Vehicle driving support control apparatus

摘要

A collision prevention controller mounted on a subject vehicle receives lane line information from a first environment recognizer and three-dimensional object information on a target three-dimensional object from a second environment recognizer, estimates the visual range of the driver based on the lane line information, determines whether the target three-dimensional object is located outside of the visual range of the driver, and determines the possibility of a collision of the target three-dimensional object and the subject vehicle. When the target three-dimensional object is located outside of the visual range of the driver, the collision prevention controller executes at least either one of notification to the driver or application of automatic braking in accordance with the possibility of collision with the subject vehicle.

主权项

1. A vehicle driving support control apparatus comprising:
a first environment recognition unit, including a camera, to detect lane line information on a driving lane in front of a host vehicle on which the vehicle driving support control apparatus is disposed, based on an image obtained by the camera; a second environment recognition unit, including a radar, to detect three-dimensional object information including a distance from the host vehicle to a three-dimensional object in front of the host vehicle, a relative speed between the host vehicle and the three-dimensional object, and a speed of the three-dimensional object, based on an electromagnetic wave signal obtained by the radar; and a controller configured to execute:
presetting a threshold as an average contrast value by which a human vision can recognize a lane line;obtaining a visual distance that is a farthest distance of the lane line detected by the first environment recognition unit with the contrast value higher than the preset threshold;determining whether or not a three-dimensional object is an on-coming vehicle based on a vehicle speed of the host vehicle and the speed of the three-dimensional object which is detected by the second environment recognition unit;determining whether the three-dimensional object detected by the second environment recognition unit is located outside of the obtained visual distance based on the lane line information by comparing a distance to the three-dimensional object detected by the second environment recognition unit and the obtained visual distance;determining a possibility of a collision between the host vehicle and the detected three-dimensional object based on the detected three-dimensional object information by the second environment recognition unit and based on determination whether the detected three-dimensional object is located in lane lines detected by the first environment recognition unit; andwhen the detected three-dimensional object is located further than the obtained visual distance, outputting a warning signal to cause a warning apparatus to make a notification to the driver in a case where the possibility of a collision is less than a first threshold and an automatic brake signal for application of automatic braking in a case where the possibility of a collision is less than a second threshold, wherein:a possibility of a collision for the second threshold is higher than a possibility of a collision for the first threshold, andwhen the controller determines that the three-dimensional object is the on-coming vehicle, and when the controller recognizes that the host vehicle is going to enter into an on-coming vehicle lane on which the on-coming vehicle drives, the controller outputs the automatic braking signal in accordance with a distance from the host vehicle to the on-coming vehicle.