Driver assistance device, driver assistance method, and storage medium
The driver assistance device according to the present disclosure performs avoidance steering control for controlling the steering mechanism of the host vehicle so that the host vehicle avoids the target when the target object exists in front of the host vehicle. When the occupant inputs a steering torque equal to or higher than a threshold value to the steering mechanism during execution of the avoidance steering control, the driver assistance device cancels the avoidance steering control. Then, in accordance with the frequency of cancellation of the avoidance steering control, the driver assistance device changes the avoidance amount by the avoidance steering control.
1 . A driver assistance device for assisting in driving of a vehicle, the driver assistance device comprising:
a processor; and
a memory that is communicatively coupled to the processor, in which a plurality of instructions is stored, wherein
the instructions cause the processor to:
execute avoidance steering control to control a steering wheel of the vehicle in a case where a target object is present ahead of the vehicle, such that the vehicle avoids the target object,
generate a target trajectory along which the vehicle is steered to avoid the target object,
determine whether steering torque input to the steering wheel by an occupant of the vehicle is less than a threshold value,
execute cancellation of the avoidance steering control in a case where determination is made that the steering torque input to the steering wheel by the occupant is not less than the threshold value during executing of the avoidance steering control,
calculate frequency of cancellation of the avoidance steering control,
increase an avoidance amount of the avoidance steering control in a case where the calculated frequency of cancellation of the avoidance steering control is greater than a first reference value, and
reduce the threshold value in a case where the calculated frequency of cancellation of the avoidance steering control is greater than a second reference value, the second reference value being smaller than the first reference value.
2 . A driver assistance method for assisting in driving of a vehicle by a computer, the driver assistance method comprising:
performing avoidance steering control to control a steering wheel of the vehicle in a case where a target object is present ahead of the vehicle, such that the vehicle avoids the target object;
generating a target trajectory along which the vehicle is steered to avoid the target object;
determining whether steering torque input to the steering wheel by an occupant of the vehicle is less than a threshold value;
cancelling the avoidance steering control in a case where determination is made that the steering torque input to the steering wheel by the occupant is not less than the threshold value during executing of the avoidance steering control;
calculating frequency of cancellation of the avoidance steering control;
increasing an avoidance amount of the avoidance steering control in a case where the calculated frequency of cancellation of the avoidance steering control is greater than a first reference value; and
reducing the threshold value in a case where the calculated frequency of cancellation of the avoidance steering control is greater than a second reference value, the second reference value being smaller than the first reference value.
3 . A non-transitory storage medium storing a program for causing a computer to assist in driving of a vehicle, wherein
the program is configured to cause the computer to:
execute avoidance steering control to control a steering wheel of the vehicle in a case where a target object is present ahead of the vehicle, such that the vehicle avoids the target object,
generate a target trajectory along which the vehicle is steered to avoid the target object,
determine whether steering torque input to the steering wheel by an occupant of the vehicle is less than a threshold value,
execute cancellation of the avoidance steering control in a case where determination is made that the steering torque input to the steering wheel by the occupant is not less than the threshold value during executing of the avoidance steering control,
calculate frequency of cancellation of the avoidance steering control,
increase an avoidance amount of the avoidance steering control in a case where the calculated frequency of cancellation of the avoidance steering control is greater than a first reference value, and
reduce the threshold value in a case where the calculated frequency of cancellation of the avoidance steering control is greater than a second reference value, the second reference value being smaller than the first reference value.
4 . The driver assistance device according to claim 1 , wherein the avoidance amount indicates a distance, in a direction perpendicular to a driving direction of the vehicle, from the target object to the target trajectory generated by the avoidance steering control.
5 . The driver assistance device according to claim 1 , wherein the frequency of cancellation of the avoidance steering control indicates a ratio between a total number of times the avoidance steering control is canceled and a total number of times the avoidance steering control has been executed.