| 摘要 |
<p>In a vehicle safety driving apparatus, a predetermined steering torque is applied as the warning (S24) and a change amount of driver's steering torque (steering force) relative to the applied predetermined steering torque is calculated (S100, S200), and a contact avoidance assistance operation is conducted (S104, S206) in place of applying the predetermined steering torque when the calculated driver's steering force change amount is less than a set value (S102, S204). In other words, it is configured such that it is estimated whether the driver recognizes the warning by determining if the calculated driver's steering force change amount is less than a set value and when it is estimated that the driver does not recognize the warning, a contact avoidance assistance operation is conducted in place of it. With this, it becomes possible to conduct more perceivable operation or vehicle control when it is estimated that the driver does not recognize it, thereby enabling to assist the contact avoidance appropriately.</p> |
