DRIVING SUPPORT DEVICE

摘要

A driving support device includes: a preceding vehicle recognizer that recognizes a preceding vehicle; a lane mark recognizer that recognizes a lane mark; a path following controller that controls the own-vehicle; and a lane maintaining controller that controls the own-vehicle when a vehicle speed of the own-vehicle is greater than or equal to a predetermined speed. The driving support device further includes a prediction unit that predicts a shift of the own-vehicle to a running state with the predetermined speed or greater, and while the own-vehicle is under control of the path following controller, when the preceding vehicle ceases to be an object recognized by the preceding vehicle recognizer, the vehicle speed is less than the predetermined speed, and the prediction unit (control management unit) predicts the shift of the own-vehicle to the running state with the predetermined speed or greater, the lane maintaining controller controls the own-vehicle.

主权项

1. A driving support device comprising:
a preceding vehicle recognizer that recognizes a preceding vehicle; a lane mark recognizer that recognizes a lane mark of a traffic lane in which an own-vehicle runs; a path following controller that controls the own-vehicle so that the own-vehicle follows a path of the preceding vehicle recognized by the preceding vehicle recognizer; a lane maintaining controller that, when a vehicle speed of the own-vehicle is greater than or equal to a predetermined vehicle speed, controls the own-vehicle so that the own-vehicle maintains a traffic lane along the lane mark recognized by the lane mark recognizer; and a prediction unit that predicts a shift of the vehicle speed of the own-vehicle to a running state with the predetermined vehicle speed or greater, wherein while the own-vehicle is under control of the path following controller, when (i) the preceding vehicle fades-out from an object recognized by the preceding vehicle recognizer, (ii) the vehicle speed is less than the predetermined vehicle speed, and (iii) the prediction unit predicts the shift of the own-vehicle to the running state with the predetermined vehicle speed or greater, the lane maintaining controller performs control of the own-vehicle.