Vehicle driving assistance apparatus
A vehicle driving assistance apparatus terminates decelerating an own vehicle with a second deceleration characteristic by a deceleration control and starts to decelerate the own vehicle with a first deceleration characteristic by the deceleration control when a predetermined time elapses since an accelerator operation is released while a deceleration target is detected, or when a deceleration intensity of the first deceleration characteristic is equal to or smaller than a predetermined intensity. The apparatus terminates decelerating the own vehicle with a third deceleration characteristic by the deceleration control and starts to decelerate the own vehicle with the first deceleration characteristic by the deceleration control when a predetermined time elapses since a brake operation is released while the deceleration target is detected, or when the deceleration intensity of the third deceleration characteristic is equal to or smaller than a predetermined intensity.
1. A vehicle driving assistance apparatus, comprising an electronic control unit configured to execute a deceleration control to:
decelerate an own vehicle with a first deceleration characteristic that a deceleration intensity of decelerating the own vehicle is a first intensity when a deceleration target which leads to a necessity of decelerating the own vehicle, is detected while an operation of an accelerator pedal or a brake pedal is released;
decelerate the own vehicle with a second deceleration characteristic that the deceleration intensity is a second intensity equal to or greater than the first intensity when the operation of the accelerator pedal is released while the deceleration target is detected; and
decelerate the own vehicle with a third deceleration characteristic that the deceleration intensity is a third intensity equal to or smaller than the first intensity when the operation of the brake pedal is released while the deceleration target is detected,
wherein the electronic control unit is configured to:
terminate decelerating the own vehicle with the second deceleration characteristic by the deceleration control and start to decelerate the own vehicle with the first deceleration characteristic by the deceleration control when a predetermined accelerator release elapsing time elapses since the operation of the accelerator pedal is released while the deceleration target is detected, or when the deceleration intensity of the first deceleration characteristic is equal to or smaller than a predetermined accelerator release deceleration intensity; and
terminate decelerating the own vehicle with the third deceleration characteristic by the deceleration control and start to decelerate the own vehicle with the first deceleration characteristic by the deceleration control when a predetermined brake release elapsing time elapses since the operation of the brake pedal is released while the deceleration target is detected, or when the deceleration intensity of the third deceleration characteristic is equal to or smaller than a predetermined brake release deceleration intensity.
2. The vehicle driving assistance apparatus as set forth in claim 1 , wherein the electronic control unit is configured to change the deceleration intensity by changing at least one of (i) the deceleration rate of the own vehicle, (ii) an increasing rate of the deceleration rate of the own vehicle, and (iii) a deceleration start timing of starting to decelerate the own vehicle.
3. The vehicle driving assistance apparatus as set forth in claim 1 ,
wherein the electronic control unit is configured to:
set the deceleration intensity of the second deceleration characteristic by the deceleration control such that the deceleration intensity of the second deceleration characteristic when the accelerator pedal is operated after the deceleration target is detected and then, the operation of the accelerator pedal is released, is greater than the deceleration intensity of the second deceleration characteristic when the accelerator pedal has been operated when the deceleration target is detected and then, the operation of the accelerator pedal is released; and
set the deceleration intensity of the third deceleration characteristic by the deceleration control such that the deceleration intensity of the third deceleration characteristic when the brake pedal is operated after the deceleration target is detected and then, the operation of the brake pedal is released, is smaller than the deceleration intensity of the third deceleration characteristic when the brake pedal has been operated when the deceleration target is detected and then, the operation of the brake pedal is released.
4. The vehicle driving assistance apparatus as set forth in claim 1 , wherein the electronic control unit is configured to set the deceleration intensities of the second and third deceleration characteristics, depending on a type of the deceleration target.
5. The vehicle driving assistance apparatus as set forth in claim 1 , wherein the electronic control unit is configured to set the predetermined accelerator release elapsing time and the predetermined brake release elapsing time, or the predetermined accelerator release deceleration intensity and the predetermined brake release deceleration intensity.