Driving assist apparatus
A driving assist apparatus executes an autonomous braking control to autonomously stop a vehicle when a level of potential that the vehicle collides with an obstacle is larger than a predetermined level. The driving assist apparatus executes a stopped state keeping control to keep the vehicle stopped to prevent moving of the vehicle after the vehicle is stopped by the autonomous braking control. The driving assist apparatus performs a warning to warn a driver of the vehicle when the driver performs a mistaken pressing operation of mistakenly pressing an acceleration pedal with an intention to press a brake pedal. The driving assist apparatus changes a manner of performing the warning from a first manner to a second manner when the driving assist apparatus stops the vehicle by the autonomous braking control while the driving assist apparatus is performing the warning.
1. A driving assist apparatus, comprising:
at least one sensor which detects an obstacle surrounding an own vehicle; and
an electronic control unit configured to:
perform a warning to warn a driver of the own vehicle when the electronic control unit determines that the driver performs a mistaken pressing operation of mistakenly pressing an acceleration pedal of the own vehicle with an intention to press a brake pedal of the own vehicle;
execute an autonomous braking control to apply a braking force to the own vehicle to autonomously stop the own vehicle when the electronic control unit determines that a level of potential that the own vehicle collides with the obstacle is larger than a predetermined level; and
execute a stopped state keeping control to apply the braking force to the own vehicle to keep the own vehicle stopped to prevent moving of the own vehicle after the electronic control unit stops the vehicle by the autonomous braking control,
wherein the electronic control unit is configured to change a manner of performing the warning from a first manner to a second manner when the electronic control unit stops the vehicle by the autonomous braking control while the electronic control unit is performing the warning.
2. The driving assist apparatus as set forth in claim 1 , wherein:
the electronic control unit is configured to:
execute the autonomous braking control and perform the warning in the first manner when the electronic control unit determines that (i) the level of the potential that the own vehicle collides with the obstacle is larger than the predetermined level, and (ii) the driver performs the mistaken pressing operation; and
terminate executing the autonomous braking control, execute the stopped state keeping control, and perform the warning in the second manner when the electronic control unit stops the vehicle by the autonomous braking control, and determines that the driver performs the mistaken pressing operation.
3. The driving assist apparatus as set forth in claim 1 , wherein:
the at least one sensor includes at least one of a camera sensor and a radar sensor.
4. The driving assist apparatus as set forth in claim 1 , wherein:
the electronic control unit is configured to determine that the driver performs the mistaken pressing operation when an amount of pressing the acceleration pedal is larger than or equal to an acceleration pedal pressing amount threshold, and a rate of pressing the acceleration pedal is larger than or equal to an acceleration pedal pressing rate threshold.
5. The driving assist apparatus as set forth in claim 1 , wherein:
the warning is a warning of generating voice sound; and
at least one of a volume of the voice sound, a rate of generating the voice sound, and a cycle of generating the voice sound of the warning in the second manner is smaller than at least corresponding one of the volume of the voice sound, the rate of generating the voice sound, and the cycle of generating the voice sound of the warning in the first manner.
6. The driving assist apparatus as set forth in claim 1 , wherein:
the warning is a warning of generating voice sound;
the warning in the first manner is a warning of generating the voice sound expressing a content to prompt the driver to release the acceleration pedal; and
the warning in the second manner is a warning of generating the voice sound expressing a content to prompt the driver to press the brake pedal.
7. The driving assist apparatus as set forth in claim 1 , wherein:
the warning is a warning of generating voice sound;
at least one of a volume of the voice sound, a rate of generating the voice sound, and a cycle of generating the voice sound of the warning in the second manner is smaller than at least corresponding one of the volume of the voice sound, the rate of generating the voice sound, and the cycle of generating the voice sound of the warning in the first manner;
the warning in the first manner is a warning of generating the voice sound expressing a content to prompt the driver to release the acceleration pedal; and
the warning in the second manner is a warning of generating the voice sound expressing a content to prompt the driver to press the brake pedal.
8. The driving assist apparatus as set forth in claim 1 , wherein:
the warning is a warning of generating voice sound and displaying character display having the same content as a content expressed by the voice sound.
9. The driving assist apparatus as set forth in claim 1 , wherein:
the electronic control unit is configured to terminate performing the warning when the electronic control unit terminates executing the stopped state keeping control.
10. The driving assist apparatus as set forth in claim 1 , wherein:
the electronic control unit is configured to terminate performing the warning when the brake pedal is pressed.