering the host vehicle so that the host vehicle passes beside the object while driving within the host vehicle's own lane (the lane in which the host vehicle is driving), but if the host vehicle is driven based only on the distance between the host vehicle and the object and the relative speed of the host vehicle to the object as in the above-mentioned conventional vehicle driving assistance device, the host vehicle will deviate from the host vehicle's own lane and enter the adjacent lane, which is not preferable.

[0005] Therefore, an object of the present invention is to provide a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program that can prevent a vehicle from deviating from its own lane when steering avoidance control is executed in which the vehicle is forcibly steered so that the vehicle passes next to an object while traveling within its own lane when there is a possibility of the vehicle colliding with an object in front of the object.

[0006] The vehicle driving assistance device of the present invention is equipped with a control device that performs steering avoidance control to avoid a collision between the host vehicle and an object by forcibly braking and steering the host vehicle when it is determined that there is a possibility that the host vehicle will collide with an object in front of the object. The steering avoidance control is a control to avoid a collision between the host vehicle and the object by setting a driving path of the host vehicle along which the host vehicle can travel within the host vehicle's current lane, the driving path of the host vehicle passing alongside the object, setting a control pattern of the steering angle of the host vehicle for traveling along the target driving path as a steering angle control pattern, setting a control pattern of the deceleration of the host vehicle as a deceleration control pattern, setting a target value of the steering angle of the host vehicle as a target steering angle based on the steering angle control pattern, setting a target value of the deceleration of the host vehicle as a target deceleration based on the deceleration control pattern, controlling the steering angle of the host vehicle so that the steering angle of the host vehicle becomes the target steering angle, and controlling the deceleration of the host vehicle so that the deceleration of the host vehicle becomes the target deceleration.

[0007] And, the control device During execution of the steering avoidance control, if the deviation of the vehicle from the target driving path is equal to or greater than a predetermined deviation before the vehicle passes next to the object, the steering angle specified in the steering angle control pattern is changed to a value that reduces the deviation, and the target deceleration is set to a value that changes the deceleration specified in the deceleration control pattern. During the execution of the steering avoidance control, When the deviation amount is smaller than the predetermined deviation amount before the host vehicle passes beside the object, When it is determined that there is a possibility that the vehicle may depart from the own lane, the steering angle specified in the steering angle control pattern is changed in a direction to move the vehicle toward the center of the own lane, and a target steering angle is set to a value obtained by increasing the deceleration specified in the deceleration control pattern, and a target deceleration is set to a value obtained by increasing the deceleration specified in the deceleration control pattern.

[0008] According to the present invention, when the vehicle approaches the left or right edge of the vehicle's lane during the execution of the steering avoidance control, it is determined that the vehicle may deviate from the vehicle's lane, and a value obtained by changing the steering angle (prescribed steering angle) specified in the steering angle control pattern in a direction to move the vehicle toward the center of the vehicle's lane is set as the target steering angle. Therefore, when the steering avoidance control is executed, the vehicle can be prevented from deviating from the vehicle's lane. Also, according to the present invention, when it is determined that the vehicle may deviate from the vehicle's lane, and the value obtained by changing the prescribed steering angle is set as the target steering angle to execute the steering avoidance control, a value obtained by increasing the deceleration (prescribed deceleration) specified in the deceleration control pattern is set as the target deceleration. As a result, the vehicle is decelerated more greatly. Therefore, when the vehicle approaches the left or right edge of the vehicle's lane and the value obtained by changing the prescribed steering angle is set as the target steering angle to execute the steering avoidance control, even if the vehicle is steered significantly, the vehicle is decelerated more greatly, so that the vehicle can be more reliably driven within the vehicle's lane.

[0013] In the vehicle driving assistance device according to the present invention, the control device, during execution of the steering avoidance control, Before the host vehicle passes beside the object, The present invention may be configured such that, while it is not determined that there is a possibility that the vehicle will deviate from the own lane and the deviation amount is smaller than the predetermined deviation amount, the steering angle specified in the steering angle control pattern is set as the target steering angle, and the deceleration specified in the deceleration control pattern is set as the target deceleration.

[0014] During the execution of the steering avoidance control, if there is no possibility that the host vehicle will deviate from its own lane and the deviation of the host vehicle from the target travel route is small, the specified steering angle (steering angle specified in the steering angle control pattern) is set as the target steering angle as is, and the specified deceleration (deceleration specified in the deceleration control pattern) is set as the target deceleration as is, so that the host vehicle can be reliably driven along the target travel route in the host lane. Therefore, there is no need to set the target steering angle and target deceleration to values ​​obtained by changing the specified steering angle and the specified deceleration. If the target steering angle and target deceleration are set to values ​​obtained by changing the specified steering angle and the specified deceleration in such a case, it may be undesirable, such as giving the driver of the host vehicle a sense of discomfort. According to the present invention, if there is no possibility that the host vehicle will deviate from its own lane and the deviation of the host vehicle from the target travel route is small, the specified steering angle and the specified deceleration are set as the target steering angle and target deceleration as is. Therefore, it is possible to prevent the driver of the host vehicle from feeling uncomfortable. This can prevent the user from feeling uncomfortable.

[0015] In addition, the vehicle driving assistance method of the present invention is a vehicle driving assistance method for a vehicle driving assistance device equipped with an electronic control device that is capable of executing steering avoidance control to avoid a collision between the host vehicle and an object by forcibly braking and steering the host vehicle when it is determined that there is a possibility of the host vehicle colliding with an object in front of the object. The electronic control device sets a travel route of the host vehicle along which the host vehicle can travel within the host lane in which the host vehicle is currently traveling, the travel route passing beside the object, as a target travel route, sets a control pattern of a steering angle of the host vehicle for traveling along the target travel route as a steering angle control pattern, sets a control pattern of a deceleration of the host vehicle as a deceleration control pattern, sets a target value of the steering angle of the host vehicle as a target steering angle based on the steering angle control pattern, sets a target value of the deceleration of the host vehicle as a target deceleration based on the deceleration control pattern, controls the steering angle of the host vehicle so that the steering angle of the host vehicle becomes the target steering angle, and controls the deceleration of the host vehicle so that the deceleration of the host vehicle becomes the target deceleration, thereby avoiding a collision between the host vehicle and the object. The steering avoidance control is configured to run.

[0016] The vehicle driving assistance method of the present invention includes a step in which, during execution of the steering avoidance control, before the vehicle passes next to the object, when the deviation of the vehicle from the target driving path is equal to or greater than a predetermined deviation amount, the electronic control device sets as the target steering angle a value obtained by modifying the steering angle specified in the steering angle control pattern so as to reduce the deviation amount, and sets as the target deceleration a value obtained by modifying the deceleration specified in the deceleration control pattern. The vehicle driving support method according to the present invention includes the steps of: When the deviation amount is smaller than the predetermined deviation amount before the host vehicle passes beside the object, the electronic control device When it is determined that there is a possibility that the vehicle will deviate from the own lane, the method includes a step of setting a target steering angle obtained by changing the steering angle specified in the steering angle control pattern in a direction that directs the vehicle toward the center of the own lane, and setting a target deceleration obtained by increasing the deceleration specified in the deceleration control pattern.

[0017] According to the vehicle driving assistance method of the present invention, when the vehicle approaches the left or right end of the vehicle's lane and a value obtained by changing the specified steering angle is set as the target steering angle and steering avoidance control is executed, even if the vehicle is steered significantly, the vehicle is decelerated more significantly, so that the vehicle can be more reliably driven within the vehicle's lane.

[0018] The vehicle driving assistance program of the present invention is a program that executes steering avoidance control to avoid a collision between the host vehicle and an object in front of the vehicle by forcibly braking and steering the host vehicle when it is determined that there is a possibility that the host vehicle will collide with the object in front of the vehicle. The steering avoidance control is a control to avoid a collision between the host vehicle and the object by setting a driving path of the host vehicle along which the host vehicle can travel within the host vehicle's current lane, the driving path of the host vehicle passing alongside the object, setting a control pattern of the steering angle of the host vehicle for traveling along the target driving path as a steering angle control pattern, setting a control pattern of the deceleration of the host vehicle as a deceleration control pattern, setting a target value of the steering angle of the host vehicle as a target steering angle based on the steering angle control pattern, setting a target value of the deceleration of the host vehicle as a target deceleration based on the deceleration control pattern, controlling the steering angle of the host vehicle so that the steering angle of the host vehicle becomes the target steering angle, and controlling the deceleration of the host vehicle so that the deceleration of the host vehicle becomes the target deceleration.

[0019] The vehicle driving assistance program according to the present invention is During execution of the steering avoidance control, if the deviation of the vehicle from the target driving path is equal to or greater than a predetermined deviation before the vehicle passes next to the object, the steering angle specified in the steering angle control pattern is changed to a value that reduces the deviation, and the target deceleration is set to a value that changes the deceleration specified in the deceleration control pattern. The vehicle driving assistance program according to the present invention includes, during execution of the steering avoidance control, When the deviation amount is smaller than the predetermined deviation amount before the host vehicle passes beside the object, When it is determined that there is a possibility that the vehicle may depart from the own lane, the steering angle specified in the steering angle control pattern is changed in a direction to move the vehicle toward the center of the own lane, and a target steering angle is set to a value obtained by increasing the deceleration specified in the deceleration control pattern, and a target deceleration is set to a value obtained by increasing the deceleration specified in the deceleration control pattern.

[0020] According to the vehicle driving assistance program of the present invention, when the vehicle approaches the left or right end of the vehicle's lane and a value obtained by changing the specified steering angle is set as the target steering angle and steering avoidance control is executed, even if the vehicle is steered significantly, the vehicle is decelerated more, so that the vehicle can be driven more reliably within the vehicle's lane.

[0023] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a diagram showing a vehicle driving support device according to an embodiment of the present invention and a vehicle (host vehicle) on which the vehicle driving support device is mounted. [Diagram 2] FIG. 2 is a diagram showing the distance between the vehicle and an object (vehicle) ahead of the vehicle. [Diagram 3] FIG. 3A is a diagram showing a predicted driving area of ​​the host vehicle, and FIG. 3B is a diagram showing a scene in which an object (vehicle) exists in the predicted driving area of ​​the host vehicle. [Figure 4] FIG. 4A is a diagram showing a scene in which the vehicle approaches an object (vehicle) in front of it and the steering avoidance control execution condition is met, and FIG. 4B is a diagram showing a target driving route set by the steering avoidance control. [Diagram 5] FIG. 5(A) is a diagram showing a scene where the host vehicle begins to turn along a target driving path due to steering avoidance control, FIG. 5(B) is a diagram showing a scene where the host vehicle passes beside an object (vehicle) due to steering avoidance control, and FIG. 5(C) is a diagram showing a scene where the host vehicle passes beside an object (vehicle) and steering avoidance control is terminated. [Figure 6] FIG. 6A is a diagram showing the right end distance, and FIG. 6B is a diagram showing the left end distance. [Figure 7]FIG. 7 is a diagram showing a situation in which the right edge distance becomes smaller than a predetermined distance while the steering avoidance control is being executed. [Figure 8] FIG. 8 is a time chart showing the transition of the target steering angle when the right end distance becomes equal to or less than a predetermined distance in the latter stage of steering avoidance control in which the steering angle is controlled to an angle that turns the vehicle left when the target driving route is a route that passes through the right side of the vehicle to be avoided. [Figure 9] FIG. 9 is a time chart showing the transition of the target steering angle when the right end distance becomes equal to or less than a predetermined distance in the first half of the steering avoidance control in which the steering angle is controlled to an angle that turns the vehicle to the right when the target driving route is a route that passes through the right side of the vehicle to be avoided. [Figure 10] FIG. 10 is a time chart showing the transition of the target steering angle when the left end distance becomes equal to or less than a predetermined distance in the latter stage of steering avoidance control in which the steering angle is controlled to an angle that turns the vehicle to the right when the target driving route is a route that passes through the left side of the vehicle to be avoided. [Figure 11] FIG. 11 is a time chart showing the transition of the target steering angle when the right end distance becomes equal to or less than a predetermined distance in the first half of the steering avoidance control in which the steering angle is controlled to an angle that turns the host vehicle left when the target driving route is a route that passes through the left side of the vehicle to be avoided. [Figure 12] FIG. 12 is a diagram showing the deviation amount of the host vehicle from the target driving route. [Figure 13] FIG. 13 is a diagram showing a situation in which the deviation amount of the host vehicle from the target cost route becomes equal to or exceeds a predetermined deviation amount while the steering avoidance control is being executed. [Figure 14] FIG. 14 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 15] FIG. 15 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG.

[0026] <ecu> The vehicle driving assistance device 10 includes an ECU 90 as a control device. ECU is an abbreviation for electronic control unit. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, and the like. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the ROM.

[0027] <Drive unit, etc.> In addition, the host vehicle 100 is equipped with a drive device 21, a braking device 22, and a steering device 23.

[0028] <Drive unit> The drive device 21 is a device that outputs a drive force (drive torque) provided to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, or the like. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the drive force output from the drive device 21 by controlling the operation of the drive device 21. Therefore, the ECU 90 can control the acceleration of the host vehicle 100 by controlling the operation of the drive device 21.

[0029] <Brake device> The braking device 22 is a device that outputs a braking force (braking torque) applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a brake device. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22. Therefore, the ECU 90 can control the deceleration of the host vehicle 100 by controlling the operation of the braking device 22.

[0030] <Steering system> The steering device 23 is a device that outputs a steering force (steering torque) applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23. Therefore, the ECU 90 can control the steering angle of the host vehicle 100 by controlling the operation of the steering device 23.

[0031] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 33, a brake pedal operation amount sensor 34, a steering wheel 35, a steering shaft 36, a steering angle sensor 37, a steering torque sensor 38, a vehicle momentum detection device 50, and a surrounding information detection device 60.

[0032] <Accelerator pedal operation amount sensor> The accelerator pedal operation amount sensor 32 is a sensor that detects the amount of operation of the accelerator pedal 31. The accelerator pedal operation amount sensor 32 is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 32 transmits information on the detected amount of operation of the accelerator pedal 31 to the ECU 90. Based on that information, the ECU 90 obtains the amount of operation of the accelerator pedal 31 as the accelerator pedal operation amount AP.

[0033] The ECU 90 acquires a required driving force (required driving torque) by calculation based on the accelerator pedal operation amount AP and the traveling speed of the host vehicle 100. The required driving force is a driving force that is required to be output from the drive device 21. The ECU 90 controls the operation of the drive device 21 so that the required driving force is output, except when executing steering avoidance control, which will be described later.

[0034] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 34 is a sensor that detects the amount of operation of the brake pedal 33. The brake pedal operation amount sensor 34 is electrically connected to the ECU 90. The brake pedal operation amount sensor 34 transmits information on the detected amount of operation of the brake pedal 33 to the ECU 90. The ECU 90 obtains the amount of operation of the brake pedal 33 as a brake pedal operation amount BP based on the information.

[0035] The ECU 90 acquires a required braking force (required braking torque) by calculation based on the brake pedal operation amount BP. The required braking force is a braking force that is required to be output by the braking device 22. The ECU 90 controls the operation of the braking device 22 so that the required braking force is output, except when the steering avoidance control described later is executed.

[0036] <Steering angle sensor> The steering angle sensor 37 is a sensor that detects the rotation angle of the steering shaft 36 with respect to the neutral position. The steering angle sensor 37 is electrically connected to the ECU 90. The steering angle sensor 37 transmits information on the detected rotation angle of the steering shaft 36 to the ECU 90. The ECU 90 obtains the rotation angle of the steering shaft 36 as the steering angle AG based on the information.

[0037] <Steering torque sensor> The steering torque sensor 38 is a sensor that detects the torque input by the driver to the steering shaft 36 via the steering wheel 35. The steering torque sensor 38 is electrically connected to the ECU 90. The steering torque sensor 38 transmits information on the detected torque to the ECU 90. The ECU 90 acquires the torque input by the driver to the steering shaft 36 via the steering wheel 35 (driver input torque) based on the information.

[0038] <Vehicle motion detection device> The vehicle motion quantity detection device 50 is a device that detects the motion quantity of the host vehicle 100, and in this example, includes a vehicle speed detection device 51, a vertical acceleration sensor 52, a lateral acceleration sensor 53, and a yaw rate sensor .

[0039] <Vehicle speed detection device> The vehicle speed detection device 51 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 51 is electrically connected to the ECU 90. The vehicle speed detection device 51 transmits information on the detected vehicle speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the traveling speed of the host vehicle 100 (host vehicle speed V100) based on the information.

[0040] The ECU 90 acquires a required steering force (required steering torque) by calculation based on the acquired steering angle AG, driver input torque, and vehicle speed V100. The required steering force is a steering force that is requested to be output from the steering device 23. The ECU 90 controls the operation of the steering device 23 so that the required steering force is output from the steering device 23, except when executing steering avoidance control, which will be described later.

[0041] <Vertical acceleration sensor> The vertical acceleration sensor 52 is a sensor that detects the acceleration in the forward / rearward direction of the host vehicle 100. The vertical acceleration sensor 52 is electrically connected to the ECU 90. The vertical acceleration sensor 52 transmits information on the detected acceleration to the ECU 90. The ECU 90 acquires the acceleration in the forward / rearward direction of the host vehicle 100 as the vertical acceleration Gx based on the information.

[0042] <Lateral acceleration sensor> The lateral acceleration sensor 53 is a sensor that detects the acceleration in the lateral direction (width direction) of the host vehicle 100. The lateral acceleration sensor 53 is electrically connected to the ECU 90. The lateral acceleration sensor 53 transmits information on the detected acceleration to the ECU 90. The ECU 90 obtains the lateral acceleration of the host vehicle 100 as the lateral acceleration Gy based on the information.

[0043] <Yaw rate sensor> The yaw rate sensor 54 is a sensor that detects the yaw rate YR of the host vehicle 100. The yaw rate sensor 54 is electrically connected to the ECU 90. The yaw rate sensor 54 transmits information on the detected yaw rate YR to the ECU 90. The ECU 90 acquires the yaw rate YR of the host vehicle 100 based on the information.

[0044] In addition, instead of the vertical acceleration sensor 52, the lateral acceleration sensor 53, and the yaw rate sensor 54, an IMU (Inertial Measurement Unit) in which the vertical acceleration sensor 52, the lateral acceleration sensor 53, and the yaw rate sensor 54 are integrated into one may be used.

[0045] <Peripheral information detection device> The surrounding information detection device 60 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 61 and an image sensor 62. The radio wave sensor 61 is, for example, a radar sensor (such as a millimeter wave radar). The image sensor 62 is, for example, a camera. The surrounding information detection device 60 may include a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR), or may include a ToF sensor (Time of Flight sensor).

[0046] <Radio wave sensor> The radio wave sensor 61 is electrically connected to the ECU 90. The radio wave sensor 61 transmits radio waves and receives radio waves reflected by objects (reflected waves). The radio wave sensor 61 transmits information (detection results) relating to the transmitted radio waves and received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 61 detects objects present in the vicinity of the vehicle 100 and transmits information (detection results) relating to the detected objects to the ECU 90. The ECU 90 can acquire information (periphery detection information ID) relating to objects present in the vicinity of the vehicle 100 based on the information (radio wave information).

[0047] In this example, the objects include vehicles, motorcycles, bicycles, and people.

[0048] <Image sensor> The image sensor 62 is also electrically connected to the ECU 90. The image sensor 62 captures an image of the surroundings of the vehicle 100, and transmits information related to the captured image to the ECU 90. The ECU 90 can acquire information (surroundings detection information ID) related to the surroundings of the vehicle 100 based on the information (image information).

[0049] 2, when an object (forward object 200) is present ahead of the vehicle 100, the ECU 90 detects the forward object 200 based on the surrounding detection information ID. The forward object 200 may be a vehicle, a motorcycle, a bicycle, a person, or the like, and is a vehicle in the example shown in FIG.

[0050] When the ECU 90 detects a forward object 200, it can obtain, for example, the "distance between the forward object 200 and the host vehicle 100 (object distance D200)" and the "speed of the host vehicle 100 relative to the forward object 200 (relative speed ΔV200)" based on the surrounding detection information ID.

[0051] Furthermore, the ECU 90 recognizes "the left-side marking line LM_L and the right-side marking line LM_R that define the driving lane (own lane LN) of the own vehicle 100" based on the surrounding detection information ID. The ECU 90 can specify the range of the own lane LN based on the recognized left and right marking lines LM (i.e., the left-side marking line LM_L and the right-side marking line LM_R).

[0052] <Overview of operation of vehicle driving assistance device> Next, an overview of the operation of the vehicle driving assistance device 10 will be described.

[0053] The vehicle driving support device 10 performs processing for detecting an object such as a vehicle ahead of the host vehicle 100 in the traveling direction based on the surrounding detection information ID while the host vehicle 100 is traveling. The vehicle driving support device 10 performs normal traveling control while it is not detecting an object ahead of the host vehicle 100 in the traveling direction.

[0054] Normal driving control is a control in which, when a required driving force is greater than zero, the operation of the drive device 21 is controlled so that the required driving force is output from the drive device 21, when a required braking force is greater than zero, the operation of the braking device 22 is controlled so that the required braking force is output from the braking device 22, and when a required steering force is greater than zero, the operation of the steering device 23 is controlled so that the required steering force is output from the steering device 23.

[0055] When the vehicle driving assistance device 10 detects an object ahead in the traveling direction of the host vehicle 100, it determines whether or not the object (forward object 200) is present within the predicted traveling area A100 based on the surrounding detection information ID.

[0056] As shown in Fig. 3A, the predicted travel area A100 is an area having a width equal to the width of the vehicle 100 and centered on the predicted travel route R100 of the vehicle 100. The predicted travel route R100 is a travel route that the vehicle 100 is predicted to travel in the future when the vehicle 100 travels while maintaining the steering angle AG at that time. Therefore, the predicted travel route R100 shown in Fig. 3A is a straight line, but depending on the situation, it may be a curved line.

[0057] When the detected forward object 200 does not exist within the predicted traveling area A100, the vehicle driving assistance device 10 continues the normal traveling control.

[0058] On the other hand, as shown in FIG. 3B, when the vehicle driving assistance device 10 determines that the detected forward object 200 is present within the predicted traveling area A100, it acquires a predicted arrival time TTC. The predicted arrival time TTC is a time predicted to be required for the host vehicle 100 to reach the forward object 200. The vehicle driving assistance device 10 acquires the predicted arrival time TTC by dividing the object distance D200 by the relative speed ΔV200 (TTC=D200 / dV200). While the vehicle driving assistance device 10 determines that the forward object 200 is present within the predicted traveling area A100, it acquires the object distance D200, the relative speed ΔV200, and the predicted arrival time TTC at a predetermined calculation cycle.

[0059] When the relative speed ΔV200 is constant, the predicted arrival time TTC becomes shorter as the host vehicle 100 approaches the forward object 200. Therefore, the predicted arrival time TTC is an index value representing the possibility that the host vehicle 100 will not collide with the forward object 200, and the index value becomes smaller as the predicted arrival time TTC becomes shorter and the possibility that the host vehicle 100 will not collide with the forward object 200 becomes smaller.

[0060] The vehicle driving support device 10 determines whether the predicted arrival time TTC has become shorter than a predetermined time (collision determination time TTCth). The vehicle driving support device 10 continues normal driving control while the predicted arrival time TTC is longer than the collision determination time TTCth.

[0061] 4A, when the host vehicle 100 approaches the forward object 200 without the driver of the host vehicle 100 performing a collision avoidance steering operation (an operation applied to the steering wheel 35 to avoid a collision between the host vehicle 100 and the forward object 200) and the predicted arrival time TTC is shortened to the collision determination time TTCth, the vehicle driving assistance device 10 determines that the host vehicle 100 may collide with the forward object 200 if the host vehicle 100 is allowed to continue traveling as is. When the vehicle driving assistance device 10 determines that the host vehicle 100 may collide with the forward object 200, it determines that the steering avoidance control execution condition is established.

[0062] When the vehicle driving support device 10 determines that the steering avoidance control execution condition is satisfied, it sets a target driving route Rtgt. Also, when the vehicle driving support device 10 determines that the steering avoidance control execution condition is satisfied, it sets the forward object 200 as an object to be avoided 200tgt.

[0063] The target driving path Rtgt is a path along which the host vehicle 100 is to travel in order to avoid a collision between the host vehicle 100 and the object to be avoided 200tgt, and is a path along which the host vehicle 100 can pass by the object to be avoided 200tgt while traveling within the host vehicle lane LN, as shown in (B) of Figure 4.

[0064] Incidentally, the target driving route Rtgt shown in FIG. 4(B) is a route that passes to the right of the object to be avoided 200tgt, but if there is space to the left of the object to be avoided 200tgt that allows the host vehicle 100 to pass by the object to be avoided 200tgt while traveling within the host vehicle lane LN, a route that passes to the left of the object to be avoided 200tgt may be acquired as the target driving route Rtgt.

[0065] When the vehicle driving assistance device 10 sets the target driving route Rtgt, it sets a control pattern (steering angle control pattern) of the steering angle of the vehicle 100 for driving the vehicle 100 along the target driving route Rtgt, and also sets a control pattern (deceleration control pattern) of the deceleration of the vehicle 100 while the vehicle 100 is driving along the target driving route Rtgt.

[0066] The vehicle driving support device 10 sets a target value of the steering angle (target steering angle AGtgt) of the host vehicle 100 based on the steering angle control pattern while the steering avoidance control is being executed. Furthermore, the vehicle driving support device 10 sets a target value of the deceleration (target deceleration Gtgt) of the host vehicle 100 based on the deceleration control pattern while the steering avoidance control is being executed.

[0067] The vehicle driving assistance device 10 controls the steering angle of the host vehicle 100 so as to achieve the target steering angle AGtgt, and also controls the deceleration of the host vehicle 100 so as to achieve the target deceleration Gtgt.

[0068] As a result, the host vehicle 100 first starts turning to the right as shown in Fig. 5(A), and immediately thereafter turns in the opposite direction (i.e., leftward) so that the traveling direction of the host vehicle 100 becomes parallel to the host vehicle lane LN, and passes beside the object to be avoided 200tgt as shown in Fig. 5(B). This avoids a collision between the host vehicle 100 and the object to be avoided 200tgt. Then, when the host vehicle 100 passes beside the object to be avoided 200tgt as shown in Fig. 5(C), the vehicle driving assistance device 10 determines that avoidance of a collision between the host vehicle 100 and the object to be avoided 200tgt has been completed, and ends the steering avoidance control.

[0069] The vehicle driving assistance device 10 may be configured not to set the target driving route Rtgt when it is not possible to set a route that allows the host vehicle 100 to pass beside the avoidance target object 200tgt while traveling within the host vehicle lane LN due to reasons such as the absence of space for the host vehicle 100 to pass beside the avoidance target object 200tgt when the steering avoidance control execution condition is satisfied. The vehicle driving assistance device 10 is configured not to execute the steering avoidance control when the target driving route Rtgt is not set.

[0070] In addition, the vehicle driving assistance device 10 may be configured to discontinue the steering avoidance control when the driver input torque becomes equal to or exceeds a relatively large predetermined torque while the steering avoidance control is being executed (in other words, when the amount of operation of the steering wheel 35 by the driver of the vehicle 100 becomes equal to or exceeds a predetermined amount while the steering avoidance control is being executed).

[0071] <Setting the target steering angle and target deceleration> As described above, when the steering avoidance control is executed, the vehicle driving support device 10 sets the target steering angle AGtgt based on the steering angle control pattern, and sets the target deceleration Gtgt based on the deceleration control pattern.

[0072] At this time, if the steering angle (prescribed steering angle AGbase) specified in the steering angle control pattern is set as the target steering angle AGtgt as is, and the deceleration (prescribed deceleration Gbase) specified in the deceleration control pattern is set as the target deceleration Gtgt as is, and steering avoidance control is executed, it should be possible to make the host vehicle 100 travel along the target driving route Rtgt without deviating from the host lane LN.

[0073] However, in reality, due to various factors such as the performance of the steering device 23 and braking device 22 of the vehicle 100 and the road conditions on which the vehicle 100 is traveling, even if steering avoidance control is performed by setting the specified steering angle AGbase as the target steering angle AGtgt and the specified deceleration Gbase as the target deceleration Gtgt, the vehicle 100 may deviate significantly from the lane LN.

[0074] <First process> Therefore, when the vehicle driving assistance device 10 determines that the host vehicle 100 is likely to deviate from the host lane LN during the execution of the steering avoidance control, the vehicle driving assistance device 10 changes the target steering angle AGtgt in a direction to move the host vehicle 100 toward the center of the host lane LN and executes the steering avoidance control. In other words, when the vehicle driving assistance device 10 determines that the host vehicle 100 is likely to deviate from the host lane LN during the execution of the steering avoidance control, the vehicle driving assistance device 10 changes the target steering angle AGtgt in a direction to move the host vehicle 100 away from the lane edge END (the edge of the host lane LN) from which the host vehicle 100 is likely to deviate and executes the steering avoidance control.

[0075] More specifically, in this example, when the vehicle driving assistance device 10 starts steering avoidance control, it acquires the lane edge distance Dend. The lane edge distance Dend is either the right edge distance Dend_R or the left edge distance Dend_L. As shown in FIG. 6A, the right edge distance Dend_R is the distance between the host vehicle 100 (particularly, the right front corner of the host vehicle 100) and the right lane edge END (the right edge of the host lane LN, which is the right lane marking line LM_R in the example shown in FIG. 6A), and the left edge distance Dend_L is the distance between the host vehicle 100 (particularly, the left front corner of the host vehicle 100) and the left lane edge END (the left edge of the host lane LN, which is the left lane marking line LM_L in the example shown in FIG. 6B) as shown in FIG. 6B.

[0076] When the target driving route Rtgt is a route that passes on the right side of the object to be avoided 200tgt, the vehicle driving assistance device 10 acquires the right edge distance Dend_R as the lane edge distance Dend, and when the target driving route Rtgt is a route that passes on the left side of the object to be avoided 200tgt, the vehicle driving assistance device 10 acquires the left edge distance Dend_L as the lane edge distance Dend.

[0077] During the execution of steering avoidance control, the vehicle driving assistance device 10 repeatedly acquires the lane edge distance Dend, and repeatedly determines whether the lane edge distance Dend has become equal to or smaller than a predetermined distance Dend_th.

[0078] When the lane edge distance Dend becomes equal to or shorter than a predetermined distance Dend_th, the vehicle driving support device 10 determines that the host vehicle 100 may depart from the host lane LN, and sets the target steering angle AGtgt and the target deceleration Gtgt by a first process. The first process includes a first target steering angle setting process and a first deceleration setting process.

[0079] <First target steering angle setting process> The first target steering angle setting process is a process for setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase (the steering angle specified by the steering angle control pattern) in a direction that directs the host vehicle 100 toward the center of the host lane LN. In other words, the first target steering angle setting process is a process for setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase in a direction that moves the host vehicle 100 away from the lane edge END (the edge of the host lane LN) from which the host vehicle 100 may depart.

[0080] For example, as shown in FIG. 7, in the case where the target driving route Rtgt is a route that passes through the right side of the object to be avoided 200tgt, if the vehicle driving assistance device 10 determines that the lane edge distance Dend is equal to or less than the predetermined distance Dend_th during the latter stage of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 left, the first target steering angle setting process is executed as follows.

[0081] That is, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be added to the specified steering angle AGbase in order to increase the degree of left turning of the vehicle 100, and executes a first target steering angle setting process to set the value obtained by adding the acquired first steering angle correction value dAG1 to the specified steering angle AGbase as the target steering angle AGtgt.

[0082] According to this, when the target driving route Rtgt is a route that passes through the right side of the object to be avoided 200tgt, as shown in FIG. 8, if the vehicle driving assistance device 10 determines that the lane edge distance Dend has become less than or equal to the predetermined distance Dend_th at time t83 in the latter stage of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 left, the target steering angle AGtgt is set as shown by the solid line by setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase shown by the dashed line.

[0083] That is, from time t83 when the lane edge distance Dend becomes equal to or shorter than the predetermined distance Dend_th until time t85 when the prescribed steering angle AGbase becomes zero, the vehicle driving support device 10 acquires a value (first steering angle correction value dAG1) to be added to the prescribed steering angle AGbase in order to increase the degree of left turning of the host vehicle 100, by calculation based on the difference between the lane edge distance Dend and the predetermined distance Dend_th, and sets the value obtained by adding the acquired first steering angle correction value dAG1 to the prescribed steering angle AGbase as the target steering angle AGtgt. At this time, the vehicle driving support device 10 sets the value obtained by adding the larger first steering angle correction value dAG1 to the prescribed steering angle AGbase as the target steering angle AGtgt as the prescribed steering angle AGbase increases, and sets the value obtained by adding the smaller first steering angle correction value dAG1 to the prescribed steering angle AGbase as the target steering angle AGtgt as the prescribed steering angle AGbase decreases. When the specified steering angle AGbase is zero, the vehicle driving support device 10 sets the target steering angle AGtgt with the first steering angle correction value dAG1 also set to zero. Therefore, when the specified steering angle AGbase is zero, the target steering angle AGtgt is also set to zero.

[0084] In the example shown in FIG. 8, at time t80, steering avoidance control is started and the target steering angle AGtgt is gradually increased in a direction to turn the host vehicle 100 to the right, at time t81, the target steering angle AGtgt begins to be gradually decreased, at time t82, the target steering angle AGtgt switches to a direction to turn the host vehicle 100 to the left and is gradually increased, at time t84, the target steering angle AGtgt begins to be gradually decreased, and at time t85, the target steering angle AGtgt becomes zero, and from time t85 onwards, the target steering angle AGtgt is maintained at zero.

[0085] On the other hand, when the target driving route Rtgt is a route that passes through the right side of the object to be avoided 200tgt, if the vehicle driving assistance device 10 determines that the lane edge distance Dend has become less than or equal to the predetermined distance Dend_th during the first half of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 to the right, the vehicle driving assistance device 10 executes a first target steering angle setting process as follows.

[0086] That is, while the host vehicle 100 is turning right, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be subtracted from the specified steering angle AGbase to reduce the degree of right turning of the host vehicle 100, and sets the value obtained by subtracting the obtained first steering angle correction value dAG1 from the specified steering angle AGbase as the target steering angle AGtgt. After the host vehicle 100 starts turning left, the vehicle driving assistance device 10 executes a first target steering angle setting process to calculate a value (first steering angle correction value dAG1) to be added to the specified steering angle AGbase to increase the degree of left turning of the host vehicle 100, and sets the value obtained by adding the obtained first steering angle correction value dAG1 to the specified steering angle AGbase as the target steering angle AGtgt.

[0087] According to this, when the target driving route Rtgt is a route that passes through the right side of the object to be avoided 200tgt, as shown in FIG. 9, if the vehicle driving assistance device 10 determines that the lane edge distance Dend has become less than or equal to a predetermined distance Dend_th at time t92 in the first half of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 to the right, the target steering angle AGtgt is set as shown by the solid line by setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase shown by the dashed line.

[0088] That is, from time t92 when the lane edge distance Dend becomes less than or equal to the predetermined distance Dend_th to time t95 when the specified steering angle AGbase becomes zero, while the host vehicle 100 is turning right, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be subtracted from the specified steering angle AGbase to reduce the degree of right turning of the host vehicle 100, and sets the value obtained by subtracting the obtained first steering angle correction value dAG1 from the specified steering angle AGbase as the target steering angle AGtgt, and after the host vehicle 100 starts to turn left, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be added to the specified steering angle AGbase to increase the degree of left turning of the host vehicle 100, and sets the value obtained by adding the obtained first steering angle correction value dAG1 to the specified steering angle AGbase as the target steering angle AGtgt. At this time, while the vehicle 100 is turning right, the vehicle driving support device 10 sets the value obtained by subtracting the first steering angle correction value dAG1, which is smaller as the specified steering angle AGbase is larger, from the specified steering angle AGbase as the target steering angle AGtgt, and after the vehicle 100 starts turning left, the vehicle driving support device 10 sets the value obtained by adding the first steering angle correction value dAG1, which is larger as the specified steering angle AGbase is larger, to the specified steering angle AGbase as the target steering angle AGtgt, and sets the value obtained by adding the first steering angle correction value dAG1, which is smaller as the specified steering angle AGbase is smaller, to the specified steering angle AGbase as the target steering angle AGtgt. Note that when the specified steering angle AGbase is zero, the vehicle driving support device 10 sets the target steering angle AGtgt with the first steering angle correction value dAG1 also set to zero. Therefore, when the specified steering angle AGbase is zero, the target steering angle AGtgt is also set to zero.

[0089] In the example shown in FIG. 9, at time t90, steering avoidance control is started and the target steering angle AGtgt is gradually increased in a direction to turn the host vehicle 100 to the right, at time t91, the target steering angle AGtgt begins to be gradually decreased, at time t83, the target steering angle AGtgt switches to a direction to turn the host vehicle 100 to the left and is gradually increased, at time t94, the target steering angle AGtgt begins to be gradually decreased, at time t95, the target steering angle AGtgt becomes zero, and from time t95 onwards, the target steering angle AGtgt is maintained at zero.

[0090] On the other hand, when the target driving route Rtgt is a route that passes through the left side of the object to be avoided 200tgt, if the vehicle driving assistance device 10 determines that the lane edge distance Dend has become less than or equal to the predetermined distance Dend_th during the latter stage of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 to the right, the first target steering angle setting process is executed as follows.

[0091] That is, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be added to the specified steering angle AGbase in order to increase the degree of right turning of the vehicle 100, and executes a first target steering angle setting process to set the value obtained by adding the acquired first steering angle correction value dAG1 to the specified steering angle AGbase as the target steering angle AGtgt.

[0092] According to this, when the target driving route Rtgt is a route that passes through the left side of the object to be avoided 200tgt, as shown in FIG. 10, if the vehicle driving assistance device 10 determines that the lane edge distance Dend is less than or equal to the predetermined distance Dend_th at time t103 in the latter stage of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 to the right, the target steering angle AGtgt is set as shown by the solid line by setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase shown by the dashed line.

[0093] That is, from time t103 when the lane edge distance Dend becomes equal to or shorter than the predetermined distance Dend_th until time t105 when the prescribed steering angle AGbase becomes zero, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be added to the prescribed steering angle AGbase in order to increase the degree of right turning of the host vehicle 100, and sets the value obtained by adding the acquired first steering angle correction value dAG1 to the prescribed steering angle AGbase as the target steering angle AGtgt. At this time, the vehicle driving assistance device 10 sets the value obtained by adding the larger first steering angle correction value dAG1 to the prescribed steering angle AGbase as the target steering angle AGtgt as the prescribed steering angle AGbase increases, and sets the value obtained by adding the smaller first steering angle correction value dAG1 to the prescribed steering angle AGbase as the target steering angle AGtgt as the prescribed steering angle AGbase decreases. When the specified steering angle AGbase is zero, the vehicle driving support device 10 sets the target steering angle AGtgt with the first steering angle correction value dAG1 also set to zero. Therefore, when the specified steering angle AGbase is zero, the target steering angle AGtgt is also set to zero.

[0094] In the example shown in FIG. 10, at time t100, steering avoidance control is started and the target steering angle AGtgt is gradually increased in a direction to turn the host vehicle 100 left, at time t101, the target steering angle AGtgt begins to be gradually decreased, at time t102, the target steering angle AGtgt switches to a direction to turn the host vehicle 100 right and is gradually increased, at time t104, the target steering angle AGtgt begins to be gradually decreased, at time t105, the target steering angle AGtgt becomes zero, and from time t105 onwards, the target steering angle AGtgt is maintained at zero.

[0095] On the other hand, when the target driving route Rtgt is a route that passes through the left side of the object to be avoided 200tgt, if the vehicle driving assistance device 10 determines that the lane edge distance Dend has become less than or equal to the predetermined distance Dend_th during the first half of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 left, the vehicle driving assistance device 10 executes a first target steering angle setting process as follows.

[0096] That is, while the host vehicle 100 is turning left, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be subtracted from the specified steering angle AGbase to reduce the degree of left turning of the host vehicle 100, and sets the value obtained by subtracting the obtained first steering angle correction value dAG1 from the specified steering angle AGbase as the target steering angle AGtgt. After the host vehicle 100 starts turning right, the vehicle driving assistance device 10 executes a first target steering angle setting process to calculate a value (first steering angle correction value dAG1) to be added to the specified steering angle AGbase to increase the degree of right turning of the host vehicle 100, and sets the value obtained by adding the obtained first steering angle correction value dAG1 to the specified steering angle AGbase as the target steering angle AGtgt.

[0097] According to this, when the target driving route Rtgt is a route that passes through the left side of the object to be avoided 200tgt, as shown in FIG. 11, if the vehicle driving assistance device 10 determines that the lane edge distance Dend is less than or equal to the predetermined distance Dend_th at time t112 in the first half of the steering avoidance control in which the steering angle of the vehicle 100 is controlled to an angle that turns the vehicle 100 left, the target steering angle AGtgt is set as shown by the solid line by setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase shown by the dashed line.

[0098] That is, from time t112 when the lane edge distance Dend becomes less than or equal to the predetermined distance Dend_th to time t115 when the specified steering angle AGbase becomes zero, while the host vehicle 100 is turning left, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be subtracted from the specified steering angle AGbase to reduce the degree of left turning of the host vehicle 100, and sets the value obtained by subtracting the obtained first steering angle correction value dAG1 from the specified steering angle AGbase as the target steering angle AGtgt, and after the host vehicle 100 starts to turn right, the vehicle driving assistance device 10 calculates a value (first steering angle correction value dAG1) to be added to the specified steering angle AGbase to increase the degree of right turning of the host vehicle 100, and sets the value obtained by adding the obtained first steering angle correction value dAG1 to the specified steering angle AGbase as the target steering angle AGtgt. At this time, while the vehicle 100 is turning left, the vehicle driving support device 10 sets the value obtained by subtracting the first steering angle correction value dAG1, which is smaller as the specified steering angle AGbase is larger, from the specified steering angle AGbase as the target steering angle AGtgt, and after the vehicle 100 starts turning right, the vehicle driving support device 10 sets the value obtained by adding the first steering angle correction value dAG1, which is larger as the specified steering angle AGbase is larger, to the specified steering angle AGbase as the target steering angle AGtgt, and sets the value obtained by adding the first steering angle correction value dAG1, which is smaller as the specified steering angle AGbase is smaller, to the specified steering angle AGbase as the target steering angle AGtgt. Note that when the specified steering angle AGbase is zero, the vehicle driving support device 10 sets the target steering angle AGtgt with the first steering angle correction value dAG1 also set to zero. Therefore, when the specified steering angle AGbase is zero, the target steering angle AGtgt is also set to zero.

[0099] In the example shown in FIG. 11, at time t110, steering avoidance control is started and the target steering angle AGtgt is gradually increased in the direction of turning the host vehicle 100 left, at time t111, the target steering angle AGtgt begins to be gradually decreased, at time t113, the target steering angle AGtgt switches to the direction of turning the host vehicle 100 right and is gradually increased, at time t114, the target steering angle AGtgt begins to be gradually decreased, at time t115, the target steering angle AGtgt becomes zero, and from time t115 onwards, the target steering angle AGtgt is maintained at zero.

[0100] <First deceleration setting process> In addition, the first deceleration setting process is a process in which, when the lane edge distance Dend becomes equal to or shorter than a predetermined distance Dend_th, a value (first deceleration correction value dG1) to be added to the specified deceleration Gbase in order to increase the specified deceleration Gbase so as to more reliably prevent the host vehicle 100 from deviating from the host lane LN is obtained by calculation, and the value obtained by adding the obtained first deceleration correction value dG1 to the specified deceleration Gbase is set as the target deceleration Gtgt.

[0101] Furthermore, if the vehicle 100 can be more reliably prevented from deviating from the vehicle lane LN without increasing the deceleration of the vehicle 100, the first deceleration correction value dG1 is zero, and in this case, the specified deceleration Gbase is set to the target deceleration Gtgt.

[0102] According to this, even if the vehicle 100 approaches the lane edge END during execution of steering avoidance control and the possibility of the vehicle 100 deviating from the vehicle lane LN increases, it is possible to avoid the vehicle 100 deviating from the vehicle lane LN while avoiding a collision between the vehicle 100 and the object to be avoided 200tgt.

[0103] <Second Processing> During the execution of steering avoidance control, even if the specified steering angle AGbase is set as the target steering angle AGtgt and the specified deceleration Gbase is set as the target deceleration Gtgt and steering avoidance control is performed, the host vehicle 100 may not travel along the target driving route Rtgt but may deviate (deviation) from the target driving route Rtgt due to various factors such as the performance of the steering device 23 and the braking device 22 of the host vehicle 100 and the road surface conditions on which the host vehicle 100 is traveling. Also, when the host vehicle 100 is steered according to the target steering angle AGtgt set by the above-mentioned first process, the host vehicle 100 may deviate (deviation) from the target driving route Rtgt.

[0104] Therefore, when the vehicle 100 deviates from the target driving route Rtgt by a predetermined amount or more during the execution of the steering avoidance control, the vehicle driving support device 10 changes the target steering angle AGtgt in a direction that reduces the deviation amount (route deviation amount dW) of the vehicle 100 from the target driving route Rtgt, and executes the steering avoidance control. In other words, when the vehicle 100 deviates from the target driving route Rtgt by a predetermined amount or more during the execution of the steering avoidance control, the vehicle driving support device 10 changes the target steering angle AGtgt in a direction that directs the vehicle 100 toward the target driving route Rtgt, and executes the steering avoidance control.

[0105] More specifically, in this example, when the vehicle driving assistance device 10 starts the steering avoidance control, it acquires a route deviation amount dW. As shown in Fig. 12, the route deviation amount dW is the distance between the tangent line LR of the point on the target driving route Rtgt corresponding to the position of the host vehicle 100 at that time and the host vehicle center front-rear line L100. Fig. 12 shows the route deviation amount dW when the host vehicle 100 deviates to the left from the target driving route Rtgt, but the vehicle driving assistance device 10 also acquires the distance between the tangent line LR of the point on the target driving route Rtgt corresponding to the position of the host vehicle 100 and the host vehicle center front-rear line L100 as the route deviation amount dW even when the host vehicle 100 deviates to the right from the target driving route Rtgt.

[0106] The vehicle driving support device 10 repeatedly acquires the route deviation amount dW during the execution of the steering avoidance control, and repeatedly determines whether or not the route deviation amount dW is equal to or greater than a predetermined deviation amount dW_th.

[0107] When the path deviation amount dW becomes equal to or larger than a predetermined deviation amount dW_th, the vehicle driving support device 10 sets the target steering angle AGtgt and the target deceleration Gtgt by the second process, regardless of whether the lane edge distance Dend is equal to or smaller than the predetermined distance Dend_th. The second process includes a second target steering angle setting process and a second target deceleration setting process.

[0108] <Second target steering angle setting process> The second target steering angle setting process is a process for setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase in a direction that reduces the route deviation amount dW. In other words, the second target steering angle setting process is a process for setting the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase in a direction that directs the host vehicle 100 toward the target driving route Rtgt.

[0109] For example, as shown in FIG. 13, when the steering angle of the host vehicle 100 is controlled to an angle that turns the host vehicle 100 left, if the host vehicle 100 deviates to the left from the target driving route Rtgt and the route deviation amount dW becomes equal to or greater than a predetermined deviation amount dW_th, the vehicle driving assistance device 10 calculates a value (second steering angle correction value dAG2) to be subtracted from the specified steering angle AGbase in order to reduce the degree of left turning of the host vehicle 100 based on the route deviation amount dW, and sets the value obtained by subtracting the acquired second steering angle correction value dAG2 from the specified steering angle AGbase as the target steering angle AGtgt.

[0110] On the other hand, when the steering angle of the host vehicle 100 is controlled to an angle that turns the host vehicle 100 left, if the host vehicle 100 deviates to the right from the target driving route Rtgt and the route deviation amount dW becomes equal to or greater than a predetermined deviation amount dW_th, the vehicle driving assistance device 10 calculates a value (second steering angle correction value dAG2) to be added to the specified steering angle AGbase in order to increase the degree of left turning of the host vehicle 100 based on the route deviation amount dW, and sets the value of the acquired second steering angle correction value dAG2 to be added to the specified steering angle AGbase as the target steering angle AGtgt.

[0111] On the other hand, when the steering angle of the host vehicle 100 is controlled to an angle that turns the host vehicle 100 right, if the host vehicle 100 deviates to the right from the target driving route Rtgt and the route deviation amount dW becomes equal to or greater than a predetermined deviation amount dW_th, the vehicle driving assistance device 10 calculates a value (second steering angle correction value dAG2) to be subtracted from the specified steering angle AGbase in order to reduce the degree of right turning of the host vehicle 100 based on the route deviation amount dW, and sets the value obtained by subtracting the acquired second steering angle correction value dAG2 from the specified steering angle AGbase as the target steering angle AGtgt.

[0112] On the other hand, when the steering angle of the host vehicle 100 is controlled to an angle that turns the host vehicle 100 right, if the host vehicle 100 deviates to the left from the target driving route Rtgt and the route deviation amount dW becomes equal to or greater than a predetermined deviation amount dW_th, the vehicle driving assistance device 10 calculates a value (second steering angle correction value dAG2) to be added to the specified steering angle AGbase in order to increase the degree of right turning of the host vehicle 100 based on the route deviation amount dW, and sets the value obtained by adding the acquired second steering angle correction value dAG2 to the specified steering angle AGbase as the target steering angle AGtgt.

[0113] <Second target deceleration setting process> In addition, the second target deceleration setting process is a process in which a value (second deceleration correction value dG2) to be added to the specified deceleration Gbase is obtained by calculation in order to increase the specified deceleration Gbase so as to reliably reduce the path deviation amount dW when the steering angle of the vehicle 100 is controlled so as to achieve the target steering angle AGtgt set by the second target steering angle setting process, and the value obtained by adding the obtained second deceleration correction value dG2 to the specified deceleration Gbase is set as the target deceleration Gtgt.

[0114] Furthermore, if the path deviation amount dW is reliably reduced when the steering angle of the vehicle 100 is controlled so as to achieve the target steering angle AGtgt set by the second target steering angle setting process without increasing the deceleration of the vehicle 100, the second deceleration correction value dG2 is zero, and in this case, the specified deceleration Gbase is set to the target deceleration Gtgt.

[0115] This makes it possible to more reliably cause the host vehicle 100 to travel along the target travel route Rtgt while the steering avoidance control is being executed.

[0116] When the route deviation amount dW is smaller than the predetermined deviation amount dW_th and the lane edge distance Dend is larger than the predetermined distance Dend_th, the vehicle driving support device 10 sets the target steering angle AGtgt and the target deceleration Gtgt by normal processing. The normal processing is a processing for setting the specified steering angle AGbase as the target steering angle AGtgt and the specified deceleration Gbase as the target deceleration Gtgt.

[0117] Furthermore, when changing the target steering angle AGtgt and the target deceleration Gtgt by the first process, the vehicle driving assistance device 10 may set the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase by an appropriate value (a value that can appropriately prevent the host vehicle 100 from deviating from the host vehicle lane LN and sufficiently ensure the driving safety of the host vehicle 100) depending on parameters such as the momentum of the host vehicle 100, such as the host vehicle speed V100 and the yaw rate YR, and the angle between the host vehicle center front / rear line L100 and the lane edge END, or may set the target steering angle AGtgt to a value obtained by changing the specified steering angle AGbase by a fixed value regardless of such parameters.

[0118] The above is an outline of the operation of the vehicle driving assistance device 10.

[0119] <Specific operation of the vehicle driving support device> Next, a specific operation of the vehicle driving support device 10 will be described. The CPU of the ECU 90 of the vehicle driving support device 10 according to the embodiment of the present invention is configured to execute the routine shown in FIG. 14 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts processing from step 1400 of the routine shown in FIG. 14, advances the processing to step 1405, and determines whether the value of the steering avoidance control execution flag X1 is "0" or not. When the value of the steering avoidance control execution flag X1 is "1", it indicates that the steering avoidance control is being executed, and when the value is "0", it indicates that the steering avoidance control is not being executed.

[0120] If the CPU determines "Yes" in step 1405, the process proceeds to step 1410, where it acquires the predicted arrival time TTC. Next, the CPU proceeds to step 1415, where it determines whether or not the steering avoidance control execution condition is satisfied. More specifically, the CPU determines whether or not the predicted arrival time TTC is equal to or less than the collision determination time TTCth.

[0121] If the CPU determines "Yes" in step 1415, the process proceeds to step 1420, where it sets the target driving route Rtgt. Next, the CPU proceeds to step 1425, where it sets the value of the steering avoidance control execution flag X1 to "1." Next, the CPU proceeds to step 1495, where it temporarily ends the process of this routine.

[0122] On the other hand, if the CPU determines "No" at step 1405 or step 1415, the CPU proceeds directly to step 1495 and temporarily ends the processing of this routine.

[0123] Furthermore, the CPU executes the routine shown in Fig. 15 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts the process from step 1500 of the routine shown in Fig. 15, and proceeds to step 1505 to determine whether the value of the steering avoidance control execution flag X1 is "1".

[0124] If the CPU judges "Yes" in step 1505, the process proceeds to step 1510, where it judges whether the path deviation amount dW is equal to or greater than a predetermined deviation amount dW_th. If the CPU judges "Yes" in step 1510, the process proceeds to step 1515, where it sets the target steering angle AGtgt and the target deceleration Gtgt by the second process described above. Next, the CPU proceeds to step 1535, where it controls the operation of the steering device 23, the drive device 21, and the brake device 22 so that the target steering angle AGtgt and the target deceleration Gtgt set in step 1515 are achieved. Next, the CPU proceeds to step 1540.

[0125] On the other hand, if the CPU determines "No" in step 1510, it proceeds to step 1520, where it determines whether the lane edge distance Dend is equal to or less than the predetermined distance Dend_th. If the CPU determines "Yes" in step 1520, it proceeds to step 1525, where it sets the target steering angle AGtgt and the target deceleration Gtgt by the first process described above. Next, the CPU proceeds to step 1535, where it controls the operation of the steering device 23, the drive device 21, and the braking device 22 so that the target steering angle AGtgt and the target deceleration Gtgt set in step 1525 are achieved. Next, the CPU proceeds to step 1540.

[0126] On the other hand, if the CPU determines "No" in step 1520, the process proceeds to step 1530, where the target steering angle AGtgt and the target deceleration Gtgt are set by the normal process described above. Next, the CPU proceeds to step 1535, where the CPU controls the operation of the steering device 23, the drive device 21, and the braking device 22 so as to achieve the target steering angle AGtgt and the target deceleration Gtgt set in step 1530. Next, the CPU proceeds to step 1540.

[0127] When the CPU advances the process to step 1540, it judges whether or not the avoidance of a collision between the host vehicle 100 and the avoidance target object 200tgt by the steering avoidance control has been completed. When the CPU judges "Yes" in step 1540, it advances the process to step 1545, and sets the value of the steering avoidance control execution flag X1 to "0". This ends the steering avoidance control. Next, the CPU advances the process to step 1595, and temporarily ends the process of this routine.

[0128] On the other hand, if the CPU determines "No" in step 1540, the process proceeds directly to step 1595 and ends the process of this routine for the time being. In this case, the steering avoidance control is continued.

[0129] If the CPU determines "No" in step 1505, the CPU proceeds directly to step 1595 and temporarily ends the processing of this routine.

[0130] The specific operation of the vehicle driving assistance device 10 has been described above.

[0131] The present invention is not limited to the above-described embodiment and modifications, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0132] 10...vehicle driving support device, 35...steering wheel, 60...peripheral information detection device, 61...radio wave sensor, 62...image sensor, 90...ECU, 100...own vehicle, 200...forward object, 200tgt...object to be avoided< / ecu>

Claims

1. A vehicle driving support device including a control device that executes steering avoidance control for forcibly braking and steering the host vehicle when it is determined that the host vehicle may collide with an object in front of the host vehicle, thereby avoiding a collision between the host vehicle and the object, comprising: the steering avoidance control is control to avoid a collision between the host vehicle and the object by setting a travel path of the host vehicle along which the host vehicle can travel within the host lane in which the host vehicle is currently traveling, the travel path passing beside the object, setting a control pattern of a steering angle of the host vehicle for traveling along the target travel path as a steering angle control pattern, and setting a control pattern of a deceleration of the host vehicle as a deceleration control pattern, setting a target value of the steering angle of the host vehicle as a target steering angle based on the steering angle control pattern, and setting a target value of the deceleration of the host vehicle as a target deceleration based on the deceleration control pattern, controlling the steering angle of the host vehicle so that the steering angle of the host vehicle becomes the target steering angle, and controlling the deceleration of the host vehicle so that the deceleration of the host vehicle becomes the target deceleration, The control device includes: during execution of the steering avoidance control, when a deviation amount of the host vehicle from the target driving path is equal to or greater than a predetermined deviation amount before the host vehicle passes beside the object, a steering angle specified in the steering angle control pattern is changed to a value such that the deviation amount becomes smaller, and a deceleration specified in the deceleration control pattern is changed to a value such that the target deceleration is set; during execution of the steering avoidance control, when it is determined that the host vehicle is likely to deviate from the host lane when the deviation amount is smaller than the predetermined deviation amount before the host vehicle passes beside the object, a value obtained by changing the steering angle specified in the steering angle control pattern in a direction to move the host vehicle toward the center of the host lane is set as a target steering angle, and a value obtained by increasing the deceleration specified in the deceleration control pattern is set as a target deceleration. It is configured as follows: Vehicle driving assistance device.

2. The vehicle driving support device according to claim 1, the control device is configured to set the steering angle defined in the steering angle control pattern as the target steering angle and set the deceleration defined in the deceleration control pattern as the target deceleration during execution of the steering avoidance control before the vehicle passes beside the object, while the control device has not determined that the vehicle is likely to deviate from the vehicle lane and the deviation amount is smaller than the predetermined deviation amount. Vehicle driving assistance device.

3. A vehicle driving support method for a vehicle driving support device including an electronic control device capable of executing steering avoidance control for forcibly braking and steering the host vehicle when it is determined that the host vehicle may collide with an object in front of the host vehicle, the method comprising: the electronic control device is configured to execute the steering avoidance control to avoid a collision between the host vehicle and the object by setting a travel path of the host vehicle along which the host vehicle can travel within the host lane in which the host vehicle is currently traveling, the travel path passing beside the object, setting a control pattern of a steering angle of the host vehicle for traveling along the target travel path as a steering angle control pattern, setting a control pattern of a deceleration of the host vehicle as a deceleration control pattern, setting a target value of the steering angle of the host vehicle as a target steering angle based on the steering angle control pattern, setting a target value of the deceleration of the host vehicle as a target deceleration based on the deceleration control pattern, controlling the steering angle of the host vehicle so that the steering angle of the host vehicle becomes the target steering angle, and controlling the deceleration of the host vehicle so that the deceleration of the host vehicle becomes the target deceleration, The vehicle driving assistance method includes: during execution of the steering avoidance control, before the vehicle passes beside the object, when a deviation amount of the vehicle from the target driving path is equal to or greater than a predetermined deviation amount, the electronic control device sets, as the target steering angle, a value obtained by changing the steering angle defined in the steering angle control pattern so as to reduce the deviation amount, and sets, as the target deceleration, a value obtained by changing the deceleration defined in the deceleration control pattern; a step of setting a target steering angle obtained by changing a steering angle defined in the steering angle control pattern in a direction to move the vehicle toward a center of the vehicle's lane as a target steering angle and setting an increased deceleration value defined in the deceleration control pattern as a target deceleration when the electronic control device determines that the vehicle may deviate from the vehicle's lane and the deviation amount is smaller than the predetermined deviation amount during execution of the steering avoidance control before the vehicle passes beside the object; Contains A vehicle driving assistance method.

4. A vehicle driving assistance program that executes steering avoidance control for forcibly braking and steering the host vehicle when it is determined that the host vehicle may collide with an object in front of the host vehicle, thereby avoiding a collision between the host vehicle and the object, comprising: the steering avoidance control is control to avoid a collision between the host vehicle and the object by setting a travel path of the host vehicle along which the host vehicle can travel within the host lane in which the host vehicle is currently traveling, the travel path passing beside the object, setting a control pattern of a steering angle of the host vehicle for traveling along the target travel path as a steering angle control pattern, and setting a control pattern of a deceleration of the host vehicle as a deceleration control pattern, setting a target value of the steering angle of the host vehicle as a target steering angle based on the steering angle control pattern, and setting a target value of the deceleration of the host vehicle as a target deceleration based on the deceleration control pattern, controlling the steering angle of the host vehicle so that the steering angle of the host vehicle becomes the target steering angle, and controlling the deceleration of the host vehicle so that the deceleration of the host vehicle becomes the target deceleration, The vehicle driving assistance program is during execution of the steering avoidance control, when a deviation amount of the host vehicle from the target driving path is equal to or greater than a predetermined deviation amount before the host vehicle passes beside the object, a steering angle specified in the steering angle control pattern is changed to a value such that the deviation amount becomes smaller, and a deceleration specified in the deceleration control pattern is changed to a value such that the target deceleration is set; during execution of the steering avoidance control, when it is determined that the host vehicle is likely to deviate from the host lane when the deviation amount is smaller than the predetermined deviation amount before the host vehicle passes beside the object, a value obtained by changing the steering angle specified in the steering angle control pattern in a direction to move the host vehicle toward a center of the host lane is set as a target steering angle, and a value obtained by increasing the deceleration specified in the deceleration control pattern is set as a target deceleration. Vehicle driving assistance program.

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