| 摘要 |
PROBLEM TO BE SOLVED: To perform brake assist by accurate timing without performing the brake assist unnecessarily. SOLUTION: When it is judged that brake operation is performed by a driver on the basis of a signal of a brake switch 4 (steps S1 and S2), a distance D between an object of a preceding vehicle or the like and an own vehicle is read to calculate a relative speed Vr (step S3), and it is judged whether it is in the state that contact with the object can be avoided by performing either steering operation or braking operation on the basis of the distance D and the relative speed Vr. In the case that the contact can be avoided even by either operation of steering and braking, in the case that the contact can not be avoided even by either operation, in the case that the contact can be avoided only by braking operation and in the case that the contact can be avoided only by steering operation, any one case thereof is judged (step S4), and a threshold value STH of a brake pedal 2 is set in response to these conditions.
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