Steering assist device
A steering assist device includes a driving support ECU. The driving support ECU is configured to determine on whether or not accelerator operation is performed during execution of a lane change assist control. The driving support ECU is configured to prohibit execution of an original lane return assist control, when the driving support ECU determines that the accelerator operation has been performed.
1. A steering assist device comprising:
surrounding monitoring means for monitoring surroundings of an own vehicle;
lane recognition means for recognizing a lane to obtain lane information including a relative positional relationship of said own vehicle with respect to said lane;
lane change assist control means for starting a lane change assist control to control, in response to a lane change assist request, a steering so as to have said own vehicle change lanes from an original lane in which said own vehicle is currently traveling toward a target lane adjacent to said original lane, based on said lane information, when an other vehicle which has a probability to be an obstacle when said own vehicle is changing lanes is not detected by said surrounding monitoring means;
lane change assist stop means for stopping said lane change assist control, when said surrounding monitoring means detects an approaching vehicle which has a probability of excessively approaching said own vehicle if said lane change assist control continues being performed, while said lane change assist control is being performed;
original lane return assist control means for performing original lane return assist control to control said steering so as to return said own vehicle from said target lane to said original lane when said approaching vehicle is detected while said own vehicle is travelling in said target lane after entering said target lane so that said lane change assist control is stopped;
accelerator operation determination means for determining whether or not an accelerator operation is performed while said lane change assist control is being performed; and
original lane return prohibition means for prohibiting said original lane return assist control means from performing said original lane return assist control, when said accelerator operation determination means determines that said accelerator operation has been performed.
2. The steering assist device apparatus according to claim 1 , further comprising,
center return assist control means for performing center return assist control to control said steering so as to return said own vehicle to a center position in a lane width direction of said original lane, regardless of whether said accelerator operation has been performed, when said approaching vehicle is detected while said own vehicle is travelling in said original lane so that said lane change assist control is stopped.