| 摘要 |
PROBLEM TO BE SOLVED: To sufficiently secure an interval between an own vehicle and a pedestrian by allowing a deviation from a traveling lane under a prescribed condition.SOLUTION: A driving support device 1 controls steering of an own vehicle 3 so as to avoid a deviation of the own vehicle 3 from a traveling lane R1. The driving support device 1 includes: a boundary line detection section 21 for detecting white lines L1 an L3; a deviation detection section 23 for detecting that the own vehicle 3 is about to deviate from the white lines L1 and L3; an oncoming vehicle detection section 27 for detecting an oncoming vehicle X; and a pedestrian detection section 29 for detecting a pedestrian P. When the own vehicle 3 is about to deviate from the white line L1, the pedestrian P is detected at a position in a prescribed range in the vicinity of the white line L3, and the oncoming vehicle X having a collision margin time with the own vehicle 3 of a prescribed value or below is not detected, steering of the own vehicle 3 is executed so as to avoid a deviation when the own vehicle 3 deviates from a virtual reference line La outside the while line L1.SELECTED DRAWING: Figure 1 |
