Driving support apparatus including collision avoidance braking control
A driving support apparatus comprises a controller for performing collision avoidance braking control and lane deviation suppressing control. When a performing condition of the lane deviation suppressing control is satisfied at a timing of the collision avoidance braking control is about to be performed, the controller makes direction determination processing for determining whether or not the own vehicle travels to a direction toward which it will collide with a target object or to a direction toward which it will avoid colliding with the target object. In the direction determination processing, when it is determined the own vehicle travels to a collision direction, the controller stops the lane deviation suppressing control to perform the collision avoidance braking control, and when it is determined the own vehicle travels to a collision avoidance direction, the controller performs cooperative control for making the lane deviation suppressing control cooperate with the collision avoidance braking control.
1. A driving support apparatus comprising:
a radar sensor and a camera sensor configured to detect a three-dimensional object present in front of an own vehicle and a lane on which said own vehicle is travelling and to acquire information indicating said detected three-dimensional object and lane as object information; and
a controller configured to perform collision avoidance braking control for automatically applying braking force to said own vehicle when it is determined, based on said object information, that said own vehicle is highly likely to collide with said detected three-dimensional object and lane deviation suppressing control for automatically changing a steered angle of steered wheels of said own vehicle such that said own vehicle travels in said lane when a deviation suppressing control performing condition is satisfied, said deviation suppressing control performing condition being a condition satisfied when it is determined, based on said object information, that said own vehicle is highly likely to deviate from said detected lane and/or a condition satisfied when it is determined, based on said object information, that said own vehicle has deviated from said detected lane,
wherein,
said controller is configured to:
when said deviation suppressing control performing condition is satisfied in a case when it is determined that said own vehicle is highly likely to collide with said detected three-dimensional object, execute direction determination processing for determining, provided that said steered wheels are turned by said lane deviation suppressing control, whether said own vehicle travels to a direction toward which said own vehicle will collide with said three-dimensional object or said own vehicle travels to a collision avoidance direction toward which said own vehicle will avoid colliding with said three-dimensional object,
when it is determined that said own vehicle travels to said direction toward which said own vehicle will collide with said three-dimensional object and a collision avoidance effect will be reduced due to said lane deviation suppressing control, stop said lane deviation suppressing control and perform said collision avoidance braking control, and
when it is determined that said own vehicle travels to said collision avoidance direction and said collision avoidance effect will be improved due to said lane deviation suppressing control, perform both of said collision avoidance braking control and said lane deviation suppressing control.
2. The driving support apparatus according to claim 1 further comprising a steering index value detector for detecting steering related values having correlation with force input to a steering wheel by a driver of said own vehicle,
wherein,
said controller is configured to, when a steering override condition where said steering related values are more than or equal to predetermined steering related thresholds while said collision avoidance braking control and/or said lane deviation suppressing control are/is being performed becomes satisfied, perform steering override for finishing said corresponding collision avoidance braking control and/or lane deviation suppressing control to prioritize steering operation by said driver,
said controller further sets said steering related thresholds to first steering related thresholds, and
when it is determined in said direction determination processing that said own vehicle travels to said collision avoidance direction, said controller is configured to change said steering related thresholds to second steering related thresholds larger than said first steering related thresholds.
3. The driving support apparatus according to claim 1 , wherein,
said controller is configured to, in said direction determination processing,:
determine, based on said object information, whether or not said detected three-dimensional object is positioned in said detected lane,
when it is determined that said detected three-dimensional object is positioned in said lane, determine that said own vehicle travels to said direction toward which said own vehicle will collide with said three-dimensional object, and
when it is determined that said detected three-dimensional object is positioned outside said lane, determine that said own vehicle travels to said collision avoidance direction.
4. The driving support apparatus according to claim 2 , wherein,
said controller is configured to, in said direction determination processing:
determine, based on said object information, whether or not said detected three-dimensional object is positioned in said detected lane,
when it is determined that said detected three-dimensional object is positioned in said lane, determine that own vehicle travels to said direction toward which said own vehicle will collide with said three-dimensional object, and
when it is determined that said detected three-dimensional object is positioned outside said lane, determine that said own vehicle travels to said collision avoidance direction.