Vehicle behavior control device
A vehicle including a vehicle behavior control device in an ECU. The vehicle behavior control device obtains a line of sight direction of the driver of the vehicle by a line of sight detecting sensor for detecting the line of sight of the driver from an eye movement of the driver. The vehicle behavior control device decides a targeted traveling direction of the vehicle based on the obtained line of sight direction of the driver. Then, the vehicle behavior control device controls a rear wheel steering device such that a front-rear direction of the vehicle faces the targeted traveling direction of the vehicle.
1. A vehicle behavior control device, comprising:
a traveling direction setting unit that estimates a target traveling direction, which is a targeted traveling direction of a vehicle, based on a movement of a driver different from a movement performed by the driver for controlling motion of the vehicle; and
a vehicle behavior control unit that changes a control mode of a vehicle behavior control to the vehicle, based on the target traveling direction set by the traveling direction setting unit, wherein
the traveling direction setting unit estimates the target traveling direction based on at least one of a line of sight direction of a driver who operates the vehicle and a direction of a face of the driver.
2. The vehicle behavior control device according to claim 1 , wherein
the vehicle behavior control unit controls the motion of the vehicle in a plane direction and executes the vehicle behavior control such that a front-rear direction of the vehicle faces the target traveling direction set by the traveling direction setting unit.
3. The vehicle behavior control device according to claim 1 , wherein
the vehicle behavior control unit makes yaw generated in the vehicle to be smaller than in a case in which the target traveling direction is present out of the direction that the vehicle drives, when the target traveling direction is present in the direction that the vehicle drives.
4. The vehicle behavior control device according to claim 1 , wherein
the vehicle behavior control unit executes the vehicle behavior control with a start of an operation to the vehicle.
5. The vehicle behavior control device according to claim 1 , wherein
the traveling direction setting unit excludes a direction that the vehicle cannot travel physically from the target traveling direction.
6. The vehicle behavior control device according to claim 1 , wherein
the traveling direction setting unit does not use the line of sight direction of the driver who operates the vehicle and the direction of the face of the driver when the driver does not look out of the vehicle, when estimating the target traveling direction.
7. The vehicle behavior control device according to claim 1 , wherein
in the traveling direction setting unit, one of candidates, which has a larger weight given to the candidates of the target traveling direction according to at least one of an intention of the driver and an ambient environment of the vehicle, is selected as the target traveling direction.
8. The vehicle behavior control device according to claim 7 , wherein
in the vehicle behavior control unit, the larger the weight, the larger a control amount of the vehicle behavior control.
9. The vehicle behavior control device according to claim 8 , wherein
when avoiding an object, which might collide with the vehicle, the traveling direction setting unit selects a direction judged to be safer as the target traveling direction based on information of the ambient environment of the vehicle.
10. The vehicle behavior control device according to claim 1 , wherein
the target traveling direction is a traveling direction necessary for the vehicle to avoid the collision when the vehicle might collide.
11. The vehicle behavior control device according to claim 10 , wherein
the traveling direction setting unit estimates the target traveling direction according to whether to avoid the object, which might collide with the vehicle, to the direction that the vehicle drives, or out of the direction that the vehicle drives.