Vehicle driving support device
A vehicle driving support device executes lane deviation suppression control when there is a possibility that an own vehicle deviates from a lane and when an execution prohibition condition is not satisfied, and executes the lane deviation suppression control so as to steer the own vehicle such that a behavior parameter representing a behavior of the own vehicle during the execution of the lane deviation suppression control does not exceed a behavior parameter upper limit value. The vehicle driving support device reduces the behavior parameter upper limit value or changes the execution prohibition condition such that the execution prohibition condition is not unlikely to be satisfied when the own vehicle is traveling at a speed equal to or lower than a predetermined speed, compared to when the own vehicle is traveling at a speed higher than the predetermined speed.
1. A vehicle driving support device including a control device that executes lane deviation suppression control in which an own vehicle is autonomously steered to suppress the own vehicle from deviating from a lane, wherein the control device is configured to
execute the lane deviation suppression control when there is a possibility that the own vehicle deviates from the lane and when an execution prohibition condition is not satisfied, the execution prohibition condition being a condition for prohibiting execution of the lane deviation suppression control based on a steering operation by a driver of the own vehicle,
execute the lane deviation suppression control so as to steer the own vehicle such that a behavior parameter representing a behavior of the own vehicle during the execution of the lane deviation suppression control does not exceed a behavior parameter upper limit value, and
reduce the behavior parameter upper limit value or change the execution prohibition condition such that the execution prohibition condition is not unlikely to be satisfied when the own vehicle is traveling at a speed equal to or lower than a predetermined speed, compared to when the own vehicle is traveling at a speed higher than the predetermined speed.
2. The vehicle driving support device according to claim 1 , wherein the behavior parameter is a lateral movement distance that is a distance by which the own vehicle is moved in a lateral direction by the lane deviation suppression control.
3. The vehicle driving support device according to claim 1 , wherein the behavior parameter is at least one of a lateral acceleration, a steering angle, and a yaw rate of the own vehicle.
4. The vehicle driving support device according to claim 1 , wherein
the execution prohibition condition is a condition that a steering operation force equal to or larger than a steering operation force threshold value is being input to the own vehicle by the driver of the own vehicle, and
the control device is configured to change the execution prohibition condition such that the execution prohibition condition is not unlikely to be satisfied by setting the steering operation force threshold value to a small value.
5. The vehicle driving support device according to claim 1 , wherein
the execution prohibition condition is a condition that a time elapsed since the execution of the lane deviation suppression control is prohibited due to satisfaction of the execution prohibition condition is shorter than a predetermined time, and
the control device is configured to change the execution prohibition condition such that the execution prohibition condition is not unlikely to be satisfied by setting the predetermined time to a long time.