Vehicle driving support apparatus

1. A vehicle driving support apparatus, comprising:

a collision determining unit for determining a possibility of a collision of a subject vehicle and a obstacle that is recognized in a front of the subject vehicle;

a braking control unit for performing a braking control with respect to the obstacle when the collision determining units determines that there is the possibility of the collision of the subject vehicle and the obstacle;

a control halt determining unit that determines a halt of the braking control when a brake pedal operation by a driver is detected; and

a control restart determining unit that determines a restart of the halted braking control when a brake pedal depressed by the driver is shifted to a release side and when a speed of the brake pedal is over a preset pedal speed while it is determined there is the possibility of the collision against the obstacle.

2. The vehicle driving support apparatus according to claim 1 , wherein the preset pedal speed is set to a high speed that is unlikely to be generated when the driver operates the brake pedal to the release side with the driver's foot being put on the brake pedal.

3. The vehicle driving support apparatus according to claim 2 , wherein the brake pedal swings to the release side by an urging force.

4. The vehicle driving support apparatus according to claim 1 , wherein the collision determining unit comprises:

a time to collision calculating unit for calculating a time to the collision of the subject vehicle and the obstacle; and

a warning executing unit for warning the driver when the time to the collision becomes shorter than or equal to a predetermined threshold.

5. The vehicle driving support apparatus according to claim 1 , wherein the collision determining unit comprises a time to collision calculating unit for calculating a time to the collision of the subject vehicle and the obstacle, and

wherein the braking control unit performs the braking control so as to alert the driver when the time to the collision becomes shorter than or equal to a predetermined threshold.

6. The vehicle driving support apparatus according to claim 1 , wherein the collision determining unit comprises a time to collision calculating unit for calculating a time to the collision of the subject vehicle and the obstacle, and

wherein the braking control unit performs the braking control so as to stop the subject vehicle when the time to the collision becomes shorter than or equal to a predetermined threshold.

7. The vehicle driving support apparatus according to claim 1 , wherein the collision determining unit comprises a time to collision calculating unit for calculating a time to the collision of the subject vehicle and the obstacle, and

wherein the braking control unit permits the halt of the braking control determined by the control halt determining unit only when the time to the collision is longer than a predetermined threshold.

8. The vehicle driving support apparatus according to claim 1 , wherein the collision determining unit comprises a time to collision calculating unit for calculating a time to the collision of the subject vehicle and the obstacle, and

wherein the braking control unit prohibits the halt of the braking control determined by the control halt determining unit when the time to the collision is shorter than or equal to a predetermined threshold.

9. The vehicle driving support apparatus according to claim 1 , further comprising:

a brake pedal depression sensor for detecting a depression stroke of the brake pedal by the driver as a depression amount of the brake pedal.

10. The vehicle driving support apparatus according to claim 1 , wherein the braking control unit starts to work again after the braking control unit is halted by the brake pedal operation of the driver.

11. The vehicle driving support apparatus according to claim 1 , wherein the control restart determining unit restarts the braking control unit according to a depressing amount of the brake pedal by the driver after halting the braking control.

12. The vehicle driving support apparatus according to claim 1 , wherein the preset pedal speed is set to a predetermined value within a speed that the brake pedal forms when the brake pedal is swung to the release side only with an urging force.

13. The vehicle driving support apparatus according to claim 1 , wherein the preset pedal speed is set to a speed that is not generated when the driver operates the brake pedal to the release side with the driver's foot being put on the brake pedal.

14. The vehicle driving support apparatus according to claim 1 , wherein, when the brake pedal depressed by the driver is shifted to the release side and when the speed of the brake pedal is over the preset pedal speed, the control restart determining unit determines that there is a possibility that the driver's foot has accidentally slipped off the brake pedal.

15. The vehicle driving support apparatus according to claim 1 , wherein, when the driver is noticed with a warning control that there is the possibility of the collision and the driver performs the brake pedal operation, and afterwards the driver' foot slips off the brake pedal so that the brake is released, the halted braking control is restarted with respect to the obstacle.

16. The vehicle driving support apparatus according to claim 1 , wherein the braking control unit restarts the halting braking control according to a movement of the brake pedal, after the halted braking control.

17. The vehicle driving support apparatus according to claim 1 , wherein the braking control unit is halted while an intention of the driver to decelerate is given priority, and after the braking control unit is halted, the braking control unit restarts, irrespective of the intention of the driver, depending on a movement of the brake pedal.