Traveling assistance apparatus

1. A traveling assistance apparatus that, based on detection information from an object detection apparatus that detects an object in a periphery of an own vehicle, controls a safety apparatus for avoiding a collision between the own vehicle and the object, the traveling assistance apparatus comprising:

an operation determining unit that calculates a predicted time to collision of a target object and the own vehicle, and operates the safety apparatus in response to the predicted time to collision being equal to or less than a predetermined operation timing;

a stop/delay unit that performs operation-stop in which operation of the safety apparatus is stopped or operation-delay in which the operation timing is delayed, in response to a steering operation by a driver for collision avoidance of the own vehicle being performed; and

a suppressing unit that suppresses the operation-stop or the operation-delay in response to the target object that serves as a collision avoidance target being recognized in a path of the own vehicle after the steering operation by the driver, based on the detection information.

2. The traveling assistance apparatus according to claim 1 , wherein:

the suppressing unit suppresses execution of operation-stop or operation-delay in response to the target object that serves as a collision avoidance target being recognized in the path of the own vehicle after the steering operation by the driver, after a predetermined amount of time elapses from the steering operation by the driver.

3. The traveling assistance apparatus according to claim 1 , wherein:

the suppressing unit continues the suppression of operation-stop or operation-delay during a period from when suppression of the operation-stop or suppression of the operation-delay is performed until a predetermined amount of time elapses.

4. The traveling assistance apparatus according to claim 1 , wherein:

the suppressing unit continues the suppression of operation-stop or operation-delay during a period from when suppression of the operation-stop or suppression of the operation-delay is performed until a collision with the target object is avoided.

5. The traveling assistance apparatus according to claim 1 , wherein:

when the target object is recognized in a danger area that is set in a predetermined area that includes at least an area to a side of the own vehicle, the stop/delay unit makes operation-stop or operation-delay less likely to be performed, compared to that when the target object is detected outside the danger area.

6. A traveling assistance apparatus that, based on detection information from an object detection apparatus that detects an object in a periphery of an own vehicle, controls a safety apparatus for avoiding a collision between the own vehicle and the object, the traveling assistance apparatus comprising:

an object recognizing unit that recognizes a target object that serves as a collision avoidance target in a path of the own vehicle, based on the detection information;

an operation determining unit that calculates a predicted time to collision of the target object and the own vehicle, and operates the safety apparatus in response to the predicted time to collision being equal to or less than a predetermined operation timing;

a stop/delay unit that performs operation-stop in which operation of the safety apparatus is stopped or operation-delay in which the operation timing is delayed, in response to a steering operation by a driver for collision avoidance of the own vehicle being performed; and

a suppressing unit that suppresses the operation-stop or the operation-delay in response to the target object that serves as a collision avoidance target being recognized by the object recognizing unit in a path of the own vehicle after the steering operation by the driver.

7. The traveling assistance apparatus according to claim 6 , wherein:

the suppressing unit suppresses execution of operation-stop or operation-delay in response to the target object that serves as a collision avoidance target being recognized in the path of the own vehicle after the steering operation by the driver, after a predetermined amount of time elapses from the steering operation by the driver.

8. The traveling assistance apparatus according to claim 6 , wherein:

the suppressing unit continues the suppression of operation-stop or operation-delay during a period from when suppression of the operation-stop or suppression of the operation-delay is performed until a predetermined amount of time elapses.

9. The traveling assistance apparatus according to claim 6 , wherein:

the suppressing unit continues the suppression of operation-stop or operation-delay during a period from when suppression of the operation-stop or suppression of the operation-delay is performed until a collision with the target object is avoided.

10. The traveling assistance apparatus according to claim 6 , wherein:

when the target object is recognized in a danger area that is set in a predetermined area that includes at least an area to a side of the own vehicle, the stop/delay unit makes operation-stop or operation-delay less likely to be performed, compared to that when the target object is detected outside the danger area.

11. A method for controlling a safety apparatus for avoiding a collision between an own vehicle and an object based on detection information from an object detection apparatus that detects the object in a periphery of the own vehicle, the method comprising:

recognizing a target object that serves as a collision avoidance target in a path of the own vehicle, based on the detection information;

calculating a predicted time to collision of the target object and the own vehicle, and operates the safety apparatus in response to the predicted time to collision being equal to or less than a predetermined operation timing;

performing operation-stop in which operation of the safety apparatus is stopped or operation-delay in which the operation timing is delayed, in response to a steering operation by a driver for collision avoidance of the own vehicle being performed; and

suppressing the operation-stop or the operation-delay in response to the target object that serves as a collision avoidance target being recognized in a path of the own vehicle after the steering operation by the driver.

12. The method according to claim 11 , wherein:

execution of operation-stop or operation-delay is suppressed in response to the target object that serves as a collision avoidance target being recognized in the path of the own vehicle after the steering operation by the driver, after a predetermined amount of time elapses from the steering operation by the driver.

13. The method according to claim 11 , wherein:

suppression of operation-stop or operation-delay continues during a period from when suppression of the operation-stop or suppression of the operation-delay is performed until a predetermined amount of time elapses.

14. The method according to claim 11 , wherein:

suppression of operation-stop or operation-delay continues during a period from when suppression of the operation-stop or suppression of the operation-delay is performed until a collision with the target object is avoided.

15. The method according to claim 11 , wherein:

for a state in which the target object is recognized in a danger area that is set in a predetermined area that includes at least an area to a side of the own vehicle, the stop/delay unit makes operation-stop or operation-delay less likely to be performed, compared to that when the target object is detected outside the danger area.