JP2019112028A - Drive support apparatus of vehicle - Google Patents

Abstract

To provide a drive support apparatus of a vehicle which can suppress, when warning control is performed, deviation of a travel direction of the vehicle from direction along a travel route regardless of driver's intention.SOLUTION: A drive support apparatus 80 comprises: a warning control unit 83 performing warning control to warn a driver of a vehicle; a travel route acquisition unit 84 acquiring whether a travel route of the vehicle is a straight route or a curve route; and a suppression control unit 85 performing, when the warning control is performed, suppression control which suppresses deviation of a travel direction of the vehicle predicted based on vehicle operations by the driver from direction along a travel route acquired by the travel route acquisition unit 84.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a drive assist device for a vehicle.

  According to Patent Document 1, when it is determined that the driver of the vehicle is in a state of falling asleep while the vehicle is traveling, the output of the engine is vibrated by, for example, vibrating the opening of the throttle valve of the engine. An example of the driving assistance device which warns the driver who is falling asleep is described.

JP, 2005-162173, A

  If the above warning is given in a situation where the driver is asleep at the same time holding the steering wheel of the vehicle by hand, the steering angle does not depend on the driver's intention due to the vibration of the vehicle resulting from the warning May change, or the driver who is surprised by the warning may inadvertently perform a steering operation.

  Such a problem may occur similarly even when the above warning is given to the driver looking aside.

  The driving support device for a vehicle to solve the above problems obtains a warning control unit that implements warning control to warn the driver of the vehicle and whether the traveling route of the vehicle is a straight path or a curve When warning control is performed by the travel route acquisition unit and the warning control unit, the traveling direction of the vehicle predicted from the driver's vehicle operation is from the direction along the travel route acquired by the travel route acquisition unit And a suppression control unit that performs suppression control to suppress deviation.

  When warning control is performed, the steering angle may change regardless of the driver's intention. In this respect, in the above configuration, when the warning control is performed, the suppression control is performed to suppress the departure direction of the vehicle predicted from the vehicle operation by the driver from deviating from the direction along the traveling route. As a result, when the warning control is performed, it is possible to suppress that the traveling direction of the vehicle deviates from the direction along the traveling route regardless of the driver's intention.

  The suppression control unit increases the yaw moment of the vehicle as the suppression control when the warning control unit is executing warning control under the situation where the travel route acquired by the travel route acquisition unit is a straight path. It is preferable to carry out control to suppress that.

  According to the above configuration, when the warning control is performed in a situation where the vehicle travels on the straight path, the suppression control suppresses the increase in the yaw moment of the vehicle. That is, when the travel route is a straight route, it is possible to suppress that the traveling direction of the vehicle deviates from the direction along the travel route. Therefore, it becomes possible to continue the vehicle travel along the straight path.

  When the warning control unit is executing warning control under a situation where the travel route acquired by the travel route acquisition unit is a curve, the suppression control unit performs steering operation corresponding to the reference turning direction as suppression control. It is preferable to implement control to support the The reference turning direction is the turning direction of the vehicle when it is assumed that the vehicle has traveled along the traveling route.

  According to the above configuration, for example, under a situation where the driver holds the steering wheel of the vehicle by hand, if control for supporting the steering operation corresponding to the reference turning direction is performed, regardless of the driver's will Even if the steering angle changes, it is easy to make the rotation direction of the steering wheel match the direction according to the curve. Then, when the steering wheel rotates in the direction according to the curve, the vehicle can easily travel along the curve. That is, even if the traveling route is a curve, it is possible to suppress that the traveling direction of the vehicle deviates from the direction along the traveling route.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows typically a functional configuration of the driving assistance device of the vehicle of embodiment, and a part of vehicle provided with the driving assistance device. The flowchart explaining the processing routine which a driving assistance device performs.

Hereinafter, an embodiment of a driving support system for a vehicle will be described according to FIGS. 1 and 2.
The vehicle provided with the driving assistance device 80 of this embodiment is illustrated by FIG. As shown in FIG. 1, the drive device 10 of the vehicle has a power source 11 of the vehicle such as an engine or an electric motor, and a transmission 12. Then, by the control of the drive device 10 by the drive control device 61, the drive force output from the power source 11 is adjusted, or the transmission gear ratio of the transmission 12 is adjusted. A signal corresponding to the amount of operation of an accelerator operation member 13 such as an accelerator pedal is input from the accelerator opening sensor 51 to the drive control device 61. When the vehicle is run by the driver of the vehicle, the accelerator operation amount is calculated by the drive control device 61 based on the output signal from the accelerator opening degree sensor 51, and the drive control device based on the accelerator operation amount By the control of 61, the power source 11 and the transmission 12 are driven. In addition, when the required value of the driving force is input to the drive control device 61 from the driving support device 80, the driving force output from the driving device 10 is controlled by the control of the drive control device 61 based on the required value. The power source 11 and the transmission 12 are driven so as to approach the required value of.

  The braking device 20 of the vehicle operates the braking mechanism 25 provided for the wheel 100. That is, the wheel cylinder 26 is provided in the braking mechanism 25, and as the hydraulic pressure in the wheel cylinder 26 is higher, the force pressing the friction material 28 against the rotating body 27 integrally rotating with the wheel 100 is larger. Braking force can be increased. Then, the braking device 20 is driven to adjust the braking force on the wheel 100. When the vehicle is driven by the driver's operation of the vehicle, as the operation amount of the brake operation member 21 such as a brake pedal or the like increases, the braking force on the wheel 100 increases. Thereby, the vehicle can be decelerated. In addition, when the required value for the braking force is input from the driving support device 80 to the braking control device 62 that controls the braking device 20, the braking force for the vehicle is controlled by the braking control device 62 based on the required value. The braking device 20 is driven so as to approach the required value of the braking force.

  The steering device 30 of the vehicle includes a steering wheel 31, an assist motor 32, and a steering actuator 33. The assist motor 32 is driven to assist the steering operation by the driver. The steering control device 63 can adjust the assist mode of the steering operation by the assist motor 32 as described above. The steering actuator 33 is driven to steer the wheel 100 in accordance with a steering amount which is an operation amount of the steering wheel 31. In addition, when a request value for steering is input from the driving support device 80 to the steering control device 63, the wheel 100 is controlled by the control of the steering control device 63 based on the request value regardless of the steering operation by the driver. The steering actuator 33 is driven such that the steering angle of the steering wheel is adjusted.

  Further, as shown in FIG. 1, the vehicle is provided with a navigation device 52, a vehicle periphery monitoring system 53, a driver monitoring system 54, a warning device 55, a vehicle speed detection system 56 and a steering angle detection system 57. The navigation device 52 guides the traveling route of the vehicle to the driver. The vehicle periphery monitoring system 53 has imaging means such as a camera, a radar, and the like, and monitors the periphery information of the vehicle. As peripheral information here, for example, whether the vehicle (preceding vehicle) exists ahead of the own vehicle, whether the vehicle (following vehicle) exists behind the vehicle, and the own vehicle from the lane It can be mentioned whether there is a possibility of deviation. In addition, when there is a preceding vehicle, the inter-vehicle distance between the own vehicle and the preceding vehicle and the relative speed of the own vehicle with respect to the preceding vehicle are monitored as the surrounding information. Furthermore, when there is a following vehicle, the distance between the own vehicle and the following vehicle and the relative speed of the own vehicle with respect to the following vehicle are monitored as the peripheral information.

  The driver monitoring system 54 has an imaging means such as a camera for imaging the driver's face. The warning device 55 is driven to urge the driver to wake up, for example, when it is determined that the driver is sleeping. Examples of the warning device 55 include a device capable of outputting a warning sound and a warning message, and a device capable of vibrating the driver's seat.

  The vehicle speed detection system 56 has a sensor that detects the wheel speed, which is the rotational speed of the wheel 100, and calculates the vehicle speed VS, which is the moving speed of the vehicle, based on the output signal from the sensor. Further, the steering angle detection system 57 has a sensor for detecting the rotational direction and the amount of rotation of the steering wheel 31, and calculates the steering angle STR based on the output signal from the sensor.

Next, the driving support device 80 will be described with reference to FIG.
The driving support device 80 supports the traveling of the vehicle based on various types of information input to the driving support device 80. That is, information obtained by the accelerator opening sensor 51, the navigation device 52, the vehicle periphery monitoring system 53, the driver monitoring system 54, the vehicle speed detection system 56, and the steering angle detection system 57 is input to the driving assistance device 80. Ru. Then, the driving support device 80 outputs a request value to the drive control device 61, the braking control device 62, and the steering control device 63 as necessary.

  The driving support device 80 includes a drowsiness determination unit 81, a look-aside determination unit 82, a warning control unit 83, a travel route acquisition unit 84, and a suppression control unit 85 as functional units for supporting the traveling of the vehicle.

The drowsiness determination unit 81 performs drowsy determination processing to determine whether or not the driver is in a drowsy state while the vehicle is traveling, based on the information input from the driver monitoring system 54.
An example of the drowsiness determination process will be described. In the drowsiness determination process, it is determined whether or not the driver's eyes are closed by analyzing the face of the driver captured by the driver monitoring system 54. Then, when it can be determined that the driver's eyes are closed, the drowsy counter is incremented by "1". Then, when the drowsiness counter is equal to or more than the drowsiness determination value, it is determined that the driver is in a drowsy state. On the other hand, when the drowsiness counter is less than the drowsiness determination value, it is not determined that the driver is drowsy. When it is not determined that the driver's eyes are closed, the drowsiness counter is reset to “0”.

  The looking aside determining unit 82 performs the looking aside determination processing based on the information input from the driver monitoring system 54 to determine whether the driver is looking away while the vehicle is traveling. Here, "aside" is a state in which the driver's face is facing in a direction other than the traveling direction of the vehicle.

  An example of the other view determination process will be described. In the away look determination process, it is determined whether the driver is facing the traveling direction of the vehicle by analyzing the direction of the driver's face captured by the driver monitoring system 54. Then, when it is not determined that the driver's face is facing the traveling direction of the vehicle, the away look counter is incremented by "1". Then, if the look-aside counter is equal to or more than the look-aside determination value, it is determined that the driver is looking aside. On the other hand, when the look-aside counter is less than the look-ahead determination value, it is not determined that the driver is looking away. When it is determined that the driver's face is facing the traveling direction of the vehicle, the other look counter is reset to “0”.

  The warning control unit 83 implements warning control to warn the driver. For example, when it is determined by the drowsy determination unit 81 that the driver is in a drowsy state, the warning control unit 83 implements first warning control as warning control. The first warning control is control for driving the warning device 55 and changing the transmission gear ratio of the transmission 12 of the drive device 10. When changing the transmission ratio, the warning control unit 83 requests the drive control device 61 to change the transmission ratio of the transmission 12. Then, when the request is inputted to the drive control device 61 by the execution of the first warning control by the warning control unit 83, the transmission ratio of the transmission 12 is changed by the control of the transmission 12 by the drive control device 61. .

When the power source 11 of the drive device 10 is an engine, the drive control device 61 may be required to vibrate the opening degree of the engine throttle valve in the first warning control.
Further, when it is determined by the another looking determination unit 82 that the driver is looking away, the warning control unit 83 implements a second warning control as a warning control. In the second warning control, the warning device 55 is driven. In the second warning control, the drive control device 61 may be requested to change the transmission ratio of the transmission 12 and vibrate the opening of the throttle valve of the engine as the power source 11.

  The travel route acquisition unit 84 acquires, based on the information input from the navigation device 52 and the vehicle periphery monitoring system 53, whether the travel route of the vehicle is a straight path or a curve. Further, when the acquired travel route is a curve, the travel route acquisition unit 84 also acquires the curvature of the curve.

  When the warning control unit 83 is performing the warning control, the suppression control unit 85 follows the traveling route acquired by the traveling route acquisition unit 84 and the traveling direction of the vehicle predicted from the vehicle operation by the driver The suppression control is performed to suppress deviation from the traveling direction of the norm that is the direction.

Such a suppression control unit 85 includes a turning suppression control unit 851, a turning support control unit 852, and a lane keeping control unit 853.
When the traveling route acquired by the traveling route acquisition unit 84 is a straight path, the turning suppression control unit 851 performs turning suppression control for suppressing increase in the yaw moment of the vehicle as the suppression control. .

  When the travel route acquired by the travel route acquisition unit 84 is a curve, the turn assist control unit 852 performs, as the suppression control, the turn assistance control that assists the steering operation corresponding to the reference turning direction. The reference turning direction is the turning direction of the vehicle when it is assumed that the vehicle has traveled along the traveling route.

  The lane keeping control unit 853 automatically performs the vehicle yaw moment so that the vehicle can travel so as not to deviate from the lane as the suppression control when the traveling route acquired by the traveling route acquisition unit 84 is a curve. Implement lane keeping control to adjust.

Next, with reference to FIG. 2, the processing routine executed by the driving support device 80 will be described. This processing routine is repeatedly executed.
In this processing routine, first, in step S11, it is determined that the driver is in a state of falling asleep by the sleep determination unit 81, and a state in which the driver is looking away by the aside looking determination unit 82. A determination is made as to whether at least one of the determinations is made. If it is determined that both the driver is determined to be asleep and the driver is determined to be looking away (S11: NO), The processing routine is temporarily ended. On the other hand, at least one of the fact that it is determined that the driver is in a state of falling asleep and that it is determined that the driver is looking away is established (S11: YES ), The process proceeds to the next step S12.

  Then, in step S12, the warning control unit 83 implements warning control. That is, when it is determined that the driver is in a state of falling asleep, the warning control unit 83 implements the first warning control as the warning control. In addition, when it is not determined that the driver is in the state of falling asleep, and it is determined that the driver is in the state of looking away, the warning control unit 83 sets the warning control as the warning control. Implement 2 warning control. When the warning control is performed, the suppression control unit 85 performs the suppression control.

  In the suppression control, in step S13, it is determined whether the travel route acquired by the travel route acquisition unit 84 is a straight path. If the travel route is a straight route (S13: YES), the process proceeds to the next step S14. Then, in step S14, the turning suppression control unit 851 performs turning suppression control. For example, in the turning suppression control, a request to reduce the assist amount by the assist motor 32 of the turning device 30 is output to the turning control device 63. When such turning suppression control is performed, this processing routine is temporarily ended.

  In addition, when the said request | requirement is input into the steering control apparatus 63 by implementation of the turning suppression control by the turning suppression control part 851, the steering control apparatus 63 will control the drive of the assist motor 32 based on the said request. Thereby, the steering wheel 31 becomes difficult to rotate.

  On the other hand, in step S13, when the travel route acquired by the travel route acquisition unit 84 is not a straight path (NO), the processing is shifted to the next step S15 because the travel route is a curve. Then, in step S15, based on the information obtained by the vehicle periphery monitoring system 53, it is determined whether or not the vehicle may deviate from the lane. For example, when the vehicle approaches a line defining a lane (for example, a white line or a yellow line) and the distance between the line and the vehicle is less than the distance determination value, it is determined that the vehicle may deviate from the lane . On the other hand, when the distance between the line and the vehicle is equal to or greater than the distance determination value, it is not determined that the vehicle may deviate from the lane. Then, if it is not determined that the vehicle may deviate from the lane (S15: NO), the process proceeds to the next step S16.

  In step S16, the turning support control unit 852 performs turning support control. That is, in the turning support control, a request to drive the assist motor 32 of the turning device 30 is output to the turning control device 63 in order to make it easier to rotate the steering wheel 31 in the direction according to the reference turning direction. . For example, when the reference turning direction is the right direction, the steering control device 63 is required to drive the assist motor 32 so that the steering wheel 31 can be easily turned to the right. When such turning support control is performed, this processing routine is temporarily ended.

  In addition, when the said request | requirement is input into the steering control apparatus 63 by implementation of the turning assistance control by the turning assistance control part 852, the steering control apparatus 63 controls the assist motor 32 based on the said request. For example, when the reference turning direction is the right direction, the driving of the assist motor 32 makes it easy to turn the steering wheel 31 to the right, but makes it difficult to turn the steering wheel 31 to the left.

  On the other hand, if it is determined in step S15 that the vehicle may deviate from the lane (YES), the process proceeds to the next step S17. Then, in step S17, the lane keep control unit 853 implements lane keep control. In the lane keeping control, the required value of the yaw moment generated in the vehicle is calculated based on the curvature of the curve on which the vehicle is traveling and the vehicle speed VS. Then, the calculated required value of the yaw moment is converted into the required value of the turning angle of the wheel 100 to be turned, and the required value of the turning angle is output to the turning control device 63. When such lane keeping control is performed, this processing routine is temporarily ended.

  When the required value of the turning angle is input to the turning control device 63 by the execution of the lane keeping control by the lane keeping control unit 853, the turning control device 63 controls the turning actuator 33 based on the required value. Do.

  If suppression control (turn suppression control, turn support control, lane keeping control) is performed because it is determined that the driver is in a nap, then the driver is falling asleep If it is determined that the state is not determined, the process ends. Further, when the suppression control is performed because it is determined that the driver is looking away, the suppression control ends when it is determined that the driver is not looking away. Be done. Therefore, when the drive of the assist motor 32 of the steering device 30 is controlled by the turning suppression control or the turning support control, when the control of these is ended, the control of the assist motor 32 by the steering control device 63 is resumed. The Rukoto.

The operation and effects of the present embodiment will be described.
If it is determined that the driver is in a nap, the first warning control is performed as the warning control. In addition, although it is not determined that the driver is in a nap, if it is determined that the driver is looking away, a second warning control is performed as a warning control. As described above, when the warning control is performed, the suppression control is performed to suppress deviation of the traveling direction of the vehicle predicted from the driver's operation of the vehicle from the traveling direction of the norm along the traveling route, that is, deviation. Be done.

  That is, when the traveling path of the vehicle is a straight path, turning suppression control is performed as the suppression control. When the turning suppression control is performed, in the turning device 30, the assist amount at the time of rotating the steering wheel 31 by the assist motor 32 is reduced. As a result, the steering angle STR of the steering wheel 31 is less likely to change, and consequently, the turning angle of the wheel 100 is less likely to change. As a result, it is less likely that the vehicle will make a turn under a situation where the vehicle is traveling on a straight path. That is, the traveling direction of the vehicle predicted from the steering angle STR is less likely to deviate from the prescribed traveling direction along the traveling path (in this case, the straight path).

  When the driver is holding a steering wheel 31 with a hand and looking asleep or looking away, the steering wheel 31 rotates if turning suppression control is being performed even if the power is carelessly applied. It is difficult. Therefore, even when the driver is looking asleep or looking aside, it is possible to continue the traveling of the vehicle along the traveling route.

  Moreover, when warning control is implemented under the condition where the vehicle is traveling on a curve, turning support control is implemented as suppression control. Then, in the steering device 30, the assist motor 32 is driven so that the steering wheel 31 can be easily rotated in the direction according to the reference turning direction. When the driver's hand holds the steering wheel 31 while the warning control is being performed, if the force is applied to the hand, the steering wheel 31 is likely to rotate in the direction according to the reference turning direction. That is, it is difficult for the steering wheel 31 to rotate in the opposite direction to the reference turning direction. When the steering wheel 31 rotates in the direction corresponding to the reference turning direction as described above, the vehicle turns in the reference turning direction. That is, the traveling direction of the vehicle predicted from the steering angle STR is less likely to deviate from the prescribed traveling direction along the traveling path (in this case, a curve).

  When the driver grips the steering wheel 31 with a hand while looking asleep or looking away, if the power is carelessly entered, the steering wheel 31 may rotate regardless of the driver's intention. At this time, when the turning support control is performed, the steering wheel 31 is easily rotated in the direction according to the reference turning direction. As described above, when the steering wheel 31 rotates in the direction corresponding to the reference turning direction, the vehicle can easily travel along a curve. That is, even if the travel route is a curve, it is possible to suppress that the traveling direction of the vehicle predicted from the vehicle operation by the driver deviates from the traveling direction of the norm along the travel route. That is, it becomes possible to continue vehicle travel along the travel route.

  However, even if the turning support control is performed as described above, the steering wheel 31 is not necessarily rotated in the direction according to the reference turning direction. Further, even if the steering wheel 31 rotates in the direction according to the reference turning direction, the amount of rotation may be too small or the amount of rotation may be excessive. In such a case, the vehicle may deviate from the lane. In this respect, in the present embodiment, if it is determined that the vehicle may deviate from the lane even if the turning support control is performed, the lane keeping control is performed as the suppression control. That is, the control switches from turn support control to lane keep control. Then, the lane keeping control causes the vehicle to travel along the travel route. Therefore, vehicle travel along the travel route can be continued.

  Thereafter, when the vehicle exits the curve and the vehicle travels on the straight path, the implementation of the lane keeping control is ended and the turning suppression control is performed. That is, in the present embodiment, the control implemented as the suppression control is changed depending on whether the traveling route of the vehicle is a straight path or a curve.

When it is determined that there is a possibility that the vehicle deviates from the lane when the vehicle enters the curve, the lane keeping control is performed without performing the turn support control.
The present embodiment can be modified as follows. The present embodiment and the following modifications can be implemented in combination with one another as long as there is no technical contradiction.

  In the above embodiment, when the traveling route of the vehicle becomes a straight path under the situation where lane keeping control is performed as suppression control, the control is switched from lane keeping control to turning suppression control. . However, when the lane keeping control is being performed, the implementation of the lane keeping control may be continued even after the vehicle leaves the curve.

  -When the travel route of the vehicle is a curve, when it is determined that the driver is in a state of falling asleep and when it is determined that the driver is looking away The contents of the suppression control may be made different. For example, the lane keeping control is performed when it is determined that the driver is sleeping, and the turn assist control is performed when it is determined that the driver is looking away. It is also good. However, even if it is determined that the driver is looking away, if it is determined that the vehicle may deviate from the lane, the control is switched from the turn assist control to the lane keep control. You may do so.

In the turn assist control, the assist amount by the assist motor 32 may be varied according to the curvature of the curve on which the vehicle travels.
In the embodiment described above, control for making the steering wheel 31 difficult to rotate is performed as the turning suppression control. However, if it is possible to suppress an increase in the yaw moment of the vehicle, a control different from the above control may be adopted as the turning suppression control. For example, control that suppresses an increase in the yaw moment of the vehicle by automatically adjusting the turning angle of the wheel 100 regardless of the steering operation by the driver may be adopted as the turning suppression control. In addition, the control that cancels out the change of the yaw moment of the vehicle caused by the change of the turning angle of the wheel 100 based on the steering operation by the driver by generating the braking force difference for both the left and right wheels of the vehicle You may employ | adopt as suppression control.

When it is determined that the user is in a sleepy state, the suppression control may be performed without performing the warning control.
In the above embodiment, the travel route of the vehicle is acquired based on the information input from the on-vehicle navigation device 52 or the vehicle periphery monitoring system 53 to the driving support device 80. However, the present invention is not limited to this, and the travel route may be acquired based on information from another device. For example, if the driving support apparatus 80 can obtain information from a server installed outside the vehicle, a mobile terminal owned by a vehicle occupant, and a traffic infrastructure, the information obtained from the information can be used as a basis. Alternatively, the travel route of the vehicle may be acquired.

Next, technical ideas that can be grasped from the above-described embodiment and modifications will be described.
(A) A sleep determination unit that determines whether or not the driver of the vehicle is sleeping while the vehicle is traveling;
A travel route acquisition unit that acquires whether the travel route of the vehicle is a straight route or a curve;
Under the situation where the obtained travel route is a straight path, when it is determined by the drowsy determination unit that the driver is in a drowsy state, control is performed to suppress an increase in the yaw moment of the vehicle. And a suppression control unit.

  When the driver is asleep at the same time holding the steering wheel by hand, power may be inadvertently applied, and the steering angle may change regardless of the driver's intention. Therefore, in the above configuration, when it is determined that the driver is in a state of falling asleep under a situation where the vehicle is traveling on a straight path, control is performed to suppress an increase in the yaw moment of the vehicle. It has become so. By performing such control, turning of the vehicle regardless of the driver's intention is suppressed. Therefore, it becomes possible to continue vehicle travel along the travel route.

(B) a sleep determination unit that determines whether or not the driver of the vehicle is sleeping while the vehicle is traveling;
A travel route acquisition unit that acquires whether the travel route of the vehicle is a straight route or a curve;
The turning direction of the vehicle in the case where the vehicle travels along the traveling route when it is determined that the driver is sleeping by the doze judgment unit under the situation where the acquired traveling route is a curve And a support control unit for performing control to support a steering operation corresponding to the reference turning direction.

  When the driver is asleep at the same time holding the steering wheel by hand, power may be inadvertently applied, and the steering angle may change regardless of the driver's intention. Therefore, in the above configuration, when it is determined that the driver is in a state of falling asleep under a situation where the vehicle is traveling on a curve, control for assisting the steering operation corresponding to the reference turning direction is performed. . If the control is carried out while holding the steering wheel of the vehicle with a hand, the direction of rotation of the steering wheel will be in accordance with the curve, even if the steering angle changes independently of the driver's will Easy to match Then, when the steering wheel rotates in the direction according to the curve, the vehicle can easily travel along the curve. That is, even if the travel route is a curve, it is possible to continue the vehicle travel along the travel route.

  DESCRIPTION OF SYMBOLS 80 ... Driving assistance apparatus, 81 ... Drowsiness determination part, 82 ... Other looking determination part, 83 ... Warning control part, 84 ... Traveling path acquisition part, 85 ... Suppression control part, 851 ... Turning suppression control part, 852 ... Turning support control part .

Claims (3)

A warning control unit for performing warning control to warn the driver of the vehicle;
A travel route acquisition unit that acquires whether the travel route of the vehicle is a straight route or a curve;
When the warning control unit is performing the warning control, the traveling direction of the vehicle predicted from the driver's operation of the vehicle deviates from the direction along the traveling route acquired by the traveling route acquisition unit. And a suppression control unit that performs suppression control to suppress the vehicle. When the warning control unit is executing the warning control under the situation where the travel route acquired by the travel route acquisition unit is a straight path, the suppression control unit performs a yaw moment of the vehicle as the suppression control. The drive assistance device for a vehicle according to claim 1, wherein the control for suppressing the increase in the vehicle speed is performed. When the warning control unit is performing the warning control under a situation where the travel route acquired by the travel route acquisition unit is a curve, the suppression control unit operates along the travel route as the suppression control. The drive assistance device for a vehicle according to claim 1 or 2, wherein control is performed to support a steering operation corresponding to a reference turning direction which is a turning direction of the vehicle when the vehicle travels.