Vehicle collision avoidance assist apparatus
A vehicle collision avoidance assist apparatus executes a steering avoidance control of setting an avoidance route for avoiding the collision of the own vehicle with the object in a lane in which the own vehicle moves and executing an avoiding steering process of forcibly steering the own vehicle so as to move the own vehicle along the avoidance route when an index value representing a probability of collision of an own vehicle with an object ahead of the own vehicle becomes equal to or greater than a predetermined index value. The apparatus stops an execution of the steering avoidance control when a departing amount of the own vehicle from the avoidance route becomes equal to or greater than a predetermined departing amount while the electronic control unit executes the steering avoidance control. The predetermined departing amount is set for each of sections of the avoidance route.
1. A vehicle collision avoidance assist apparatus, comprising an electronic control unit configured to execute a steering avoidance control of:
when an index value representing a probability of collision of an own vehicle with an object ahead of the own vehicle becomes equal to or greater than a predetermined index value, setting an avoidance route for avoiding the collision of the own vehicle with the object in a lane in which the own vehicle moves; and
executing an avoiding steering process of forcibly steering the own vehicle so as to move the own vehicle along the avoidance route,
wherein the electronic control unit is configured to stop an execution of the steering avoidance control based on a departing amount of the own vehicle from the avoidance route becoming equal to or greater than a predetermined departing amount while the electronic control unit executes the steering avoidance control, and
wherein the predetermined departing amount is set for each of sections of the avoidance route.
2. The vehicle collision avoidance assist apparatus as set forth in claim 1 ,
wherein the sections of the avoidance route include (i) at least one steering section of the avoidance route that a steering angle of the own vehicle is increased or decreased by the avoiding steering process and (ii) at least one steering keeping section of the avoidance route that the steering angle of the own vehicle is kept,
wherein a first departing amount is set as the predetermined departing amount when the own vehicle is moved in the steering section of the avoidance route by the avoiding steering process, and
wherein a second departing amount smaller than the first departing amount is set as the predetermined departing amount when the own vehicle is moved in the steering keeping section of the avoidance route by the avoiding steering process.
3. The vehicle collision avoidance assist apparatus as set forth in claim 1 , wherein the predetermined departing amount set when the own vehicle is departed from the avoidance route in an opposite direction to a turning direction of the own vehicle achieved by the avoiding steering process, is smaller than the predetermined departing amount set when the own vehicle is departed from the avoidance route in the same direction as the turning direction of the own vehicle achieved by the avoiding steering process.
4. The vehicle collision avoidance assist apparatus as set forth in claim 1 ,
wherein the index value is a predicted reaching time which is a time predictively taken for the own vehicle to reach the object,
wherein the index value increases as the predicted reaching time decreases,
wherein the predicted reaching time is acquired, based on (i) a distance between the own vehicle and the object and (ii) a relative moving speed of the own vehicle with respect to the object, and
wherein the steering avoidance control is executed when the predicted reaching time becomes a predetermined predicted reaching time which corresponds to the predetermined index value.