| CPC B60W 30/085 (2013.01) [B60W 40/09 (2013.01); B60W 2554/4046 (2020.02)] | 1 Claim |
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1. A driving assistance apparatus comprising:
an acceleration sensor configured to measure an acceleration acting on a body of a vehicle; and
a control unit configured to perform a damage mitigation control to mitigate a damage caused by a collision when said vehicle collides,
wherein, said control unit is configured to:
perform, as said damage mitigation control, a deployment control that includes at least a control to deploy an air-bag of said vehicle, when a collision indicating value, obtained based on said acceleration, indicative of a degree of said collision of said vehicle satisfies a predetermined collision condition;
perform, as said damage mitigation control, a brake-and-drive control to make a driving force of said vehicle smaller than a required driving force of a driver of said vehicle or to apply a brake force to said vehicle, when said collision indicating value does not satisfy said collision condition and satisfies a predetermined low impact collision condition that is to be satisfied when a low impact collision having a degree of collision lower than a collision having a degree of collision that satisfies said collision condition has occurred;
change said low impact collision condition in such a manner that said low impact collision condition becomes satisfied more easily as an elapsed time of an anomalous state where said driver is not driving normally becomes longer;
determine that said collision condition is satisfied when said collision indicating value is equal to or greater than a predetermined collision threshold;
determine that said low impact collision condition is satisfied when a first condition is satisfied and a second condition is satisfied, said first condition being a condition that said collision indicating value (i) is equal to or greater than a predetermined low impact collision threshold that has been set at a value smaller than said collision threshold and (ii) is smaller than said collision threshold;
said second condition being a condition that a magnitude of an integral value of said collision indicating value is equal to or greater than a predetermined integral value threshold;
make said low impact collision condition be satisfied more easily as said elapsed time becomes longer, by making said low impact collision threshold smaller and making said integral value threshold smaller; and
determine that said driver is in said anomalous state, when an erroneous operation state where said driver erroneously operates an acceleration element that is an element to be operated in order to accelerate said vehicle has occurred, or when said driver is in an asleep state.
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