Vehicle driving assistance apparatus

摘要

A vehicle driving assistance apparatus mounted in a vehicle. In the apparatus, a drivable route detection unit detects a drivable route, a vehicle state quantity detection unit detects state quantities of the vehicle, and a steering control unit controls steering of the vehicle. Further, in the apparatus, an allowable region estimation unit estimates a driving allowable region on the basis of the detected state quantities and a predetermined allowable range of behavior of the vehicle. A deviation determination unit determines that the vehicle will deviate from the drivable route when a minimum width of an overlap region of the drivable route and the driving allowable region is less than a predetermined threshold. An intervention instruction unit then outputs to the steering control unit an intervention control signal to control steering of the vehicle.

主权项

1. A vehicle driving assistance apparatus mounted in a subject vehicle, the apparatus comprising:
a lane detection unit configured to detect a traveling lane in which the subject vehicle is traveling; a vehicle state quantity detection unit configured to detect state quantities of the subject vehicle, the vehicle state quantity detection unit including a steering angle detector configured to detect a steering angle as a first state quantity and a vehicle speed detector configured to detect a speed of the subject vehicle as a second state quantity; a processor configured to determine whether or not the subject vehicle will deviate from the traveling lane, and based on a determination result, output a control signal for controlling the steering angle; and a steering controller configured to control steering of the subject vehicle in response to the control signal from the processor; wherein the processor operates as: an allowable region estimation unit configured to estimate a driving allowable region on the basis of the state quantities detected by the vehicle state quantity detection unit and a predetermined allowable range of behavior of the subject vehicle wherein the driving allowable region is a region where the subject vehicle is allowed to travel by changing its traveling direction with a behavior of the subject vehicle kept within the predetermined allowable range of behavior of the subject vehicle; a deviation determination unit configured to compare a minimum width of an overlap region of the traveling lane and the driving allowable region estimated by the allowable region estimation unit with a predetermined threshold for determining whether or not the subject vehicle will deviate from the traveling lane, wherein the predetermined threshold is equal to or greater than a width of the subject vehicle; and an intervention instruction unit configured to, when it is determined by the deviation determination unit that the minimum width of the overlap region is less than the predetermined threshold, output to the steering controller an intervention control signal for instructing the steering controller to perform intervention control of steering of the subject vehicle.