VEHICLE DRIVING ASSISTANCE DEVICE

摘要

In a vehicle driving assistance device, a steering controlling unit estimates lane lines behind a subject vehicle based on lane lines recognized ahead of the subject vehicle and a running state of the subject vehicle, determines whether or not there is a passing vehicle on an adjacent lane based on the estimated lane lines behind the subject vehicle and a solid substance that is detected behind the subject vehicle by a solid substance detecting unit. If there is a passing vehicle a set distance behind the subject vehicle, the steering controlling unit corrects a steering angle of steering control set based on the lane lines ahead of the subject vehicle toward a direction in which the subject vehicle moves wary from the passing vehicle.

主权项

1. A vehicle driving assistance device comprising:
a forward environment recognizing unit to recognize forward environment including right and left lane lines ahead of a subject vehicle; a steering controlling unit to set a steering angle independently of a driver input based on the lane lines ahead of the subject vehicle; a backward lane line estimating unit to estimate lane lines behind the subject vehicle based on the lane lines ahead of the subject vehicle and a running state of the subject vehicle; a solid substance detecting unit to detect a solid substance behind the subject vehicle; a passing vehicle determining unit to determine whether there is a passing vehicle on an adjacent lane based on the lane lines behind the subject vehicle and the solid substance behind the subject vehicle; and a correcting unit to correct the steering angle set by the steering controlling unit toward a direction in which the subject vehicle moves away from the passing vehicle if there is a passing vehicle within a set distance behind the subject vehicle.