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

Abstract

A vehicle driving assistance apparatus executes a collision avoidance control to avoid a collision of another vehicle with a side-portion of a host vehicle. The vehicle driving assistance apparatus is configured to, while the host vehicle is passing beside another vehicle existing in a lane adjacent to a traveling lane of the host vehicle to overtake the other vehicle, when a collision prediction condition that it is predicted that the other vehicle enters into the traveling lane and collides with the side-portion of the host vehicle is satisfied, execute the collision avoidance control such that the collision of the other vehicle with the side-portion of the host vehicle is avoided in a manner depending on a manner of the predicted collision.

Description

VEHICLE DRIVING ASSISTANCE APPARATUS, VEHICLE DRIVING ASSISTANCE METHOD, AND VEHICLE DRIVING ASSISTANCE PROGRAM

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

[0002] There is known a vehicle driving assistance apparatus which autonomously steers a host vehicle to laterally move the host vehicle in a direction away from an adjacent lane when determining that there is a possibility that another vehicle in the adjacent lane enters into a traveling lane of the host vehicle to avoid an obstacle (see, for example, Patent Literature 1).

[0003] [PLT 1]　Japanese Unexamined Patent Application Publication No. 2017-224163

[0004] The above vehicle driving assistance apparatus causes the host vehicle to move laterally on the condition that an obstacle is present in the adjacent lane. However, when no obstacle is present in the adjacent lane, there may be a case in which, while the host vehicle passes beside another vehicle in the adjacent lane to overtake the other vehicle, the other vehicle may enter into the traveling lane of the host vehicle. In such a case as well, if the host vehicle does not move laterally away from the adjacent lane, there is a possibility that the other vehicle collides with a side-portion of the host vehicle.

[0005] Also, when there is a possibility that another vehicle collides with the side-portion of the host vehicle, as means for avoiding the collision, means different from the means for causing the host vehicle to move laterally away from the adjacent lane may be appropriate.

[0006] An object of the present invention is to provide a vehicle driving assistance apparatus, a vehicle driving assistance method, and a vehicle driving assistance program capable of appropriately avoiding a collision in a manner depending on the manner of the collision of another vehicle with the side-portion of the host vehicle.

[0007] A vehicle driving assistance apparatus according to the present invention comprises a control device which execute a collision avoidance control to avoid a collision of another vehicle with a side-portion of a host vehicle. The control device is configured to, while the host vehicle is passing beside another vehicle existing in a lane adjacent to a traveling lane of the host vehicle to overtake the other vehicle, when a collision prediction condition that it is predicted that the other vehicle enters into the traveling lane and collides with the side-portion of the host vehicle is satisfied, execute the collision avoidance control such that the collision of the other vehicle with the side-portion of the host vehicle is avoided in a manner depending on a manner of the predicted collision.

[0008] According to the vehicle driving assistance apparatus of the present invention, when it is predicted that another vehicle collides with the side-portion of the host vehicle while the host vehicle overtakes the other vehicle, the collision avoidance control is executed in a manner depending on the manner of the predicted collision. Therefore, it is possible to appropriately avoid a collision of another vehicle with the side-portion of the host vehicle.

[0009] In the vehicle driving assistance apparatus according to an aspect of the present invention, the control device may be configured to execute, as the collision avoidance control, an acceleration avoidance control to autonomously accelerate the host vehicle when the collision prediction condition is satisfied and the manner of the collision is a manner in which the other vehicle collides with a rear side-portion of the host vehicle. Further, the control device may be configured to execute, as the collision avoidance control, a steering avoidance control to autonomously steer the host vehicle to move away from the other vehicle when the collision prediction condition is satisfied and the manner of the collision is a manner in which the other vehicle collides with the side-portion of the host vehicle other than the rear side-portion.

[0010] When there is a possibility that another vehicle collides with the rear side-portion of the host vehicle, accelerating the host vehicle is an appropriate means to avoid the collision. On the other hand, when there is a possibility that another vehicle collides with the side-portion of the host vehicle other than the rear side-portion, steering the host vehicle to move away from the other vehicle is an appropriate means to avoid the collision. According to the vehicle driving assistance apparatus of this aspect of the present invention, when the manner of the collision is a manner in which another vehicle collides with the rear side-portion of the host vehicle, the acceleration avoidance control is executed to accelerate the host vehicle. On the other hand, when the manner of the collision is a manner in which another vehicle collides with the side-portion of the host vehicle other than the rear side-portion, the steering avoidance control is executed to steer the host vehicle to move away from the other vehicle. Therefore, it is possible to appropriately avoid a collision of another vehicle with the side-portion of the host vehicle in an appropriate manner.

[0011] In the vehicle driving assistance apparatus according to another aspect of the present invention, the control device may be configured to avoid executing the acceleration avoidance control when the collision prediction condition is satisfied, the manner of the collision is a manner in which the other vehicle collides with the rear side-portion of the host vehicle, and an obstacle is present ahead of the host vehicle in the traveling lane of the host vehicle.

[0012] When an obstacle is present ahead of the host vehicle within the traveling lane of the host vehicle, if the host vehicle is accelerated, there is a possibility that the host vehicle collides with the obstacle. According to the vehicle driving assistance apparatus of this aspect of the present invention, in a case where the manner of the collision is a manner in which another vehicle collides with the rear side-portion of the host vehicle and an obstacle is present ahead of the host vehicle within the traveling lane of the host vehicle, the acceleration avoidance control is not executed even when the collision prediction condition is satisfied. Therefore, it is possible to avoid a collision of the host vehicle with the obstacle.

[0013] In the vehicle driving assistance apparatus according to further another aspect of the present invention, the control device may be configured to avoid executing the steering avoidance control when the collision prediction condition is satisfied, the manner of the collision is a manner in which the other vehicle collides with the side-portion of the host vehicle other than the rear side-portion, and an obstacle is present in a region to which the host vehicle is to move in order to move away from the other vehicle.

[0014] When an obstacle is present in a region to which the host vehicle is to move in order to move away from another vehicle and the host vehicle moves to the region, the host vehicle collides with the obstacle. According to the vehicle driving assistance apparatus of this aspect of the present invention, in a case where the manner of the collision is a manner in which another vehicle collides with the side-portion of the host vehicle other than the rear side-portion and an obstacle is present in a region to which the host vehicle is to move in order to move away from the other vehicle, the steering avoidance control is not executed even when the collision prediction condition is satisfied. Therefore, it is possible to avoid a collision of the host vehicle with the obstacle.

[0015] In the vehicle driving assistance apparatus according to further another aspect of the present invention, the control device may be configured to acquire behavior of the other vehicle based on object information on objects on a side and a rear of the host vehicle. The object information may be acquired by a surrounding monitoring device mounted on the host vehicle. Further, the control device may be configured to acquire a lateral movement-related value based on the acquired behavior of the other vehicle. The lateral movement-related value may relate to lateral movement of the other vehicle. Furthermore, the control device may be configured to determine that the collision prediction condition is satisfied when the other vehicle is present beside the host vehicle, the other vehicle moves toward the traveling lane of the host vehicle, and the lateral movement-related value is equal to or greater than a predetermined threshold.

[0016] The movement of another vehicle in the adjacent lane toward the side-portion of the host vehicle can be understood from a value relating to lateral movement of the other vehicle. Such a value can be understood from the behavior of the other vehicle acquired from the object information acquired by the surrounding monitoring device. According to the vehicle driving assistance apparatus of this aspect of the present invention, the behavior of another vehicle is acquired based on the object information acquired by the surrounding monitoring device mounted on the host vehicle, and the lateral movement-related value is acquired based on the behavior. Then, it is determined whether the collision prediction condition is satisfied based on the lateral movement-related value. Therefore, it is possible to more accurately determine whether the collision prediction condition is satisfied.

[0017] In the vehicle driving assistance apparatus according to further another aspect of the present invention, the control device may be configured to execute a separation steering control to autonomously steer the host vehicle to move in a direction away from the adjacent lane within the traveling lane of the host vehicle when a sign condition that there is a possibility that the other vehicle in the adjacent lane enters into the traveling lane of the host vehicle ahead of the host vehicle is satisfied.

[0018] If there is a possibility that another vehicle in the adjacent lane enters into the traveling lane of the host vehicle before the host vehicle catches up with the other vehicle while the host vehicle is about to overtake the other vehicle, it is preferable that the host vehicle move away from the adjacent lane at that time. According to the vehicle driving assistance apparatus of this aspect of the present invention, in a case where there is a possibility that another vehicle in the adjacent lane enters into the traveling lane of the host vehicle before the host vehicle catches up with the other vehicle while the host vehicle is about to overtake the other vehicle, the host vehicle is steered at that time to move away from the adjacent lane. Therefore, it is possible to avoid a collision of another vehicle with the host vehicle.

[0019] In the vehicle driving assistance apparatus according to further another aspect of the present invention, the control device may be configured to determine that the sign condition is satisfied when a first entry condition is satisfied before the host vehicle reaches the side of the other vehicle in a situation where the other vehicle is in a stopped state. Further, the control device may be configured to determine that the sign condition is satisfied when a second entry condition is satisfied before the host vehicle reaches the side of the other vehicle in a situation where the other vehicle is in a traveling state. Furthermore, the control device may be configured to determine that the first entry condition is satisfied when the control device determines that there is a possibility that the other vehicle starts and enters into the traveling lane of the host vehicle ahead of the host vehicle, based on first movement direction information and start information. The first movement direction information may be information on a movement direction of the other vehicle. The start information may be information on a start of the other vehicle. Furthermore, the control device may be configured to determine that the second entry condition is satisfied when the control device determines that there is a possibility that the other vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle, based on second movement direction information and traveling speed information. The second movement direction information may be information on the movement direction of the other vehicle. The traveling speed information may be information on a traveling speed of the other vehicle.

[0020] When another vehicle in the adjacent lane is stopped, whether there is a possibility that the other vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle and collides with the host vehicle before the host vehicle reaches the side of the other vehicle can be determined based on the movement direction of the other vehicle and whether the other vehicle starts to move. On the other hand, when another vehicle in the adjacent lane travels, whether there is a possibility that the other vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle and collides with the host vehicle before the host vehicle reaches the side of the other vehicle can be determined based on the movement direction and the traveling speed of the other vehicle. According to the vehicle driving assistance apparatus of this aspect of the present invention, when another vehicle in the adjacent lane is in a stopped state, it is determined, based on the first movement direction information and the start information, whether the other vehicle starts to move and enters into the traveling lane of the host vehicle ahead of the host vehicle before the host vehicle reaches the side of the other vehicle. On the other hand, when another vehicle in the adjacent lane is in a traveling state, it is determined, based on the second movement direction information and the traveling speed information, whether the other vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle before the host vehicle reaches the side of the other vehicle. Therefore, it is possible to more accurately determine whether another vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle before the host vehicle reaches the side of the other vehicle.

[0021] In the vehicle driving assistance apparatus according to further another aspect of the present invention, the control device may be configured to determine that the second entry condition is satisfied when the control device determines that there is a possibility that the other vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle, based on the second movement direction information, the traveling speed information, and warning lamp information. The warning lamp information may be information on an operation state of a warning lamp of the other vehicle. The warning lamp may be a lamp for notifying an operator of the other vehicle that the host vehicle is present in a region located outside and to the rear of the other vehicle and constituting a blind spot for the operator of the other vehicle.

[0022] The warning lamp is a lamp for notifying the operator of another vehicle that the host vehicle is present in a region that is a blind spot for the operator. Therefore, the information on the operation state of the waring lamp is useful as information used to determine whether another vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle. According to the vehicle driving assistance apparatus of this aspect of the present invention, the warning lamp information is used to determine whether the second entry condition is satisfied. Therefore, it is possible to more accurately determine whether the second entry condition is satisfied.

[0023] A vehicle driving assistance method according to the present invention is a method for executing a collision avoidance control to avoid a collision of another vehicle with a side-portion of a host vehicle. The vehicle driving assistance method comprises a step of, while the host vehicle is passing beside another vehicle existing in a lane adjacent to a traveling lane of the host vehicle to overtake the other vehicle, when a collision prediction condition that it is predicted that the other vehicle enters into the traveling lane and collides with the side-portion of the host vehicle is satisfied, executing the collision avoidance control such that the collision of the other vehicle with the side-portion of the host vehicle is avoided in a manner depending on a manner of the predicted collision.

[0024] For the same reason as described above, according to the vehicle driving assistance method of the present invention, it is possible to appropriately avoid a collision of another vehicle with the side-portion of the host vehicle.

[0025] A vehicle driving assistance program according to the present invention is a program for executing a collision avoidance control to avoid a collision of another vehicle with a side-portion of a host vehicle. The vehicle driving assistance program is configured to, while the host vehicle is passing beside another vehicle existing in a lane adjacent to a traveling lane of the host vehicle to overtake the other vehicle, when a collision prediction condition that it is predicted that the other vehicle enters into the traveling lane and collides with the side-portion of the host vehicle is satisfied, execute the collision avoidance control such that the collision of the other vehicle with the side-portion of the host vehicle is avoided in a manner depending on a manner of the predicted collision.

[0026] For the same reason as described above, according to the vehicle driving assistance program of the present invention, it is possible to appropriately avoid a collision of another vehicle with the side-portion of the host vehicle.

[0027] The components of the present invention are not limited to the embodiments of the present invention, which will be described later with reference to the drawings. Other objects, other features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention.

[0028] FIG. 1 is a diagram showing a vehicle driving assistance apparatus according to an embodiment of the present invention.FIG. 2 is a diagram showing a situation in which a vehicle is present beside a host vehicle.FIG. 3 is a flowchart showing a routine executed by the vehicle driving assistance apparatus according to the embodiment of the present invention.FIG. 4 is a diagram showing a situation in which a vehicle is stopped ahead of the host vehicle.FIG. 5 is a diagram showing a situation in which a vehicle travels ahead of the host vehicle.FIG. 6 is a diagram showing a longitudinal centerline of the host vehicle and a centerline of a host vehicle traveling lane.FIG. 7 is a diagram showing a situation in which the host vehicle is autonomously steered by a separation steering control.FIG. 8 is a diagram showing a situation in which a vehicle is present near a side-portion of the host vehicle other than a rear side-portion thereof.FIG. 9 is a diagram showing a situation in which a vehicle is present near the rear side-portion of the host vehicle.FIG. 10 is a diagram showing a situation in which an obstacle is present in a region to which the host vehicle is to move.FIG. 11 is a diagram showing a situation in which an obstacle (preceding vehicle) is present ahead of the host vehicle.FIG. 12 is a diagram showing a situation in which the host vehicle is autonomously steered by a steering avoidance control.FIG. 13 is a diagram showing a situation in which the host vehicle is autonomously accelerated by an acceleration avoidance control.

[0029] Hereinafter, a vehicle driving assistance apparatus, a vehicle driving assistance method, and a vehicle driving assistance program according to an embodiment of the present invention will be described with reference to the drawings. The vehicle driving assistance apparatus 10 according to the embodiment of the present invention is shown in FIG. 1. The vehicle driving assistance apparatus 10 is mounted on a host vehicle 100. Hereinafter, the vehicle driving assistance apparatus 10 will be described, using an example that an operator of the host vehicle 100 is a driver of the host vehicle 100 (that is, a person who boards the host vehicle 100 and drives the host vehicle 100). However, the operator of the host vehicle 100 may also be a remote operator of the host vehicle 100 (that is, a person who drives the host vehicle 100 remotely without boarding the host vehicle 100).

[0030] As shown in FIG. 1, the vehicle driving assistance apparatus 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, a computer-readable storage medium, and an interface, etc. The storage medium includes a ROM, a RAM, and a nonvolatile memory, etc. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance apparatus 10 stores, in the storage medium, programs for realizing various controls executed by the vehicle driving assistance apparatus 10.

[0031] It should be noted that, in this example, the vehicle driving assistance apparatus 10 includes only one ECU 90, but the vehicle driving assistance apparatus 10 may include a plurality of ECUs and may be configured such that the functions of the vehicle driving assistance apparatus 10 described below are divided and performed by each of the ECUs.

[0032] Also, the vehicle driving assistance apparatus 10 may be configured such that the programs stored in the storage medium can be updated via wireless communication (for example, internet communication) with external devices.

[0033] It should be noted that the vehicle driving assistance apparatus 10 is applied not only to vehicles that travel by manual driving by a driver, but also to vehicles that travel by autonomous driving.

[0034] As shown in FIG. 1, the host vehicle 100 is equipped with a drive apparatus 20, a steering apparatus 30, and a surrounding monitoring device 40.

[0035] The drive apparatus 20 is an apparatus that generates driving force to be applied to the host vehicle 100 (particularly, to drive wheels of the host vehicle 100). The drive apparatus 20 includes, for example, an internal combustion engine and an electric motor. The drive apparatus 20 is electrically connected to the ECU 90. The vehicle driving assistance apparatus 10 can control the driving force applied to the host vehicle 100 by controlling the operation of the drive apparatus 20. In other words, the vehicle driving assistance apparatus 10 can accelerate the host vehicle 100 by controlling the operation of the drive apparatus 20.

[0036] The steering apparatus 30 is an apparatus that generates steering force to be applied to the host vehicle 100 (particularly, to steered wheels of the host vehicle 100). The steering apparatus 30 is electrically connected to the ECU 90. The vehicle driving assistance apparatus 10 can control the steering force applied to the host vehicle 100 by controlling the operation of the steering apparatus 30. In other words, the vehicle driving assistance apparatus 10 can steer the host vehicle 100 by controlling the operation of the steering apparatus 30.

[0037] The surrounding monitoring device 40 is an apparatus for detecting information on the surroundings of the host vehicle 100. In this example, the surrounding monitoring device 40 includes a plurality of electromagnetic wave sensors 41 and a plurality of image sensors 42. The electromagnetic wave sensors 41 and the image sensors 42 are electrically connected to the ECU 90. The electromagnetic wave sensors 41 are, for example, radar sensors such as millimeter-wave radar. The vehicle driving assistance apparatus 10 acquires information on objects present around the host vehicle 100 (object information IO) as surrounding information ISR by the electromagnetic wave sensors 41. The image sensors 42 are, for example, camera sensors. The vehicle driving assistance apparatus 10 acquires image information IC regarding the surroundings of the host vehicle 100 as surrounding information ISR by the image sensors 42. The vehicle driving assistance apparatus 10 also acquires the object information IO as surrounding information ISR from the image information IC.

[0038] <Operation of Vehicle Driving Assistance Apparatus> Next, the operation of the vehicle driving assistance apparatus 10 will be described. As shown in FIG. 2, when a target vehicle 200 enters into a host vehicle traveling lane LN1 while the host vehicle 100 is passing beside (overtaking) the target vehicle 200, the target vehicle 200 may collide with a side-portion of the host vehicle 100. The vehicle driving assistance apparatus 10 executes a collision avoidance control to avoid a collision between the target vehicle 200 and the host vehicle 100. More specifically, the vehicle driving assistance apparatus 10 executes the routine shown in FIG. 3 at predetermined time intervals, and when a predetermined condition is satisfied, executes the above collision avoidance control.

[0039] The target vehicle 200 is another vehicle that exists in an adjacent lane LN2 adjacent to the host vehicle traveling lane LN1 and is a vehicle that the host vehicle 100 is about to overtake. It should be noted that the traveling direction of the target vehicle 200 is the same as that of the host vehicle 100. Also, the target vehicle 200 is detected based on the surrounding information ISR. The host vehicle traveling lane LN1 is a lane in which the host vehicle 100 is traveling, that is, a traveling lane of the host vehicle 100.

[0040] The vehicle driving assistance apparatus 10 starts a process from a step S300 of the routine shown in FIG. 3 at a predetermined timing. Then, the vehicle driving assistance apparatus 10 proceeds with the process to a step S305 to determine whether a sign condition C1 is satisfied.

[0041] The sign condition C1 is a condition that there is a possibility that the target vehicle 200 enters into the host vehicle traveling lane LN1 ahead of the host vehicle 100.

[0042] As shown in FIG. 4, in a situation where the target vehicle 200 is in a stopped state, the vehicle driving assistance apparatus 10 determines that the sign condition C1 is satisfied when a first entry condition C11 is satisfied before the host vehicle 100 reaches the side of the target vehicle 200. Further, as shown in FIG. 5, in a situation where the target vehicle 200 is in a traveling state, the vehicle driving assistance apparatus 10 determines that the sign condition C1 is satisfied when a second entry condition C12 is satisfied before the host vehicle 100 reaches the side of the target vehicle 200.

[0043] The vehicle driving assistance apparatus 10 determines that the first entry condition C11 is satisfied when determining, based on first movement direction information IM1 and start information IST, that the target vehicle 200 starts moving and there is a possibility that the target vehicle 200 enters into the host vehicle traveling lane LN1 ahead of the host vehicle 100.

[0044] The first movement direction information IM1 is information on the movement direction of the target vehicle 200. In this example, the first movement direction information IM1 is information on an operation state of turn signals of the target vehicle 200 and information on a direction of steered wheels of the target vehicle 200. In particular, when the target vehicle 200 is present in the adjacent lane LN2 on the left side of the host vehicle traveling lane LN1, the first movement direction information IM1 is information on whether or not the right turn signals of the target vehicle 200 are operating, and information on whether or not the steered wheels of the target vehicle 200 are oriented toward the front right. On the other hand, when the target vehicle 200 is present in the adjacent lane LN2 on the right side of the host vehicle traveling lane LN1, the first movement direction information IM1 is information on whether or not the left turn signals of the target vehicle 200 are operating, and information on whether or not the steered wheels of the target vehicle 200 are oriented toward the front left.

[0045] It should be noted that the turn signals of the target vehicle 200 are devices for notifying persons outside the target vehicle 200 of the traveling direction of the target vehicle 200. When the right turn signals of the target vehicle 200 are operating (that is, blinking), the turn signals indicate that the target vehicle 200 is traveling in the right direction. On the other hand, when the left turn signals of the target vehicle 200 are operating (that is, blinking), the turn signals indicate that the target vehicle 200 is traveling in the left direction. Therefore, when the right turn signals of the stopped target vehicle 200 are blinking, it can be estimated that there is a possibility that the target vehicle 200 starts traveling with a lateral movement in the right direction. On the other hand, when the left turn signals of the stopped target vehicle 200 are blinking, it can be estimated that there is a possibility that the target vehicle 200 starts traveling with a lateral movement in the left direction.

[0046] The start information IST is information on the start of the target vehicle 200. In this example, the start information IST is information on an operation state of brake lamps of the target vehicle 200. In particular, the start information IST is information on whether or not the brake lamps of the target vehicle 200 have changed from an operating state to a non-operating state.

[0047] The brake lamps of the target vehicle 200 are devices for notifying persons outside the target vehicle 200 that a brake pedal of the target vehicle 200 has been depressed. When the brake lamps of the target vehicle 200 are operating (that is, lit), the brake lamps indicate that the brake pedal of the target vehicle 200 is depressed. On the other hand, when the brake lamps of the target vehicle 200 are not operating (that is, not lit), the brake lamps indicate that the brake pedal of the target vehicle 200 is not depressed and is released. Therefore, when the stopped target vehicle 200 starts moving, the brake pedal of the target vehicle 200, which was depressed, is released, so the brake lamps of the target vehicle 200, which were lit, turns off. Therefore, when the brake lamps of the stopped target vehicle 200 change from a lit state to an unlit state, it can be estimated that there is a possibility that the target vehicle 200 starts moving.

[0048] Therefore, in this example, the vehicle driving assistance apparatus 10 determines that the first entry condition C11 is satisfied when (1) the turn signals of the target vehicle 200 is operating, (2) the direction indicated by the turn signals is toward the host vehicle traveling lane LN1, and (3) the brake lamps of the target vehicle 200 change from a lit state to an unlit state.

[0049] Further, in this example, the vehicle driving assistance apparatus 10 determines that the first entry condition C11 is satisfied when (1) the steered wheels of the target vehicle 200 are oriented in a direction to cause the target vehicle 200 to travel toward the host vehicle traveling lane LN1, and (2) the brake lamps of the target vehicle 200 change from a lit state to an unlit state.

[0050] It should be noted that whether or not the first entry condition C11 is satisfied is determined based on the surrounding information ISR.

[0051] On the other hand, the vehicle driving assistance apparatus 10 determines that the second entry condition C12 is satisfied when determining, based on second movement direction information IM2 and traveling speed information IV, that there is a possibility that the target vehicle 200 enters into the host vehicle traveling lane LN1 ahead of the host vehicle 100.

[0052] The second movement direction information IM2 is information on the movement direction of the target vehicle 200. In this example, the second movement direction information IM2 is information on an operation state of the turn signals of the target vehicle 200. In particular, the second movement direction information IM2 is information on whether or not the turn signals of the target vehicle 200 are operating, and whether or not the direction indicated by the turn signals is toward the host vehicle traveling lane LN1.

[0053] Further, the traveling speed information IV is information on a traveling speed V2 of the target vehicle 200. In particular, the traveling speed information IV is information on whether or not the traveling speed V2 of the target vehicle 200 is lower than a host vehicle speed V1.

[0054] In this example, the vehicle driving assistance apparatus 10 determines that the second entry condition C12 is satisfied when (1) the turn signals of the target vehicle 200 are operating, (2) the direction indicated by the turn signals is toward the host vehicle traveling lane LN1, and (3) the traveling speed V2 of the target vehicle 200 is lower than the host vehicle speed V1.

[0055] Alternatively, the vehicle driving assistance apparatus 10 may be configured to determine that the second entry condition C12 is satisfied when determining, based on the second movement direction information IM2, the traveling speed information IV, and warning lamp information IL, that there is a possibility that the target vehicle 200 enters into the host vehicle traveling lane LN1 ahead of the host vehicle 100.

[0056] In this example, the warning lamp information IL is information on an operation state of a blind spot monitor lamp of the target vehicle 200. In particular, the warning lamp information IL is information on whether or not the blind spot monitor lamp of the target vehicle 200 is lit. The blind spot monitor lamps are provided on both a left side mirror and a right side mirror of the target vehicle 200. The blind spot monitor lamp is a warning lamp for notifying a driver of the target vehicle 200 that the host vehicle 100 is present in a blind spot area AD for the driver of the target vehicle 200.

[0057] The blind spot area AD is a region located outside and to the rear of the target vehicle 200, and is a region that constitutes a blind spot for the driver of the target vehicle 200. More specifically, the blind spot area AD includes a right rear blind spot area AD_R and a left rear blind spot area AD_L. The right rear blind spot area AD_R is a region located outside and to the right rear of the target vehicle 200, and is a region that constitutes a blind spot for the driver of the target vehicle 200. The left rear blind spot area AD_L is a region located outside and to the left rear of the target vehicle 200, and is a region that constitutes a blind spot for the driver of the target vehicle 200. When the host vehicle 100 is present in the right rear blind spot area AD_R, the blind spot monitor lamp provided on the right side mirror of the target vehicle 200 is turned on. On the other hand, when the host vehicle 100 is present in the left rear blind spot area AD_L, the blind spot monitor lamp provided on the left side mirror of the target vehicle 200 is turned on.

[0058] In this case, the vehicle driving assistance apparatus 10 determines that the second entry condition C12 is satisfied when (1) the turn signals of the target vehicle 200 are operating, (2) the direction indicated by the turn signals is toward the host vehicle traveling lane LN1, (3) the traveling speed V2 of the target vehicle 200 is lower than the host vehicle speed V1, and (4) the blind spot monitor lamp provided on the side of the target vehicle 200 facing the host vehicle traveling lane LN1 is not lit.

[0059] It should be noted that whether or not the second entry condition C12 is satisfied is determined based on the surrounding information ISR.

[0060] When the vehicle driving assistance apparatus 10 determines “Yes” at the step S305, the vehicle driving assistance apparatus 10 proceeds with the process to a step S310 to determine whether or not a travel position condition C2 is satisfied.

[0061] The travel position condition C2 is a condition that, at a time before the host vehicle 100 reaches the target vehicle 200, the host vehicle 100 is traveling in a position close to the adjacent lane LN2 in which the target vehicle 200 is traveling. In other words, the travel position condition C2 is a condition that, at a time before a front end portion of the host vehicle 100 is aligned with a rear end portion of the target vehicle 200, the host vehicle 100 is traveling in a position close to the adjacent lane LN2 in which the target vehicle 200 is traveling.

[0062] More specifically, the travel position condition C2 is a condition that, at a time before the front end portion of the host vehicle 100 is aligned with the rear end portion of the target vehicle 200, a longitudinal centerline CL1 of the host vehicle 100 is located closer to the side of the target vehicle 200 than a centerline CL2 of the host vehicle traveling lane LN1. As shown in FIG. 6, the longitudinal centerline CL1 of the host vehicle 100 is a line that horizontally extends in the front-rear direction through the center in the width direction of the host vehicle 100. Also, as shown in FIG. 6, the centerline CL2 of the host vehicle traveling lane LN1 is a line that horizontally extends along the host vehicle traveling lane LN1 through the center in the width direction of the host vehicle traveling lane LN1.

[0063] Alternatively, the travel position condition C2 may be a condition that, at a time before the front end portion of the host vehicle 100 is aligned with the rear end portion of the target vehicle 200, (1) the longitudinal centerline CL1 of the host vehicle 100 is located closer to the side of the target vehicle 200 than the centerline CL2 of the host vehicle traveling lane LN1, and (2) a distance D between the longitudinal centerline CL1 and the centerline CL2 is equal to or greater than a predetermined threshold distance Dth. The predetermined threshold distance Dth may be set to a greater value as the width of the host vehicle traveling lane LN1 increases.

[0064] Whether or not the travel position condition C2 is satisfied is determined based on the surrounding information ISR.

[0065] When the vehicle driving assistance apparatus 10 determines “Yes” at the step S310, the vehicle driving assistance apparatus 10 proceeds with the process to a step S315 to execute a separation steering control. Then, the vehicle driving assistance apparatus 10 proceeds with the process to a step S320.

[0066] As shown in FIG. 7, the separation steering control is a control that autonomously steers the host vehicle 100 to move away from the adjacent lane LN2 in which the target vehicle 200 is present. In this manner, when the sign condition C1 is satisfied, the vehicle driving assistance apparatus 10 executes the separation steering control.

[0067] On the other hand, when the vehicle driving assistance apparatus 10 determines “No” at the step S305 or at the step S310, the vehicle driving assistance apparatus 10 proceeds with the process directly to the step S320.

[0068] It should be noted that the process at the step S310 may be omitted. In this case, when the vehicle driving assistance apparatus 10 determines “Yes” at the step S305, the vehicle driving assistance apparatus 10 proceeds with the process directly to the step S315.

[0069] Alternatively, the processes from the step S305 to the step S315 may be omitted.

[0070] When the vehicle driving assistance apparatus 10 proceeds with the process to the step S320, the vehicle driving assistance apparatus 10 determines whether or not a collision prediction condition C3 is satisfied.

[0071] The collision prediction condition C3 is a condition that it is predicted that the target vehicle 200 will enter into the host vehicle traveling lane LN1 and collide with the side-portion of the host vehicle 100 while the host vehicle 100 is passing beside the target vehicle 200 to overtake the target vehicle 200.

[0072] In this example, the vehicle driving assistance apparatus 10 acquires behavior of the target vehicle 200 based on the object information IO on objects on the side and rear of the host vehicle 100 acquired by the surrounding monitoring device 40, and acquires a lateral movement-related value P, which is a value relating to lateral movement of the target vehicle 200, based on the acquired behavior of the target vehicle 200. Then, when (1) the target vehicle 200 is present beside the host vehicle 100, (2) the target vehicle 200 is moving toward the host vehicle traveling lane LN1, and (3) the lateral movement-related value P is equal to or greater than a predetermined threshold Pth, the vehicle driving assistance apparatus 10 determines that the collision prediction condition C3 is satisfied.

[0073] More specifically, as shown in FIG. 8 and FIG. 9, the vehicle driving assistance apparatus 10 determines that the collision prediction condition C3 is satisfied when (1) the target vehicle 200 is present beside the host vehicle 100, (2) the target vehicle 200 is moving toward the host vehicle traveling lane LN1, and (3) a lateral speed Vy of the target vehicle 200 is equal to or greater than a predetermined threshold lateral speed Vy_th. In this case, the lateral speed Vy of the target vehicle 200 is the lateral movement-related value P.

[0074] Alternatively, the vehicle driving assistance apparatus 10 may determine that the collision prediction condition C3 is satisfied when (1) the target vehicle 200 is present beside the host vehicle 100, (2) the target vehicle 200 is moving toward the host vehicle traveling lane LN1, (3) the lateral speed Vy of the target vehicle 200 is equal to or greater than the predetermined threshold lateral speed Vy_th, and (4) a lateral acceleration rate Gy of the target vehicle 200 is equal to or greater than a predetermined threshold lateral acceleration rate Gy_th. In this case, the lateral speed Vy and the lateral acceleration rate Gy of the target vehicle 200 are the lateral movement-related value P.

[0075] It should be noted that the lateral speed Vy of the target vehicle 200 is a speed at which the target vehicle 200 moves in its width direction. The lateral acceleration rate Gy of the target vehicle 200 is an acceleration rate when the target vehicle 200 moves in its width direction.

[0076] Whether or not the collision prediction condition C3 is satisfied is determined based on the surrounding information ISR.

[0077] When the vehicle driving assistance apparatus 10 determines “Yes” at the step S320, the vehicle driving assistance apparatus 10 proceeds with the process to a step S325 to determine whether a lateral collision condition C4 is satisfied.

[0078] The lateral collision condition C4 is a condition that the manner of the collision is a manner in which the target vehicle 200 collides with the side-portion of the host vehicle 100 other than a rear side-portion of the host vehicle 100. The manner of the collision is a manner of the collision of the target vehicle 200 with the side-portion of the host vehicle 100.

[0079] It should be noted that whether or not the lateral collision condition C4 is satisfied is determined based on the surrounding information ISR.

[0080] When the vehicle driving assistance apparatus 10 determines “Yes” at the step S325, the vehicle driving assistance apparatus 10 proceeds with the process to a step S330 to determine whether or not a first obstacle condition C51 is satisfied.

[0081] The first obstacle condition C51 is a condition that, as shown in FIG. 10, an obstacle 300 is present in a region to which the host vehicle 100 is to move in order to move away from the target vehicle 200. In particular, in this example, the first obstacle condition C51 is a condition that an obstacle 300 is present in an avoidance region A. The avoidance region A is a region to which the host vehicle 100 is to move in order to move away from the target vehicle 200.

[0082] It should be noted that whether or not the first obstacle condition C51 is satisfied is determined based on the surrounding information ISR.

[0083] When the vehicle driving assistance apparatus 10 determines “No” at the step S330, the vehicle driving assistance apparatus 10 proceeds with the process to a step S335 to execute a steering avoidance control. Then, the vehicle driving assistance apparatus 10 proceeds with the process to a step S395 to terminate the process of this routine once.

[0084] As shown in FIG. 12, the steering avoidance control is a control that autonomously steers the host vehicle 100 to move in a direction away from the target vehicle 200. That is, when the manner of the collision is a manner in which the target vehicle 200 collides with the side-portion of the host vehicle 100 other than the rear side-portion thereof, the vehicle driving assistance apparatus 10 executes, as the collision avoidance control, the steering avoidance control for autonomously steering the host vehicle 100 to move away from the target vehicle 200.

[0085] It should be noted that the process at the step S330 may be omitted. In this case, when the vehicle driving assistance apparatus 10 determines “Yes” at the step S325, the vehicle driving assistance apparatus 10 proceeds with the process directly to the step S335.

[0086] On the other hand, when the vehicle driving assistance apparatus 10 determines “Yes” at the step S330, the vehicle driving assistance apparatus 10 proceeds with the process directly to the step S395 to terminate the process of this routine once. That is, when the manner of the collision is a manner in which the target vehicle 200 collides with the side-portion of the host vehicle 100 other than the rear side-portion thereof, and an obstacle 300 is present in a region to which the host vehicle 100 is to move in order to move away from the target vehicle 200, the vehicle driving assistance apparatus 10 does not execute the steering avoidance control.

[0087] Also, when the vehicle driving assistance apparatus 10 determines “No” at the step S325, the vehicle driving assistance apparatus 10 proceeds with the process to a step S340 to determine whether or not a second obstacle condition C52 is satisfied.

[0088] The second obstacle condition C52 is a condition that, as shown in FIG. 11, an obstacle 350 is present ahead of the host vehicle 100 and within the host vehicle traveling lane LN1. The obstacle 350 is, for example, a preceding vehicle. The preceding vehicle is another vehicle that is traveling in the host vehicle traveling lane LN1 immediately ahead of the host vehicle 100. More specifically, the preceding vehicle is another vehicle that is traveling in the host vehicle traveling lane LN1 within a predetermined distance ahead of the host vehicle 100.

[0089] It should be noted that whether or not the second obstacle condition C52 is satisfied is determined based on the surrounding information ISR.

[0090] When the vehicle driving assistance apparatus 10 determines “No” at the step S340, the vehicle driving assistance apparatus 10 proceeds with the process to a step S345 to execute an acceleration avoidance control. Then, the vehicle driving assistance apparatus 10 proceeds with the process to the step S395 to terminate the process of this routine once.

[0091] As shown in FIG. 13, the acceleration avoidance control is a control that autonomously accelerates the host vehicle 100. That is, when the manner of the collision is a manner in which the target vehicle 200 collides with the rear side-portion of the host vehicle 100, the vehicle driving assistance apparatus 10 executes, as the collision avoidance control, the acceleration avoidance control for autonomously accelerating the host vehicle 100.

[0092] It should be noted that the process at the step S340 may be omitted. In this case, when the vehicle driving assistance apparatus 10 determines “No” at the step S325, the vehicle driving assistance apparatus 10 proceeds with the process directly to the step S345.

[0093] On the other hand, when the vehicle driving assistance apparatus 10 determines “Yes” at the step S340, the vehicle driving assistance apparatus 10 proceeds with the process directly to the step S395 to terminate the process of this routine once. That is, when the manner of the collision is a manner in which the target vehicle 200 collides with the rear side-portion of the host vehicle 100, and an obstacle 350 is present ahead of the host vehicle 100 and within the host vehicle traveling lane LN1, the vehicle driving assistance apparatus 10 does not execute the acceleration avoidance control.

[0094] Further, when the vehicle driving assistance apparatus 10 determines “No” at the step S320, the vehicle driving assistance apparatus 10 proceeds with the process directly to the step S395 to terminate the process of this routine once.

[0095] As described above, when the collision prediction condition C3 is satisfied, the vehicle driving assistance apparatus 10 executes one of the collision avoidance controls: the steering avoidance control or the acceleration avoidance control, depending on whether the predicted manner of the collision of the target vehicle 200 with the side-portion of the host vehicle 100 is a manner in which the target vehicle 200 collides with the rear side-portion of the host vehicle 100, or a manner in which the target vehicle 200 collides with the side-portion of the host vehicle 100 other than the rear side-portion thereof. That is, when the vehicle driving assistance apparatus 10 determines that the collision prediction condition C3 is satisfied, the vehicle driving assistance apparatus 10 executes the collision avoidance control for preventing the predicted collision of the target vehicle 200 with the side-portion of the host vehicle 100 in a manner depending on the manner of the predicted collision.

[0096] The foregoing is the operation of the vehicle driving assistance apparatus 10. According to the vehicle driving assistance apparatus 10, when it is predicted that the target vehicle 200 will collide with the side-portion of the host vehicle 100 while the host vehicle 100 is overtaking the target vehicle 200, the steering avoidance control or the acceleration avoidance control is executed as the collision avoidance control in a manner depending on the predicted manner of the collision. Therefore, it is possible to appropriately avoid a collision of the target vehicle 200 with the side-portion of the host vehicle 100.

[0097] It should be noted that the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0098] 10 Vehicle driving assistance apparatus 20 Drive apparatus 30 Steering apparatus 40 Surrounding monitoring apparatus 41 Electromagnetic wave sensors 42 Image sensors 90 ECU 100 Host vehicle 200 Target vehicle 300 Obstacle 350 Obstacle

Claims

1. A vehicle driving assistance apparatus, comprising a control device which execute a collision avoidance control to avoid a collision of another vehicle with a side-portion of a host vehicle, wherein the control device is configured to, while the host vehicle is passing beside another vehicle existing in a lane adjacent to a traveling lane of the host vehicle to overtake the other vehicle, when a collision prediction condition that it is predicted that the other vehicle enters into the traveling lane and collides with the side-portion of the host vehicle is satisfied, execute the collision avoidance control such that the collision of the other vehicle with the side-portion of the host vehicle is avoided in a manner depending on a manner of the predicted collision.

2. The vehicle driving assistance apparatus according to claim 1, wherein the control device is configured to: execute, as the collision avoidance control, an acceleration avoidance control to autonomously accelerate the host vehicle when the collision prediction condition is satisfied and the manner of the collision is a manner in which the other vehicle collides with a rear side-portion of the host vehicle; and execute, as the collision avoidance control, a steering avoidance control to autonomously steer the host vehicle to move away from the other vehicle when the collision prediction condition is satisfied and the manner of the collision is a manner in which the other vehicle collides with the side-portion of the host vehicle other than the rear side-portion.

3. The vehicle driving assistance apparatus according to claim 2, wherein the control device is configured to avoid executing the acceleration avoidance control when the collision prediction condition is satisfied, the manner of the collision is a manner in which the other vehicle collides with the rear side-portion of the host vehicle, and an obstacle is present ahead of the host vehicle in the traveling lane of the host vehicle.

4. The vehicle driving assistance apparatus according to claim 2, wherein the control device is configured to avoid executing the steering avoidance control when the collision prediction condition is satisfied, the manner of the collision is a manner in which the other vehicle collides with the side-portion of the host vehicle other than the rear side-portion, and an obstacle is present in a region to which the host vehicle is to move in order to move away from the other vehicle.

5. The vehicle driving assistance apparatus according to claim 1, wherein the control device is configured to: acquire behavior of the other vehicle based on object information on objects on a side and a rear of the host vehicle, the object information being acquired by a surrounding monitoring device mounted on the host vehicle; acquire a lateral movement-related value based on the acquired behavior of the other vehicle, the lateral movement-related value relating to lateral movement of the other vehicle; and determine that the collision prediction condition is satisfied when the other vehicle is present beside the host vehicle, the other vehicle moves toward the traveling lane of the host vehicle, and the lateral movement-related value is equal to or greater than a predetermined threshold.

6. The vehicle driving assistance apparatus according to claim 1, wherein the control device is configured to execute a separation steering control to autonomously steer the host vehicle to move in a direction away from the adjacent lane within the traveling lane of the host vehicle when a sign condition that there is a possibility that the other vehicle in the adjacent lane enters into the traveling lane of the host vehicle ahead of the host vehicle is satisfied.

7. The vehicle driving assistance apparatus according to claim 6, wherein the control device is configured to: determine that the sign condition is satisfied when a first entry condition is satisfied before the host vehicle reaches the side of the other vehicle in a situation where the other vehicle is in a stopped state; and determine that the sign condition is satisfied when a second entry condition is satisfied before the host vehicle reaches the side of the other vehicle in a situation where the other vehicle is in a traveling state, and the control device is configured to: determine that the first entry condition is satisfied when the control device determines that there is a possibility that the other vehicle starts and enters into the traveling lane of the host vehicle ahead of the host vehicle, based on first movement direction information and start information, the first movement direction information being information on a movement direction of the other vehicle, the start information being information on a start of the other vehicle; and determine that the second entry condition is satisfied when the control device determines that there is a possibility that the other vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle, based on second movement direction information and traveling speed information, the second movement direction information being information on the movement direction of the other vehicle, the traveling speed information being information on a traveling speed of the other vehicle.

8. The vehicle driving assistance apparatus according to claim 7, wherein the control device is configured to determine that the second entry condition is satisfied when the control device determines that there is a possibility that the other vehicle enters into the traveling lane of the host vehicle ahead of the host vehicle, based on the second movement direction information, the traveling speed information, and warning lamp information, the warning lamp information being information on an operation state of a warning lamp of the other vehicle, and the warning lamp is a lamp for notifying an operator of the other vehicle that the host vehicle is present in a region located outside and to the rear of the other vehicle and constituting a blind spot for the operator of the other vehicle.

9. A vehicle driving assistance method for executing a collision avoidance control to avoid a collision of another vehicle with a side-portion of a host vehicle, wherein the vehicle driving assistance method comprises a step of, while the host vehicle is passing beside another vehicle existing in a lane adjacent to a traveling lane of the host vehicle to overtake the other vehicle, when a collision prediction condition that it is predicted that the other vehicle enters into the traveling lane and collides with the side-portion of the host vehicle is satisfied, executing the collision avoidance control such that the collision of the other vehicle with the side-portion of the host vehicle is avoided in a manner depending on a manner of the predicted collision.

10. A vehicle driving assistance program for executing a collision avoidance control to avoid a collision of another vehicle with a side-portion of a host vehicle, wherein the vehicle driving assistance program is configured to, while the host vehicle is passing beside another vehicle existing in a lane adjacent to a traveling lane of the host vehicle to overtake the other vehicle, when a collision prediction condition that it is predicted that the other vehicle enters into the traveling lane and collides with the side-portion of the host vehicle is satisfied, execute the collision avoidance control such that the collision of the other vehicle with the side-portion of the host vehicle is avoided in a manner depending on a manner of the predicted collision.

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