Collision avoidance device
A collision avoidance device includes an electronic control unit configured to: determine whether or not a driver of a host vehicle performs turn-back steering based on a detection value of a steering angle or steering torque detected by a steering sensor of the host vehicle; and execute the collision avoidance control for avoiding a collision between the host vehicle and an obstacle in a case where the electronic control unit determines that there is a collision possibility between the host vehicle and the obstacle based on a path of the host vehicle and a position of the obstacle, wherein the electronic control unit is configured not to execute the collision avoidance control while the electronic control unit determines that the driver of the host vehicle performs turn-back steering.
1. A collision avoidance device comprising an electronic control unit configured to:
determine whether or not a driver of a host vehicle performs turn-back steering based on a detection value of a steering angle or steering torque detected by a steering sensor of the host vehicle; and
execute collision avoidance control for avoiding a collision between the host vehicle and an obstacle in a case where the electronic control unit determines that there is a collision possibility between the host vehicle and the obstacle based on a path of the host vehicle and a position of the obstacle,
wherein the electronic control unit is configured not to execute the collision avoidance control during a period in which the electronic control unit determines that the driver of the host vehicle performs turn-back steering, wherein:
the steering sensor is configured to detect one of the detection value of right-pointing steering and the detection value of left-pointing steering as a positive value and detect the other as a negative value; and
the electronic control unit is configured to determine that the driver of the host vehicle performs turn-back steering in a first case or a second case, the first case being that an average value of the past detection values of the steering sensor is a positive value and a difference obtained by subtracting the average value from a present detection value of the steering sensor is a negative value, the second case being that the average value is a negative value and the difference obtained by subtracting the average value from the present detection value of the steering sensor is a positive value.
2. A collision avoidance device comprising:
a steering sensor configured to detect a steering angle or steering torque; and
an electronic control unit configured to:
output a signal for executing collision avoidance control in a case where the electronic control unit determines that there is a collision possibility between a host vehicle and an obstacle based on a path of the host vehicle and a position of the obstacle, and
determine whether or not a driver of the host vehicle performs turn-back steering based on a detection value of the steering angle or steering torque detected by the steering sensor, and output a signal for suppressing the collision avoidance control in a case where the electronic control unit determines that the driver of the host vehicle performs turn-back steering, wherein:
the steering sensor is configured to detect one of the detection value of right-pointing steering and the detection value of left-pointing steering as a positive value and detect the other as a negative value; and
the electronic control unit is configured to determine that the driver of the host vehicle performs turn-back steering in a first case or a second case, the first case being that an average value of the past detection values of the steering sensor is a positive value and a difference obtained by subtracting the average value from a present detection value of the steering sensor is a negative value, the second case being that the average value is a negative value and the difference obtained by subtracting the average value from the present detection value of the steering sensor is a positive value.
3. The collision avoidance device according to claim 2 , further comprising an actuator configured to control a behavior of the vehicle,
wherein the actuator is configured to be driven based on a signal from the electronic control unit.