Driving assistance device, driving assistance method, and program
A driving assistance device ( 1 ) executes collision avoidance control of controlling a steering angle (θs) so that an own vehicle ( 100 ) travels along a target trajectory (Rt) which enables the own vehicle ( 100 ) to avoid collision with an obstacle (OB) without deviating from a traveling lane (LA 1 ). The driving assistance device ( 1 ) includes: a steering control unit ( 10, 60 ) which executes, in order to avoid the collision, first steering control of increasing the steering angle (θs), and executes second steering control of reducing the steering angle (θs) in order to prevent the deviation from the traveling lane (LA 1 ); and a damping control unit ( 10, 60 ) which executes damping control of applying a steering resistive force calculated based on a steering angle speed (dθs/dt) to a steered wheel. The damping control unit ( 10, 60 ) executes the damping control during the execution of the second steering control.
1. A driving assistance device for executing collision avoidance control of controlling, when an obstacle which is highly likely to collide with an own vehicle is detected in a region located on a front side and front lateral sides of the own vehicle, a steering angle of a steered wheel of the own vehicle so that the own vehicle travels along a target trajectory which enables the own vehicle to avoid the collision with the obstacle without deviating from a traveling lane, the driving assistance device comprising:
a steering control unit configured to execute, in order to avoid the collision between the own vehicle and the obstacle, first steering control being incremental steering of increasing the steering angle, and to execute second steering control including decremental steering of reducing the steering angle in order to prevent the deviation of the own vehicle from the traveling lane after the execution of the first steering control; and
a damping control unit configured to execute damping control of calculating a steering resistive force based on a steering angle speed during the execution of the collision avoidance control, and applying the calculated steering resistive force to the steered wheel,
wherein the damping control unit is configured to avoid executing the damping control during the execution of the first steering control, and to execute the damping control during the execution of the second steering control.
2. The driving assistance device according to claim 1 , wherein the damping control unit is configured to start the damping control when the steering angle speed becomes equal to or higher than a predetermined threshold speed during the execution of the second steering control.
3. A driving assistance method of executing collision avoidance control of controlling, when an obstacle which is highly likely to collide with an own vehicle is detected in a region located on a front side and front lateral sides of the own vehicle, a steering angle of a steered wheel of the own vehicle so that the own vehicle travels along a target trajectory which enables the own vehicle to avoid the collision with the obstacle without deviating from a traveling lane, the driving assistance method comprising:
executing, in order to avoid the collision between the own vehicle and the obstacle, first steering control being incremental steering of increasing the steering angle, and executing second steering control including decremental steering of reducing the steering angle in order to prevent the deviation of the own vehicle from the traveling lane after the execution of the first steering control;
executing damping control of calculating a steering resistive force based on a steering angle speed during the execution of the collision avoidance control, and applying the calculated steering resistive force to the steered wheel; and
avoiding executing the damping control during the execution of the first steering control, and executing the damping control during the execution of the second steering control.
4. A program for causing a computer of a driving assistance device for executing collision avoidance control of controlling, when an obstacle which is highly likely to collide with an own vehicle is detected in a region located on a front side and front lateral sides of the own vehicle, a steering angle of a steered wheel of the own vehicle so that the own vehicle travels along a target trajectory which enables the own vehicle to avoid the collision with the obstacle without deviating from a traveling lane, to execute the processes of:
executing, in order to avoid the collision between the own vehicle and the obstacle, first steering control being incremental steering of increasing the steering angle, and executing second steering control including decremental steering of reducing the steering angle in order to prevent the deviation of the own vehicle from the traveling lane after the execution of the first steering control;
executing damping control of calculating a steering resistive force based on a steering angle speed during the execution of the collision avoidance control, and applying the calculated steering resistive force to the steered wheel; and
avoiding executing the damping control during the execution of the first steering control, and executing the damping control during the execution of the second steering control.