Driving assistance device
A driving assistance device ( 30 ) that has: an information acquisition unit ( 31 ) that acquires the relative speed of a vehicle ahead and the inter-vehicle distance to the vehicle ahead; a table ( 33 ) in which degrees of urgency that correspond to relative speeds and inter-vehicle distances have been pre-stored; and an ACC control unit ( 32 ) that reads out, from the table ( 33 ), a degree of urgency (x) that corresponds to the relative speed and inter-vehicle distance acquired by the information acquisition unit ( 31 ), finds a target acceleration/deceleration that has a slope (y) that is based on the degree of urgency (x) that was read out, and outputs the found target acceleration/deceleration as a control signal for controlling break pressure.
1. A driving assistance apparatus that assists in driving a vehicle, the driving assistance apparatus comprising:
an information acquisition section that acquires a speed of a preceding vehicle relative to the vehicle, and a following distance between the vehicle and the preceding vehicle;
a table that prestores a degree of urgency corresponding to the relative speed and the following distance; and
a control section that outputs a control signal for controlling at least one brake based on information acquired by the information acquisition section and the degree of urgency stored in the table,
wherein, the control section is configured to:
determine a target acceleration/deceleration based on the following distance to the preceding vehicle and the speed of the preceding vehicle relative to the vehicle;
determine a gradient of the target acceleration/deceleration, using the degree of urgency read from the table;
control the target acceleration/deceleration so as to change according to the determined gradient when the target acceleration/deceleration is equal to or less than a second threshold value;
actuate at least one of an engine brake or an auxiliary brake when the target acceleration/deceleration is equal to or less than a first threshold;
actuate a service brake when the target acceleration/deceleration is equal to or less than a second threshold, wherein the second threshold is less than the first threshold; and
actuate at least one of the engine brake or the auxiliary brake without using the determined gradient when the target acceleration/deceleration is equal to or less than a first threshold and the target acceleration/deceleration is greater than the second threshold.
2. The driving assistance apparatus according to claim 1 , wherein
the control section determines gradient y of the target acceleration/deceleration using the following equation 1:
y=a×x+b (Equation 1)
where a and b are predetermined fixed values, and x is a variable value that shows degree of urgency read from the table.