Collision avoidance support device and non-transitory computer-readable storage medium
A collision avoidance support device that is applied to a vehicle equipped with clutch-type front and rear stabilizers controlled in coupled and uncoupled states and an automatic steering device, and comprises a control unit that is configured to, when it is determined that a collision with an obstacle in front of the vehicle needs to be avoided, calculate a target control amount for causing the vehicle to run along a target trajectory for avoiding the collision and control the automatic steering device based on the target control amount, and the control unit is further configured to, when it is determined that a collision needs to be avoided in a situation in which at least one of the stabilizers is in the uncoupled state, calculate a target control amount for causing the vehicle to run along the target trajectory based on a steer characteristic of the vehicle at that time.
1 . A collision avoidance support device that is applied to a vehicle equipped with clutch-type front and rear stabilizers controlled in a coupled state and in an uncoupled state and an automatic steering device that automatically steers steered wheels, and comprises an electronic control unit that is configured to, when it is determined that a collision with an obstacle in front of the vehicle needs to be avoided, calculate a target control amount for causing the vehicle to run along a target trajectory for avoiding a collision with the obstacle and control the automatic steering device based on the target control amount, wherein
the electronic control unit is configured to, in a situation in which the front and rear stabilizers are in the coupled state, calculate a first target control amount for causing the vehicle to run along a first target trajectory based on a normal steer characteristic of the vehicle when the front and rear stabilizers are in the coupled state; in a situation in which the front stabilizer is in the coupled state and the rear stabilizer is in the uncoupled state, calculate a second target control amount for causing the vehicle to run along a second target trajectory based on a steer characteristic of the vehicle that is on understeer side relative to the normal steer characteristic; and in a situation in which the front stabilizer is in the uncoupled state and the rear stabilizer is in the coupled state, calculate a third target control amount for causing the vehicle to run along a third target trajectory based on a steer characteristic of the vehicle that is on oversteer side relative to the normal steer characteristic.
2 . The collision avoidance support device according to claim 1 , wherein the second target trajectory is a target trajectory that starts changing earlier and has a larger change amount than the first target trajectory, and the third target trajectory is a target trajectory that starts changing later and has a smaller change amount than the first target trajectory.
3 . The collision avoidance support device according to claim 1 , wherein the electronic control unit is configured, when the front and rear stabilizers are in the uncoupled state, not to calculate the target control amount and not to control the automatic steering device based on the target control amount, even when it is determined that a collision with an obstacle in front of the vehicle needs to be avoided.
4 . The collision avoidance support device according to claim 3 , wherein the electronic control unit is configured to issue an alarm to the effect that the automatic steering for avoiding a collision with the obstacle is not performed.
5 . A collision avoidance support method that is applied to a vehicle equipped with clutch-type front and rear stabilizers controlled in a coupled state and in an uncoupled state and an automatic steering device that automatically steers steered wheels and comprises processes of: when it is determined that a collision with an obstacle in front of the vehicle needs to be avoided, calculating a target control amount for causing the vehicle to run along a target trajectory to avoid a collision with the obstacle, and controlling the automatic steering device based on the target control amount, wherein
the method further comprises, when it is determined that a collision with an obstacle in front of the vehicle needs to be avoided in a situation in which the front and rear stabilizers are in the coupled state, calculating a first target control amount for causing the vehicle to run along a first target trajectory based on a standard steer characteristic of the vehicle when the front and rear stabilizers are in the coupled state; in a situation in which the front stabilizer is in the coupled state and the rear stabilizer is in the uncoupled state, calculating a second target control amount for causing the vehicle to run along a second target trajectory based on a steer characteristic of the vehicle that is on understeer side relative to the normal steer characteristic; and in a situation in which the front stabilizer is in the uncoupled state and the rear stabilizer is in the coupled state, calculating a third target control amount for causing the vehicle to run along a third target trajectory based on a steer characteristic of the vehicle that is on oversteer side relative to the normal steer characteristic.