| 摘要 |
<P>PROBLEM TO BE SOLVED: To effectively suppress a wheel from contacting with a curbstone or a wheel drop to a side ditch by using the steering force control of steering when there is a risk that there may arise the contact of the wheel to the curbstone and the wheel drop to the side ditch. <P>SOLUTION: A driving assist device 12 equipped with imaging means 13, 14, an obstacle detection means 15 and a distance estimation means 16 includes: a wheel speed detection means 19; a steering angle detection means 20; a steering control means 21; a travel path prediction means 22 for predicting the travel path of the wheel from a detected wheel speed and a steering angle; a determination means 23 for determining whether the wheel reaches the curbstone or the side ditch within a predetermined time period based on a predicted travel path of the wheel and the estimated curbstone, or the distance between the side ditch and the wheel when the curbstone or the side ditch is detected; and a control device 18 for increasing a steering reaction force when it is determined that the wheel reaches the curbstone or the side ditch within the predetermined time period. <P>COPYRIGHT: (C)2013,JPO&INPIT |
