| CPC B60W 30/09 (2013.01) [B60W 30/095 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 50/0097 (2013.01); B60W 2510/182 (2013.01); B60W 2520/10 (2013.01); B60W 2530/10 (2013.01); B60W 2540/049 (2020.02); B60W 2540/12 (2013.01); B60W 2552/15 (2020.02); B60W 2552/40 (2020.02); B60W 2554/4041 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] | 8 Claims |
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1. A vehicle collision avoidance assistance device comprising a processor configured to:
perform forced braking or forced steering when a driver's vehicle has a possibility of colliding with an object ahead of the driver's vehicle, the forced braking being braking for avoiding a collision between the driver's vehicle and the object by applying a braking force to the driver's vehicle to stop the driver's vehicle before the driver's vehicle collides with the object, the forced steering being steering for avoiding the collision between the driver's vehicle and the object by steering the driver's vehicle to pass by a side of the object;
acquire vehicle information related to a condition of the driver's vehicle;
acquire a road surface cant value of a road on which the driver's vehicle is traveling;
determine whether a request condition for requesting execution of the forced steering is satisfied based on the vehicle information;
determine that a forbiddance condition for forbidding the execution of the forced steering is satisfied when the road surface cant value is equal to or larger than a predetermined cant value;
determine that the forbiddance condition is not satisfied when the road surface cant value is smaller than the predetermined cant value;
perform the forced braking regardless of whether the forbiddance condition is satisfied when the request condition is not satisfied;
perform the forced steering when the forbiddance condition is not satisfied and the request condition is satisfied; and
perform the forced braking though the request condition is satisfied when the forbiddance condition is satisfied.
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