| CPC B60T 7/22 (2013.01) [G06V 20/582 (2022.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01); G06V 20/64 (2022.01); B60T 2210/32 (2013.01); B60T 2220/04 (2013.01); G06V 2201/08 (2022.01)] | 6 Claims |
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1. A driving support apparatus comprising:
a surrounding sensor capable of detecting a three-dimensional object present around a vehicle and a road marking in front of the vehicle, and acquiring information on the detected three-dimensional object and road marking as surrounding information;
a vehicle state sensor capable of detecting multiple types of vehicle states in response to driving operation by a driver of the vehicle, and acquiring information on the detected vehicle states as vehicle state information, including an accelerator pedal operation amount in response to an accelerator pedal operation by the driver, a vehicle speed of the vehicle, a steering angle in response to a steering operation by the driver, and an operating state of a direction indicating operator corresponding to a direction indicating operation by the driver; and
a control unit which performs:
start condition determination processing which determines whether the start condition is satisfied, the start condition being satisfied when (i) a preceding vehicle is detected, (ii) a vehicle speed of the vehicle is greater than a vehicle speed of the preceding vehicle, and (iii) a time to collision (TTC) with the preceding vehicle is equal to or less than a predetermined time threshold (TTCth);
execution processing which executes deceleration assist control that assists deceleration of the vehicle by automatically applying a braking force to the vehicle when the start condition is satisfied; and
cancel processing which cancels the deceleration assist control by decreasing the braking force so that a deceleration of the vehicle becomes zero when a cancel condition is satisfied, the cancel condition being satisfied when the accelerator pedal operation is performed during execution of the deceleration assist control,
wherein when the cancel condition is satisfied, the control unit performs:
first acceleration necessity index determination processing which determines whether an acceleration necessity index, which indicates a degree of necessity of accelerating the vehicle, is low, the acceleration necessity index being determined to be low when the TTC is less than or equal to a predetermined first time threshold (TTCth1) that is smaller than the TTCth, a magnitude of the steering angle is less than or equal to a predetermined first steering angle threshold, and the direction indicating operator is not operated; and
first set processing which sets, when the acceleration necessity index is low, an absolute value of a decrease slope of the braking force smaller than a predetermined reference slope regardless of a value of the accelerator pedal operation amount.
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