Vehicle driving support control apparatus

摘要

A vehicle driving support control apparatus receives lane line information given from a first environment recognizer and information on a target three-dimensional object given from a second environment recognizer. The apparatus estimates the visual range of a driver based on the lane line information, and estimates the driving lane based on at least either one of the lane line information and the target three-dimensional object information, and estimates the driving track of the vehicle. Based on the estimated driving lane and driving track, the apparatus estimates a deviation position where the subject vehicle will deviate from the driving lane on the basis of the driving lane and the driving track estimated. If the deviation position is beyond the visual range, the apparatus executes at least either one of notification to the driver and automatic braking in accordance with the possibility of deviation from the driving lane.

主权项

1. A driving support control apparatus for a vehicle, comprising:
a first environment recognizer to obtain lane line information on a lane line defining a driving lane in which the vehicle travels, on the basis of an image in front of the vehicle; a second environment recognizer to obtain information on a three-dimensional object along the driving lane, on the basis of a radio wave transmitted and received from an area in front of the vehicle; a visual range estimator to estimate a visual range of a driver on the basis of the lane line information, the visual range indicating a farthest distance of a recognized lane line in front of the vehicle; a driving lane estimator to estimate the driving lane on the basis of at least either one of the lane line information and the three-dimensional object information; a driving track estimator to estimate the driving track of the vehicle; a deviation position estimator to estimate a deviation position where the vehicle will deviate from the driving lane, on the basis of the driving lane estimated by the driving lane estimator and the driving track estimated by the driving track estimator; and a lane deviation prevention controller to execute at least either one of notification to the driver and automatic braking in accordance with a possibility of deviation from the driving lane when the deviation position is beyond the visual range.