JP2008179251A - Traveling support device for vehicle and traveling support method for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling support device for a vehicle and a traveling support method for a vehicle for properly supporting traveling according to the vehicle around its own vehicle. <P>SOLUTION: When a puddle is detected in the traveling direction of the own vehicle, and a vehicle following the own vehicle is detected, the braking of the own vehicle is controlled to decelerate the following vehicle. When the puddle is detected in the traveling direction of the own vehicle, and the following vehicle is not detected, and there is a route to avoid a front obstacle or oncoming car, and the own vehicle may not collide with any vehicle at the side or rear, the steering of the own vehicle is controlled, and when there is no route to avoid the front obstacle or oncoming car, or the own vehicle may collide with any peripheral vehicle, the braking of the own vehicle is controlled. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicular travel support device and a vehicular travel support method that support the travel of a vehicle passing through a road with a puddle.

2. Description of the Related Art Conventionally, a vehicular travel support device that performs travel support control that splashes water when a vehicle passes through a puddle so as not to be applied to a pedestrian is known (see, for example, Patent Document 1). In this vehicle travel support apparatus, the object detection means detects a pedestrian in the traveling direction of the own vehicle, detects whether the rain detection means is rainy, and detects that the rain detection means is rainy. Sometimes, the safe distance setting means sets the safe distance long, and the risk prediction means predicts whether the safe distance is secured when the pedestrian detected by the object detection means is closest to the host vehicle, and driving support The control means performs the driving support control when the danger prediction means predicts that a safe distance is not secured when the pedestrian and the host vehicle are closest to each other.
JP 2006-264466 A

  However, according to the above-described disclosure of the related art, the control for supporting the traveling of the host vehicle is performed based on the pedestrian in the traveling direction of the host vehicle, and the presence of the surrounding vehicle of the host vehicle is not particularly considered. For this reason, if there is a surrounding vehicle, the vehicle may not necessarily provide appropriate travel support. For example, if a safe distance is secured when the pedestrian and the vehicle are closest to each other and the driving support control is not performed, even if the vehicle can avoid water splashing to the pedestrian, There is a risk that water splashing to pedestrians by following vehicles cannot be avoided.

  Then, an object of this invention is to provide the driving assistance device for vehicles, and the driving assistance method for vehicles which can perform suitable driving assistance according to the surrounding vehicle of the own vehicle.

In order to achieve the above object, a vehicle travel support apparatus according to a first invention comprises
A puddle detecting means for detecting a puddle in the traveling direction of the host vehicle;
Surrounding vehicle detection means for detecting surrounding vehicles of the host vehicle,
Deceleration control means for controlling deceleration of the host vehicle;
Steering control means for controlling the steering of the host vehicle,
In the case where a puddle is detected by the puddle detecting means,
When the following vehicle is detected by the surrounding vehicle detection means, the deceleration control means controls the deceleration of the own vehicle,
When the following vehicle is not detected by the surrounding vehicle detection means, steering of the host vehicle is controlled by the steering control means. As a result, if a puddle is detected, even if there is a succeeding vehicle in the own vehicle, the own vehicle can be decelerated so as to accelerate the deceleration of the following vehicle. In addition, water splashing by the following vehicle can be prevented. On the other hand, if there is no following vehicle, the steering control can be executed so as to prevent water splashing caused by passing the detected water pool.

Moreover, 2nd invention is the driving assistance device for vehicles which concerns on 1st invention, Comprising:
The direction in which the host vehicle is steered by the steering control means is limited according to the location of the surrounding vehicle detected by the surrounding vehicle detection means. Thereby, even if the following vehicle is not detected, the near miss or the collision with the surrounding vehicle can be prevented by steering the host vehicle.

Moreover, 3rd invention is the driving assistance device for vehicles which concerns on 2nd invention, Comprising:
The direction in which the steering of the host vehicle is restricted by the steering control means is a direction that is detected by the surrounding vehicle detection means, or a direction toward the side where the surrounding vehicle is obliquely rearward. As a result, it is possible to prevent a near miss or a collision with a side vehicle that is particularly difficult for the driver of the host vehicle to see or a diagonally rearward surrounding vehicle. Here, the steering to the side where the surrounding vehicle exists means steering the vehicle in the right direction when the surrounding vehicle exists on the right front side, the right side, and the right rear side of the own vehicle.

Moreover, 4th invention is the driving assistance device for vehicles which concerns on 2nd invention, Comprising:
When the surrounding vehicle detecting means detects a surrounding vehicle traveling sideways or obliquely backward, the steering control means does not steer the own vehicle, but the deceleration control means decelerates the own vehicle. It is said. As a result, it is possible to prevent near misses and collisions with side vehicles that are particularly difficult for the driver of the host vehicle to see and obliquely behind the surrounding vehicle, and to decelerate the host vehicle even if the host vehicle is not steered. Water splash due to passing through the pool can be prevented.

The fifth invention is a vehicular travel support apparatus according to the first or second invention, wherein
The apparatus further comprises an avoidance route deriving unit for deriving a water splash avoidance route by passing the puddle detected by the puddle detection unit, and the steering control unit, according to the derivation result of the avoidance route deriving unit, It is characterized by controlling the steering of the host vehicle. Accordingly, the host vehicle can be steered along a route that can appropriately prevent water splashing.

Moreover, 6th invention is the driving assistance device for vehicles which concerns on 5th invention, Comprising:
When the avoidance route cannot be derived by the avoidance route deriving unit, the host vehicle is not steered by the steering control unit, and the own vehicle is decelerated by the deceleration control unit. As a result, even if there is no avoidance path and water splash due to steering cannot be prevented, water splash caused by passing through the puddle can be prevented by decelerating the host vehicle.

The seventh invention is a vehicle travel support device according to the first or second invention, wherein
The vehicle further includes a collision determination unit that performs a collision determination between the surrounding vehicle detected by the surrounding vehicle detection unit and the host vehicle, and the steering control unit controls steering of the host vehicle according to a determination result of the collision determination unit. It is characterized by doing. As a result, the host vehicle can be steered so as to prevent near misses and collisions with surrounding vehicles while preventing water splashing.

Moreover, 8th invention is the driving assistance device for vehicles which concerns on 7th invention, Comprising:
When it is determined by the collision determination means that there is a possibility of collision, the host vehicle is not steered by the steering control means, and the host vehicle is decelerated by the deceleration control means. Thereby, even if it is not possible to prevent water splashing due to steering because there is a possibility of colliding with surrounding vehicles, it is possible to prevent water splashing caused by passing through the puddle by decelerating the host vehicle.

In order to achieve the above object, a vehicle travel support method according to a ninth aspect of the invention includes:
Detecting a puddle in the traveling direction of the vehicle;
Detecting a vehicle following the vehicle;
Decelerating the own vehicle by a deceleration control means when the following vehicle is detected when the water pool is detected;
A step of steering the own vehicle by a steering control means when the following vehicle is not detected when the water pool is detected. As a result, if a puddle is detected, even if there is a succeeding vehicle in the own vehicle, the own vehicle can be decelerated so as to accelerate the deceleration of the following vehicle. In addition, water splashing by the following vehicle can be prevented. On the other hand, if there is no following vehicle, the steering control can be executed so as to prevent water splashing caused by passing the detected water pool.

A tenth aspect of the invention is a vehicle travel support method according to the ninth aspect of the invention,
Detecting the surrounding vehicle on the side or diagonally behind the vehicle;
A step of restricting the steering of the host vehicle by the steering control unit and permitting the deceleration of the host vehicle by the deceleration control unit when a surrounding vehicle on the side of the host vehicle or obliquely behind is detected. It is said. As a result, it is possible to prevent near misses and collisions with surrounding vehicles that are particularly difficult for the driver of the host vehicle to visually recognize the side or obliquely behind the vehicle. Water splash due to passing through the pool can be prevented.

  ADVANTAGE OF THE INVENTION According to this invention, suitable driving assistance according to the surrounding vehicle of the own vehicle can be performed.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a vehicle travel support apparatus according to an embodiment of the present invention. The vehicle travel support device of the present embodiment includes a vehicle periphery monitoring device 10, a travel support ECU 50, a brake control system 60, an engine control system 70, a steering control system 80, and an alarm device 90.

  The vehicle periphery monitoring device 10 includes monitoring sensors such as millimeter wave radar, laser radar, and ultrasonic radar, and is means for detecting the presence of other vehicles and pedestrians around the vehicle. The vehicle periphery monitoring device 10 uses the monitoring sensor to determine the inter-vehicle relationship values (relative distance, relative speed, inter-vehicle time, etc.) between the host vehicle and other vehicles in the vicinity, or Distance and relative speed can be measured. The relative distance and the inter-vehicle time can be easily calculated from the relationship between the wave transmission / reception timing and the wave speed transmitted / received by the radar. The relative speed is obtained from the time change of the calculated relative distance. It is also possible to obtain the relative acceleration from the change in relative speed over time. Also, the size of the vehicle can be measured by the size of the reflection range when the radar scans the vicinity of the host vehicle. Thereby, for example, it is also possible to distinguish between a truck, a general vehicle, and a motorcycle.

  The vehicle periphery monitoring apparatus 10 may include an image processing apparatus having a pair of imaging devices (CCD: Charge Coupled Device) arranged on the left and right and an image processing computer that processes images captured by the pair of imaging devices. The image processing apparatus recognizes a pedestrian or a surrounding vehicle in a captured image by performing image recognition processing such as using a difference in angle of view between the pair of left and right imaging elements by an image processing computer. One or a plurality of image sensors are installed in the vehicle according to the direction in which the image is to be taken, such as the front of the vehicle, the rear of the vehicle, or the side of the vehicle. For example, an image sensor is installed on the back of a room mirror, a bumper, or the like. The relative distance can be calculated by obtaining the parallax between the images captured by the image sensor using an image processing computer. When the image by one image sensor and the image by the other image sensor are overlapped, the vehicle to be imaged is shifted in the horizontal direction. Then, the most overlapping position is obtained while shifting one image pixel by pixel. The number of pixels shifted at this time is n. If the focal length of the lens is f, the distance between the optical axes is m, and the pixel pitch is d, the relative distance L from the own vehicle to the imaging object (pedestrian or surrounding vehicle) is L = (f · m) / The relational expression (n · d) is established. Note that (n · d) is called parallax. From the relative distance L calculated based on this relational expression, the relative velocity and the relative acceleration can be calculated in the same manner as described above.

  The image processing device of the vehicle periphery monitoring device 10 detects a puddle in the traveling direction of the host vehicle. For example, as described in Patent Document 1, the image processing apparatus includes a first CCD that captures a field image via a vertical polarization filter and a second CCD that captures a field image via a horizontal polarization filter. Is preferable. Then, the image processing apparatus captures a vertically polarized image and a horizontally polarized image on the road surface in front of the vehicle with the first and second CCDs, and detects the road surface state using the polarization characteristics of the vertically polarized image and the horizontally polarized image. At this time, the road surface state is detected based on the intensity of the vertical polarization component based on the luminance information of the vertical polarization image and the intensity of the horizontal polarization component based on the luminance information of the horizontal polarization image. The position of the puddle may be detected based on the detection result. Note that there are various methods for detecting a puddle, including the above-described detection method, but the method is not particularly limited.

  The vehicle periphery monitoring device 10 may include a vehicle-to-vehicle communication device that performs so-called vehicle-to-vehicle communication that connects a vehicle and the vehicle by wireless communication. The inter-vehicle communication device can recognize the presence of the surrounding vehicle of the own vehicle even if the driver cannot visually recognize the existence of the surrounding vehicle of the own vehicle by the inter-vehicle communication. The inter-vehicle communication device transmits the ID of the own vehicle and the presence information of the own vehicle necessary for specifying the vehicle to the surrounding vehicles via the inter-vehicle communication. Receive presence information. The vehicle-to-vehicle communication device can transmit and receive the presence information of the host vehicle and the surrounding vehicles in real time at a predetermined communication cycle.

  When monitoring the periphery of the host vehicle, the monitoring sensor, the image processing device, and the inter-vehicle communication device may be used independently or in combination. If used together, the accuracy of monitoring the surroundings of the host vehicle can be improved. In addition, the pedestrian detected by the vehicle periphery monitoring device 10 includes a person who rides a motorcycle such as a light vehicle including a bicycle and a motorbike.

  The travel support ECU 50 stores a ROM that stores a travel support program for supporting travel of a vehicle traveling on a puddle, a CPU that processes the travel support program, a RAM that is a work area of the travel support program, An electronic control device having an interface with each unit. When an interrupt for instructing execution of the driving support program occurs, the CPU reads the driving support program from the ROM and starts executing the driving support program. The processing by the driving support program can be represented by the flow of FIG.

  The driving support ECU 50 recognizes the position of the pedestrian and the puddle in the traveling direction of the host vehicle based on the monitoring result of the vehicle periphery monitoring device 10 by executing the driving support program, and to the pedestrian by passing through the puddle. The driving support control is performed to support the driving of the vehicle so as to prevent water splashing.

FIG. 2 is a diagram for explaining water splash determination for a pedestrian. The traveling support ECU 50 of the host vehicle located at the current point B ₀ predicts whether or not the host vehicle passes over the water pool W in the traveling direction of the host vehicle detected by the image processing device of the vehicle periphery monitoring device 10. . The travel support ECU 50 is based on, for example, the vehicle speed V of the host vehicle calculated based on each wheel speed input from the wheel speed sensor, map information in the map database, position information of the host vehicle detected by the GPS device, and the like. When the predicted course Cp of the host vehicle passes through the range of the water pool W detected by the image processing apparatus, the host vehicle predicts and determines that the host vehicle passes over the water pool W.

  Map information in the map database includes information on road shapes and topography such as straight roads, curves, branch roads, legal velocities, road slopes and cants, tunnels, intersections, railroad crossings, parking lots, toll gates (ETC) Lane) and other node information is included together with the coordinate data of the node. Further, lane information such as the number of lanes on each road, coordinate data and lane width of each lane, and lane forms such as a right turn lane / left turn lane may be included. Map information in the map database may be updatable in real time via vehicle-to-vehicle communication, road-to-vehicle communication, or external communication such as a predetermined management center, or updated via a medium such as a CD or DVD. It may be possible. Therefore, the driving assistance ECU 50 is a vehicle position detection means for grasping where the vehicle is located on the map based on the vehicle position detected by the GPS device and the map information in the map database. is there. For example, the driving support ECU 50 can identify the lane in which the host vehicle is currently traveling based on the coordinate data of the host vehicle position detected by the GPS device and the coordinate data of the lane information included in the map information.

When the driving support ECU 50 predicts that the host vehicle passes over the puddle W detected by the image processing device, the travel support ECU 50 selects an arbitrary point B ₁ on the puddle W detected by the image processing device (see FIG. 2). In this case, it is determined whether or not the pedestrian A detected by the image processing device or the like is present in the water splash determination range X centered on the predicted course Cp. When the pedestrian A is located in the water splash determination range X (point A ₁ ), the travel support ECU 50 determines that it is necessary to execute the travel support control because there is a possibility that the pedestrian A may splash water. When the pedestrian A is not located within the water splash determination range X (point A ₂ ), it is determined that there is no possibility that the pedestrian A will splash water, and it is determined that the driving support control is unnecessary.

  The size of the water splash determination range X changes according to the vehicle speed V of the host vehicle, and increases as the vehicle speed V increases. Thereby, even if the vehicle speed V is variable, it is possible to appropriately determine whether or not there is a possibility that the pedestrian will splash water. In addition, the size of the water splash determination range X is calculated by pre-simulation, learning, or the like so that the water splashed by the own vehicle traveling at a predetermined speed does not reach the pedestrian. To set an appropriate value.

  When it is determined that it is necessary to execute the driving support control, the driving support ECU 50 determines the content of the driving support control according to the position information of the surrounding vehicle by the vehicle periphery monitoring device 10. The travel support ECU 50 transmits a command signal for performing travel support according to the determined content to the brake control system 60, the engine control system 70, the steering control system 80, and the alarm device 90.

  The brake control system 60 includes a brake device 62 that brakes each wheel of the vehicle, and a brake ECU 61 that controls braking by the brake device 62. The brake device 62 has a brake actuator that generates a braking force on each wheel. The brake actuator is electrically connected to the brake ECU 61, and causes each wheel to generate a braking force according to a command signal commanded from the brake ECU 61. That is, the brake control system 60 functions as a means for controlling the deceleration of the host vehicle.

  The engine control system 70 includes an engine 72 that is a power source of the vehicle and an engine ECU 71 that controls the engine 72. The engine ECU 71 controls a throttle valve disposed in an intake pipe connected to the engine 72 of the vehicle based on detection values from a vehicle speed sensor, an engine speed sensor, an accelerator sensor, and the like and control signals from other ECUs. . A throttle motor as an actuator is connected to the throttle valve. This throttle motor is driven and controlled in accordance with a command from the engine ECU 71, and adjusts the opening (control amount) of the throttle valve. As an electronic throttle, the throttle valve is adjusted to an opening degree corresponding to the driving of the throttle motor, and adjusts the amount of air supplied to the engine 72. That is, the engine control system 70 functions as a means for controlling the deceleration of the host vehicle by adjusting the opening of the throttle valve.

  The steering control system 80 includes a steering device 82 that steers wheels, and a steering ECU 81 that controls steering by the steering device 82. The steering control system 80 is an electric power steering device that can arbitrarily change the assist torque of the steering operation in accordance with the traveling state, and can adjust the steering torque necessary for the steering operation. The steering ECU 81 is a steering angle sensor that detects the magnitude and direction of the steering angle when the driver steers the steering wheel, and a torque sensor that detects the magnitude and direction of the torsion bar torsion when the driver steers the steering wheel. Connected. The steering ECU 81 drives a steering motor that is one of the steering devices 82 so as to obtain a desired assist torque in accordance with a map value that defines a relationship between a detected value obtained by a steering angle sensor, a torque sensor, or the like and an assist torque. Control. That is, both the steering torque by the steering operation of the steering wheel by the driver and the assist torque by the steering motor controlled by the steering ECU 81 act on the rack bar, so that the rack bar strokes. The left and right wheels are steered by the stroke through the tie rods, and the vehicle is steered. That is, the steering control system 80 functions as a steering control unit that controls the steering of the host vehicle. The steering control system 80 can also function as a means for automatically steering the host vehicle without using the driver's steering operation by disabling the driver's steering operation.

  Based on a command signal from the driving support ECU 60, the alarm device 90 alerts the driver that the driving support control is performed by a warning display by a display or a lamp or a warning sound by a speaker. The alarm device 90 alerts the driver not only by a warning sound or warning display but also by forcibly applying a steering force to the steering for a short time or by operating a vibration mechanism provided on the steering or the seat. May be. Further, the warning device 90 does not change the lane to the lane in which the surrounding vehicle travels detected by the vehicle periphery monitoring device 10 in the direction indicated by the direction indication state of the host vehicle (for example, changes the lane in the reverse direction). Driving and driving to maintain the current lane) may be recommended to the driver. Further, the alarm device 90 is not limited to the driver of the host vehicle, and alerts the driver of the surrounding vehicle detected by the vehicle periphery monitoring device 10 by a warning display by a display or a lamp or a warning sound by a speaker. Good.

  Next, the detailed operation of the vehicle travel support apparatus of this embodiment will be described. FIG. 3 shows a vehicle driving support method according to an embodiment of the present invention, and is a flow showing the operation of the vehicle driving support device of this embodiment. The travel support ECU 50 of the vehicle travel support device starts an operation according to the flow shown in FIG. 3 when the execution of the travel support control is permitted, for example, when the ignition switch of the vehicle is on.

  As described above with reference to FIG. 2, the driving assistance ECU 50 executes the water splash determination process for the pedestrian in the traveling direction of the host vehicle (step 10). When the pedestrian A is located in the water splash determination range X, the driving assistance ECU 50 determines that the water splash avoiding operation by executing the driving assistance control is necessary, assuming that there is a risk of splashing water to the pedestrian A. (Step 12; Yes). On the other hand, when the pedestrian A is not located in the water splash determination range X, the driving support ECU 50 determines that there is no risk of splashing water to the pedestrian A, and does not require a water splash avoiding operation by executing the driving support control. Judgment is made (step 12; No). When the driving assistance ECU 50 determines that the water splash avoidance operation by executing the driving assistance control is necessary (step 12; Yes), the vehicle periphery monitoring device 10 performs the detection operation of the following vehicle of the host vehicle (step 14).

  When the presence of a vehicle on the same lane as the host vehicle is detected within a predetermined distance range behind the host vehicle, the driving support ECU 50 regards the vehicle as a subsequent vehicle (step 16; Yes), and FIG. As shown in a), braking control (deceleration control) of the host vehicle by the brake control system 60 and the engine control system 70 is executed (step 18). When the braking control is executed in step 18, a warning by the alarm device 90 may be given in order to alert the driver to perform the driving support control or pass the puddle.

  On the other hand, when the presence of a vehicle on the same lane as the host vehicle is not detected within a predetermined distance range behind the host vehicle, the driving support ECU 50 determines that the following vehicle does not exist (step 16; No). The driving assistance ECU 50 that has determined that there is no following vehicle performs recognition processing of obstacles and oncoming vehicles that hinder the progress of the host vehicle by the vehicle periphery monitoring device 10 (step 20). When the vehicle periphery monitoring device 10 detects an obstacle or an oncoming vehicle in the traveling direction of the host vehicle, the driving assistance ECU 50 derives an avoidance route that can avoid the detected obstacle or the oncoming vehicle (step 22). . For example, when an obstacle or an oncoming vehicle is not detected by the vehicle periphery monitoring device 10 on the adjacent lane of the host vehicle, the driving support ECU 50 derives a route for changing the lane to the adjacent lane as an avoidance route. When the avoidance route cannot be derived due to the presence of an oncoming vehicle, an obstacle, or the like (step 22; No), the driving assistance ECU 50 performs the brake control system 60 or engine control as shown in FIG. The braking control of the own vehicle by the system 70 is executed (step 18). On the other hand, when the avoidance route is derived (step 22; Yes), the driving assistance ECU 50 performs a detection process of the vehicle on the side or diagonally rear side of the own vehicle by the vehicle periphery monitoring device 10 (step 26).

  When the driving assistance ECU 50 determines that no surrounding vehicle is present on the side or behind (step 26; No), as shown in FIG. 4B, the steering control system follows the derived avoidance route. The steering control of the own vehicle by 80 is executed (step 32). When the steering control is executed in step 32, a warning by the alarm device 90 may be given in order to alert the driver to perform the driving support control.

  On the other hand, when the driving assistance ECU 50 determines that there is a surrounding vehicle on the side or behind, the driving assistance ECU 50 determines whether or not there is a collision with the surrounding vehicle (step 28). The driving assistance ECU 50 may collide with the surrounding vehicle when the relative distance between the side vehicle or the surrounding vehicle detected by the vehicle periphery monitoring device 10 and the own vehicle is less than a predetermined value, for example. Judge that there is. When the driving support ECU 50 determines that there is a possibility of collision with the surrounding vehicle by the collision determination processing (No in step 30), as shown in FIG. 4 (c), the driving support ECU 50 is automatically operated by the brake control system 60 and the engine control system 70. Vehicle braking control is executed (step 18). When the driving support ECU 50 determines that there is no possibility of colliding with the surrounding vehicle by the collision determination processing (step 30 Yes), as shown in FIG. 4B, the steering control system is performed according to the derived avoidance route. The steering control of the own vehicle by 80 is executed (step 32).

  Therefore, according to the above-described embodiment, if the water pool is detected, even if there is a succeeding vehicle in the own vehicle, the own vehicle can be decelerated so as to promote the deceleration of the following vehicle. In addition to preventing water splashing, water splashing by the following vehicle can be prevented. On the other hand, if there is no following vehicle, the steering control can be executed so as to prevent water splashing caused by passing the detected water pool. In addition, it is possible to perform travel support that prevents appropriate water splashing according to the presence of surrounding vehicles such as oncoming vehicles and rear vehicles.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, when steering control is executed as travel support, braking control may be executed. By using together in this way, more stable avoidance steering can be performed.

1 is a configuration diagram of a vehicle travel support apparatus according to an embodiment of the present invention. It is a figure for demonstrating the water splash determination to a pedestrian. It is a driving support method for vehicles which is one embodiment of the present invention, and is a flow which shows operation of a driving support device for vehicles of this embodiment. It is the figure which showed the content of driving assistance control.

Explanation of symbols

10 Vehicle Perimeter Monitoring Device 50 Travel Assist ECU
60 Brake control system 70 Engine control system 80 Steering control system 90 Alarm device A Pedestrian B Own vehicle X Water splash determination range W Puddle Cp Predicted course

Claims (10)

A puddle detecting means for detecting a puddle in the traveling direction of the host vehicle;
Surrounding vehicle detection means for detecting surrounding vehicles of the host vehicle,
Deceleration control means for controlling deceleration of the host vehicle;
Steering control means for controlling the steering of the host vehicle,
In the case where a puddle is detected by the puddle detecting means,
When the following vehicle is detected by the surrounding vehicle detection means, the deceleration control means controls the deceleration of the own vehicle,
The vehicle driving support apparatus according to claim 1, wherein when the following vehicle is not detected by the surrounding vehicle detection means, steering of the host vehicle is controlled by the steering control means.   The vehicle travel support apparatus according to claim 1, wherein a direction in which the host vehicle is steered by the steering control unit is limited according to a position of the surrounding vehicle detected by the surrounding vehicle detection unit.   The vehicle according to claim 2, wherein a direction in which steering of the host vehicle by the steering control unit is restricted is a direction toward a side on which a side vehicle detected by the surrounding vehicle detection unit or a surrounding vehicle obliquely behind exists. Travel support device.   The vehicle is not steered by the steering control means but is decelerated by the deceleration control means when a surrounding vehicle traveling sideways or obliquely rearward is detected by the surrounding vehicle detection means. 3. A vehicle travel support apparatus according to 2. An avoidance path deriving means for deriving a water splash avoidance path by passing the puddle detected by the puddle detection means;
The vehicle travel support apparatus according to claim 1, wherein the steering control unit controls the steering of the host vehicle in accordance with a derivation result of the avoidance route derivation unit.   The vehicle travel support according to claim 5, wherein when the avoidance route cannot be derived by the avoidance route deriving unit, the host vehicle is not steered by the steering control unit, and the own vehicle is decelerated by the deceleration control unit. apparatus. A collision determination means for performing a collision determination between the surrounding vehicle detected by the surrounding vehicle detection means and the own vehicle;
The vehicle travel support apparatus according to claim 1, wherein the steering control unit controls steering of the host vehicle in accordance with a determination result of the collision determination unit.   The vehicle according to claim 7, wherein when the collision determination unit determines that there is a possibility of a collision, the vehicle is not steered by the steering control unit, and the host vehicle is decelerated by the deceleration control unit. Driving support device. Detecting a puddle in the traveling direction of the vehicle;
Detecting a vehicle following the vehicle;
Decelerating the own vehicle by a deceleration control means when the following vehicle is detected when the water pool is detected;
And a step of steering the own vehicle by a steering control means when the following vehicle is not detected when the water pool is detected. Detecting the surrounding vehicle on the side or diagonally behind the vehicle;
A step of restricting the steering of the host vehicle by the steering control unit and permitting the deceleration of the host vehicle by the deceleration control unit when a side vehicle of the host vehicle or an obliquely rearward surrounding vehicle is detected. The vehicle travel support method according to claim 9.

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