Driving support apparatus for vehicle

摘要

There is provided a driving support apparatus for a vehicle. When a height of a three-dimensional object extracted as a control subject is less than a set height, and as the height of the control subject becomes lower, a driving control unit increases the range of the braking control that is sequentially inhibited in the stepwise manner from the highest braking level to the lowest braking level.

主权项

1. A driving support apparatus for a vehicle comprising:
a driving environment recognition unit for recognizing a driving environment in front of the vehicle to detect three-dimensional object information; a control subject extracting unit for extracting a control subject from three-dimensional objects present in front of the vehicle based upon a condition set beforehand; a braking control unit for executing plural braking controls, each having a different braking level, in a stepwise manner according to need based upon a relative relationship between the vehicle and the control subject; and an inhibiting unit for inhibiting execution of the braking controls sequentially in the order of the braking level from the highest one, when the height of the three-dimensional object extracted as the control subject is less than a set height, wherein: when the height of the three-dimensional object extracted as the control subject is less than the set height, the inhibiting unit inhibits the execution of the braking controls such that, the lower the height of the three-dimensional object is, the more braking controls to be executed in a stepwise manner in a stepwise manner are inhibited, and when the height of the three-dimensional object extracted as the control subject is equal to or higher than the set height, the braking control unit executes one or more of the braking controls, when a time-to-collision is equal to or less than a threshold time.