COLLISION AVOIDANCE SUPPORT DEVICE

摘要

When a host vehicle travels while being decelerated by an intervention of automatic braking, a support ECU calculates a collision prediction speed at a collision prediction position and determines whether or not the collision prediction speed exceeds a collision prediction speed threshold. The support ECU allows an automatic steering for collision avoidance to intervene only in a case where the collision prediction speed is determined to be equal to or less than the collision prediction speed threshold and prohibits the intervention of the automatic steering in a case where the collision prediction speed is determined to exceed the collision prediction speed threshold.

主权项

1. A collision avoidance support device comprising:
an obstacle detector configured to detect whether an obstacle is present in front of a host vehicle; and a control system that controls: (i) an automatic braking system to cause automatic braking, in which a braking force is generated in a vehicle wheel, to occur in a case where the host vehicle is determined to likely collide with a detected obstacle, and (ii) an automatic steering system to cause automatic steering, in which a steering wheel of the host vehicle is automatically turned to perform collision avoidance, to occur in the case where the host vehicle is determined to likely collide with the detected obstacle despite deceleration of the host vehicle caused by the automatic braking, wherein the control system (a) estimates whether or not a collision prediction speed representing a predicted relative speed of the host vehicle with respect to the detected obstacle or representing a vehicle speed of the host vehicle at a position where the host vehicle is predicted to collide with the detected obstacle after traveling while being decelerated by the automatic braking is higher than a collision speed threshold without performing the automatic steering, or (b) estimates whether or not a braking initiation speed during the automatic braking representing the relative speed of the host vehicle with respect to the detected obstacle or representing the vehicle speed of the host vehicle at a time of initiation of the automatic braking is higher than a speed threshold without performing the automatic steering, and the control system prohibits performance of the automatic steering when the control system estimates that the collision prediction speed is higher than the collision speed threshold or that the braking initiation speed is higher than the speed threshold.