VEHICLE RUNNING ASSIST APPARATUS

摘要

A collision avoidance ECU sets a target relative deceleration (Af) to a first target value (Af1) when a brake control starting condition is satisfied, and causes a first brake control for bringing a relative deceleration (Gr) closer to the target relative deceleration (Af) to be carried out. When a reference relative deceleration (Asub) with reference to the relative deceleration at a first point in time (t11) has reached a specified relative deceleration (Ath), the collision avoidance ECU determines a greater value for a second target value when the amount of change in deceleration that is the amount of change in the reference relative deceleration at the point in time is small than when the amount of change in deceleration is large. The collision avoidance ECU then sets the target relative deceleration (Af) to the second target value, and causes a second brake control for bringing the relative deceleration (Gr) closer to the target relative deceleration (Af) to be carried out.