| CPC B60W 30/09 (2013.01) [B60W 2540/12 (2013.01); B60W 2540/18 (2013.01); B60W 2554/4041 (2020.02); B60W 2720/106 (2013.01)] | 10 Claims |
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1. A driving support device, comprising:
an operation sensor configured to acquire operation information that is information on an operation on a driving operation device included in an own vehicle;
a periphery sensor configured to acquire peripheral information that is information on a target object existing in a periphery of the own vehicle; and
a control device configured to execute deceleration support control of supporting a driving operation executed by a driver to decelerate the own vehicle when existence of a target object in front of the own vehicle is detected based on the peripheral information and a predetermined precondition relating to the target object and the own vehicle is satisfied,
wherein the control device is configured to:
determine, when the predetermined precondition is satisfied and an operation of depressing a brake pedal of the own vehicle is released, a mode of the deceleration support control based on a situation according to a steering angle and a position of the own vehicle in a crossing direction on a travel lane on which the own vehicle is traveling at a time point when the predetermined precondition is satisfied and the operation of depressing the brake pedal of the own vehicle is released;
execute first deceleration support control according to a first situation when the steering angle is equal to or smaller than a threshold value;
execute second deceleration support control that is driving support at a level lower than a level of the first deceleration support control according to a second situation when the steering angle is larger than the threshold value and the position of the own vehicle in the crossing direction is within a lane line of the travel lane;
execute third deceleration support control that is driving support at a level lower than the level of the second deceleration support control according to a third situation when the steering angle is larger than the threshold value and the position of the own vehicle in the crossing direction is beyond the lane line of the travel lane; and
switch a second deceleration support control being executed to a third deceleration support control when detecting, in real time, a transition from the second situation to the third situation.
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