Vehicle driving support apparatus
A vehicle driving support apparatus includes a forward environment recognizing device configured to recognize a traveling environment forward of a vehicle, a control device configured to perform active lane keep centering control based on the traveling environment, an electric power steering device configured to apply an assist torque to control a turning angle of wheels in accordance with a steering angle received from a steering handle, and a driver monitoring system configured to detect biological information of a driver who drives the vehicle. During execution of the active lane keep centering control, the control device is configured to count the number of times a driver's line-of-sight direction in the biological information has deviated from a target route direction of the vehicle and if the counted number of times is greater than or equal to a predetermined threshold count, reduce the assist torque stepwise as the counted number of times increases.
1. A vehicle driving support apparatus comprising:
a forward environment recognizing device configured to recognize a traveling environment forward of a vehicle;
a control device configured to perform active lane keep centering control based on the traveling environment recognized by the forward environment recognizing device;
an electric power steering device configured to apply an assist torque to control a turning angle of wheels of the vehicle in accordance with a steering angle received from a steering handle of the vehicle; and
a driver monitoring system configured to detect biological information of a driver who drives the vehicle, wherein
the control device is configured to:
during performing the active lane keep centering control, count a number of times a line-of-sight direction of the driver in the biological information has deviated from a target route direction of the vehicle, and
when the counted number of times is greater than or equal to a predetermined threshold count, reduce the assist torque of the electric power steering device stepwise as the counted number of times increases.
2. The vehicle driving support apparatus according to claim 1 , wherein the control device is configured to rewrite the predetermined threshold count with the counted number of times, when the counted number of times is greater than or equal to the predetermined threshold count.
3. The vehicle driving support apparatus according to claim 2 , wherein, when determining that a value of the assist torque is not a default value, the control device is configured to return the assist torque to the default value either after passage of a predetermined period of time since the line-of-sight direction agreed with the target route direction or after traveling of the vehicle by a predetermined distance since the line-of-sight direction agreed with the target route direction, and reset the counted number of times to zero.
4. The vehicle driving support apparatus according to claim 3 , wherein the control device is configured to rewrite the predetermined threshold count with a default count.
5. The vehicle driving support apparatus according to claim 3 , wherein the control device is configured to return the assist torque to the default value either after the passage of the predetermined period of time or after the traveling of the vehicle by the predetermined distance, whichever comes first.
6. A vehicle driving support apparatus comprising:
a sensor configured to recognize a traveling environment forward of a vehicle;
circuitry configured to perform active lane keep centering control based on the traveling environment recognized by the sensor;
an electric power steering device configured to apply an assist torque to control a turning angle of wheels of the vehicle in accordance with a steering angle received from a steering handle of the vehicle; and
a driver monitoring system comprising a sensor configured to detect biological information of a driver who drives the vehicle, wherein
the circuitry is configured to:
during performing the active lane keep centering control, count a number of times a line-of-sight direction of the driver in the biological information has deviated from a target route direction of the vehicle, and
when the counted number of times is greater than or equal to a predetermined threshold count, reduce the assist torque of the electric power steering device stepwise as the counted number of times increases.