| 摘要 |
In the present invention, the collision possibility of a vehicle colliding with an object in front of the vehicle is determined (S110), and emergency braking control for avoiding a collision with the object is started in accordance with the determination results (S140). A determination is made as to whether travel environment conditions have been established, from the location at which the vehicle is currently travelling, the situation behind the vehicle and the travel state of the vehicle (S120). During the period from the start of the emergency braking control until the vehicle stops, if the collision possibility drops to a prescribed safety level (S150: YES), and if the travel environment conditions have been established (S160: Yes), then the braking control is released (S170). |
