Drive assist device
The drive assist device assists the driver in driving the vehicle. The drive assist device includes a recognition sensor, a steering actuator, and an electronic control unit. The recognition sensor recognizes a situation in front of the vehicle. The steering actuator performs steering of the vehicle. The electronic control unit controls the steering actuator so as to suppress a lane deviation of the vehicle from the traveling lane. The electronic control unit recognizes a curve sign for prompting the driver's attention to a curve in front of the vehicle using the recognition sensor, and when the curve sign is recognized, increases a steering assist amount of the steering actuator for suppressing a lane departure during passage of the curve as compared with a case where the steering assist amount passes through the curve without recognition of the curve sign.
1 . A drive assist device configured to assist a driver in driving a vehicle, the drive assist device comprising:
a recognition sensor configured to recognize a situation ahead of the vehicle;
a steering actuator configured to steer the vehicle; and
an electronic control unit configured to control the steering actuator to suppress lane deviation of the vehicle from a traveling lane, wherein the electronic control unit is configured to
recognize, using the recognition sensor, a curve sign for prompting the driver to pay attention to a curve ahead of the vehicle, and
when the curve sign is recognized, increase a steering assist amount of the steering actuator for suppressing lane deviation during passage of the curve as compared with a case where the vehicle passes the curve without recognition of the curve sign.
2 . The drive assist device according to claim 1 , wherein the steering assist amount is at least one of a steering amount in a direction in which a wheel is steered to an inner side of the curve and an offset amount for offsetting a traveling position of the vehicle in a lane width direction on the traveling lane to an inner side of the curve with respect to a center of the traveling lane.
3 . The drive assist device according to claim 1 , wherein the electronic control unit is configured to, when a total angle of angles of arcs included in a curve mark in the recognized curve sign is large, increase the steering assist amount as compared with a case where the total angle is small.
4 . The drive assist device according to claim 1 , wherein the electronic control unit is configured to, when a curve mark in the recognized curve sign indicates a curve that bends both in right and left directions, increase the steering assist amount as compared with a case where the curve mark indicates a curve that bends only in one of the right and left directions.