Vehicle driving support device and vehicle driving support method
When a lane-width-direction lateral position (X 2 obst+X 0 ) of a vehicle (MM) reaches a predetermined control start position ( 60 ) being a lane-width-direction lateral position (X 2 obst+X 0 ) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane ( 200 ) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X 2 obst+X 0 ) of the vehicle (MM) moves from the outside to the inside of the control start position ( 60 ), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position ( 60 ).
1. A vehicle driving support device, comprising:
a control start determination part configured to determine to start a control when a lateral position of a vehicle in a lane width direction reaches a control start position being a predetermined lateral position in the lane width direction;
a vehicle controller configured to control the vehicle by applying a yaw moment toward the center of a vehicle traveling lane to the vehicle when the control start determination part makes the determination of control start; and
a control suppression part configure to, when the lateral position of the vehicle in the lane width direction moves from a position outside the control start position in the lane width direction to a position approaching the vehicle traveling lane inside the control start position in the lane width direction, suppress the control of applying the yaw moment to the vehicle for a predetermined period after the lateral position of the vehicle in the lane width direction moves to the position approaching the vehicle traveling lane, compared to a period before the movement to the position approaching the vehicle traveling lane.
2. The vehicle driving support device according to claim 1 , further comprising a future position prediction part configured to predict a future position of the vehicle after a setting time period from a current time,
wherein the lateral position of the vehicle in the lane width direction is the future position predicted by the future position prediction part.
3. The vehicle driving support device according to claim 2 , wherein the control suppression part suppresses the control by reducing the setting time period used in the prediction of the future position of the vehicle by the future position prediction part.
4. The vehicle driving support device according to claim 1 , wherein the control suppression part suppresses the control by changing the control start position to a position farther away from the vehicle traveling lane in the lane width direction when the lateral position of the vehicle in the lane width direction moves from the position outside the control start position to the position approaching the vehicle traveling lane inside the control start position in the lane width direction.
5. The vehicle driving support device according to claim 1 , further comprising a lane width detector configured to detect a lane width of the vehicle traveling lane,
wherein the control suppression part suppresses control more as the lane width of the vehicle traveling lane detected by the lane width detector becomes narrower.
6. The vehicle driving support device according to claim 1 , further comprising an obstacle distance detector configured to detect a distance between the vehicle and an obstacle existing on a side to which the vehicle is to laterally move by the control of the vehicle controller,
wherein the control suppression part suppresses the control more as the distance between the vehicle and the obstacle detected by the obstacle distance detector becomes shorter.
7. The vehicle driving support device according to claim 1 , further comprising a vehicle posture detector configured to detect a stableness of a vehicle posture of the vehicle,
wherein the control suppression part suppresses the control more as the stableness of the vehicle posture of the vehicle detected by the vehicle posture detector becomes lower.
8. The vehicle driving support device according to claim 1 , further comprising a lane dividing line detector configured to detect a lane dividing line of the vehicle traveling lane,
wherein the lane dividing line detector determines a recognition certainty of the lane dividing line when detecting the lane dividing line,
the control start position is set at a position away from a position of the lane dividing line detected by the lane dividing line detector by a predetermined distance in the lane width direction, and
the control suppression part suppresses the control more as the recognition certainty of the lane dividing line determined by the lane dividing line detector becomes lower.
9. The vehicle driving support device according to claim 1 , further comprising a side obstacle detector configured to detect a side obstacle on a lateral side of the vehicle,
wherein the control start determination part determines to start the control when the lateral position of the vehicle in the lane width direction reaches the control start position in a state where the side obstacle is detected by the side obstacle detector.
10. The vehicle driving support device according to claim 9 , wherein
the side obstacle detector determines a recognition certainty of the side obstacle when detecting the side obstacle,
the control start position is set based on a distance between the vehicle and the side obstacle detected by the side obstacle detector in the lane width direction, and
the control suppression unit suppresses the control more as the recognition certainty of the side obstacle determined by the side obstacle detector becomes lower.
11. A vehicle driving support method, comprising:
a control start determination step of determining to start a control when a lateral position of a vehicle in a lane width direction reaches a control start position being a predetermined lateral position in the lane width direction;
a vehicle control step of controlling the vehicle by applying a yaw moment toward the center of a vehicle traveling lane to the vehicle; and
a control suppression step of, when the lateral position of the vehicle in the lane width direction moves from a position outside the control start position in the lane width direction to a position approaching the vehicle traveling lane inside the control start position in the lane width direction, suppressing the control of applying the yaw moment to the vehicle for a predetermined period after the lateral position of the vehicle in the lane width direction moves to the position approaching the vehicle traveling lane, compared to a period before the movement to the position approaching the vehicle traveling lane.