Driving assistance apparatus
A driving assistance apparatus can provide deceleration assistance of decelerating a host vehicle independently of an operation by a driver. The driving assistance apparatus is provided with: a specifier configured to specify a type of a target associated with the deceleration assistance, wherein the target is ahead of the host vehicle on a course thereof and requires the host vehicle to decelerate or stop; and a controller programmed to change an end condition associated with deceleration assistance, in accordance with the specified type.
1. A driving assistance apparatus configured to be able to perform deceleration assistance of decelerating a host vehicle independently of an operation by a driver, said driving assistance apparatus comprising a processor configured to:
specify a type of a target associated with the deceleration assistance, wherein the target is ahead of the host vehicle on a course thereof and requires the host vehicle to decelerate or stop;
determine whether the type is one of (i) something that possibly collides with the host vehicle, (ii) something that does not collide with the host vehicle and requires the host vehicle to stop, and (iii) something that does not collide with the host vehicle and requires the host vehicle to decelerate; and
change an end condition associated with the deceleration assistance, in accordance with the specified type of the target, wherein the end condition includes an assistance end position, which is a position at which the deceleration assistance is ended, and an assistance end speed, which is a target speed at the assistance end position; wherein:
upon determination that the type is something that possibly collides with the host vehicle, the assistance end position is set to a position that is away from the target by a predetermined distance, and the assistance end speed is set to zero;
upon determination that the type is something that does not collide with the host vehicle and requires the host vehicle to stop, the assistance end position is set on the basis of a position relation between the target and a stop position defined by the target, and the assistance end speed is set to a value greater than zero; and
upon determination that the type is something that does not collide with the host vehicle and requires the host vehicle to decelerate, the assistance end position is set on the basis of a position relation between the target and a stop position defined by the target, and the assistance end speed is set to a value corresponding to the target.
2. The driving assistance apparatus according to claim 1 , wherein, upon determination that the type is something that does not collide with the host vehicle and requires the host vehicle to stop, or the specified type is something that does not collide with the host vehicle and requires the host vehicle to decelerate, said processor is configured to set at least one of the assistance end position and the assistance end speed, on the basis of a road surface condition.
3. The driving assistance apparatus according to claim 2 , wherein, upon determination that the type is something that does not collide with the host vehicle and requires the host vehicle to stop, or the specified type is something that does not collide with the host vehicle and requires the host vehicle to decelerate, said processor is configured to perform at least one of setting the assistance end position to a position that is close to the target and increasing the assistance end speed if a degree of upgrade as the road surface condition is high, in comparison with those if the degree of upgrade is low.
4. The driving assistance apparatus according to claim 2 , wherein, upon determination that the type is something that does not collide with the host vehicle and requires the host vehicle to stop, said processor is configured to perform at least one of setting the assistance end position to a position that is far from the target and reducing the assistance end speed if degree of down grade as the road surface condition is high, in comparison with those if the degree of down grade is low.
5. The driving assistance apparatus according to claim 2 , wherein, upon determination that the type is something that does not collide with the host vehicle and requires the host vehicle to stop, said processor is configured to perform at least one of setting the assistance end position to a position that is far from the target and reducing the assistance end speed if a coefficient of friction of a road surface as the road surface condition is low, in comparison with those if the coefficient of friction of the road surface is high.