JP5781791B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a driving support device and a driving support method, and more particularly to a driving support device and a driving support method that perform driving support for a driver of a host vehicle.

  An apparatus for supporting driving of a driver of the own vehicle has been proposed. For example, in Patent Document 1, the driver's driving operation and the traveling environment of the host vehicle are detected, and the detected driving operation cannot achieve an object such as contact avoidance with a front object according to the traveling environment of the host vehicle. An apparatus is disclosed that drives and controls an operation support actuator to generate a driving operation support force for achieving the driving purpose when it is a driving operation.

JP 2010-260473 A

  However, with the above technology, if the driver performs an avoidance operation with his / her own driving operation after determining the driving support amount of the target driving operation support force, the driver's own driving operation results in an unnecessarily high driving support amount. It can happen.

  The present invention has been made in consideration of such a situation, and an object of the present invention is to provide a driving support apparatus and a driving support method capable of performing driving support without a sense of incongruity for the driver.

  The present invention provides driving support for the driver of the host vehicle based on the driving support amount determined according to the situation around the host vehicle, and determines the driving support amount when the driver steers after determining the driving support amount. The driving support device includes a driving support unit that supports driving by a driver with a driving support amount corrected by a correction amount corresponding to a steering amount by a later driver.

  According to this configuration, the driving support unit provides driving support for the driver of the host vehicle based on the driving support amount determined according to the situation around the host vehicle, and when the driver performs steering after determining the driving support amount. Then, the driving assistance of the driver is performed by the driving assistance amount corrected by the correction amount according to the steering amount by the driver after determining the driving assistance amount. For this reason, driving assistance that is comfortable for the driver is executed.

  In this case, the driving support unit depends on the driving support amount determined according to the situation around the vehicle, the steering amount by the driver after determining the driving support amount, and the steering amount by the driver after determining the driving support amount. The driving assistance of the driver can be performed with the driving assistance amount corrected based on the relationship associated with the correction amount.

  According to this configuration, the driving support unit includes the driving support amount determined according to the situation around the host vehicle, the steering amount by the driver after determining the driving support amount, and the steering by the driver after determining the driving support amount. The driving assistance of the driver is performed by the driving assistance amount corrected based on the relationship associated with the correction amount according to the amount. For this reason, the driving support unit can easily obtain the correction amount.

  In addition, the driving support unit determines the driving support amount so as to avoid contact between obstacles around the host vehicle and the host vehicle, and the direction of steering by the driver's steering amount after determining the driving support amount becomes an obstacle. It can be corrected so that the driving assistance amount becomes larger as the distance is closer, and the driving assistance amount becomes smaller as the steering direction by the driver's steering amount after determining the driving assistance amount is farther from the obstacle.

  According to this configuration, the driving support unit determines the driving support amount so as to avoid contact between an obstacle around the host vehicle and the host vehicle, and the direction of steering based on the steering amount by the driver after determining the driving support amount. Is corrected so that the driving assistance amount becomes larger as the vehicle is closer to the obstacle, and the driving assistance amount becomes smaller as the steering direction by the steering amount by the driver after determining the driving assistance amount is farther from the obstacle. As a result, when the direction of steering by the driver's steering amount after determining the amount of driving assistance is close to the obstacle and the driver's recognition of the obstacle is low, the driver's safety is corrected by increasing the amount of driving assistance. Can be increased. In addition, when the direction of steering by the driver's steering amount after determining the driving support amount is far from the obstacle and the driver's recognition of the obstacle is high, the driver feels uncomfortable by correcting the driving support amount to be small. Can be reduced.

  In addition, the driving support unit determines a driving support amount for avoiding contact between the first obstacle discovered around the host vehicle and the host vehicle, and avoids contact between the first obstacle and the host vehicle. The driving assistance amount for avoiding the contact between the first obstacle and the host vehicle is corrected according to the steering amount by the driver after the driving assistance amount is determined, and the second newly discovered around the host vehicle The driving support amount for avoiding contact between the obstacle and the host vehicle is determined, and the driving support amount for avoiding contact between the second obstacle and the host vehicle is determined. The driving support amount for avoiding contact between the obstacle 2 and the host vehicle can be corrected.

  According to this configuration, the driving support unit determines a driving support amount for avoiding contact between the first obstacle found around the host vehicle and the host vehicle, and The driving assistance amount for avoiding the contact between the first obstacle and the host vehicle is corrected according to the steering amount by the driver after determining the driving assistance amount for avoiding the contact, and is newly discovered around the host vehicle. The steering amount by the driver after determining the driving support amount for avoiding contact between the second obstacle and the host vehicle and determining the driving support amount for avoiding contact between the second obstacle and the host vehicle Accordingly, the driving assistance amount for avoiding contact between the second obstacle and the host vehicle is corrected. As a result, when obstacles are discovered one after another, the driving assistance amount for avoiding contact between each obstacle and the host vehicle is determined once. Since it is only necessary to correct the driving support amount for avoiding each obstacle that has already been determined according to the amount, the cost for calculating the driving support amount can be reduced.

  Further, the present invention provides driving assistance for the driver of the host vehicle based on the driving assistance amount determined according to the situation around the host vehicle, and when the driver steers after determining the driving assistance amount, This is a driving support method including a driving support process in which driving assistance of a driver is performed with a driving assistance amount corrected by a correction amount corresponding to the steering amount by the driver after the determination.

  According to the driving support device and the driving support method of the present invention, it is possible to execute driving support that is comfortable for the driver.

It is a block diagram which shows the structure of the driving assistance device which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the driving assistance device which concerns on 1st Embodiment. It is a top view which shows the future prediction path | route of the own vehicle when the assistance amount which avoids an obstacle is determined. In FIG. 3, it is a top view which shows the future prediction path | route of the own vehicle when a driver | operator's steering operation is performed further. It is a graph which shows the assistance amount with respect to the initial braking control amount. It is a graph which shows the assistance amount with respect to the braking control amount after a change. It is a top view which shows the assistance amount with respect to steering amount (gamma). It is a graph which shows the maximum value of the assistance amount with respect to the braking control amount with respect to steering amount (gamma). It is a top view which shows the condition where the obstruction which is a moving body appeared in the advancing direction of the own vehicle. It is a graph which shows the brake assistance deceleration with respect to the steering angle for every kind of obstacle. It is a graph which shows the brake assistance deceleration with respect to a steering angle. It is a top view which shows the condition where the obstacle appeared in the advancing direction of the own vehicle in 2nd Embodiment. It is a top view which shows the condition where the new obstacle appeared in FIG.

  Hereinafter, a driving support apparatus according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the driving assistance apparatus 10 of 1st Embodiment of this invention is the environment recognition part 11, the own vehicle state detection part 12, the risk degree calculation part 13, the assistance amount determination part 14, the action determination part 15, An environment change determination unit 16, a support change amount calculation unit 17, and a support realization unit 18 are provided.

  The environment recognition unit 11 is a device that recognizes the environment around the host vehicle. The environment recognition unit 11 detects obstacles such as pedestrians and other vehicles around the host vehicle. The environment recognition unit 11 includes a laser radar, a camera, and the like.

  The own vehicle state detection unit 12 detects the position of the own vehicle and the motion state of the own vehicle. The own vehicle state detection unit 12 includes a vehicle speed sensor, a white line sensor that measures the yaw angle of the own vehicle, a gyro sensor that measures a yaw rate, an acceleration sensor, and a GPS.

  The risk level calculation unit 13 calculates the risk level of the host vehicle from the obstacles recognized by the environment recognition unit 11 and the state of the host vehicle detected by the host vehicle state detection unit 12. The support amount determination unit 14 determines a support amount that is the degree of support for driving of the driver of the host vehicle from the risk of obstacles calculated by the risk calculation unit 13.

  The behavior determination unit 15 determines the driving operation of the driver of the host vehicle from the obstacles recognized by the environment recognition unit 11 and the state of the host vehicle detected by the host vehicle state detection unit 12. In particular, the behavior determination unit 12 determines the driving operation of the driver of the host vehicle after the support amount determination unit 14 determines the support amount.

  The environment change determination unit 16 is for determining whether a new obstacle has been recognized by the environment recognition unit 11 after the support amount determination unit 14 determines the support amount.

  The support change amount calculation unit 17 is determined by the support amount determination unit 14 based on the driving operation of the driver of the own vehicle determined by the behavior determination unit 15 and the new obstacle determined by the environment change determination unit 16. Correct the amount of support provided.

  The support realization unit 18 supports the driver of the host vehicle according to the support amount calculated by the support change amount calculation unit 17. Specifically, the support implementation unit 18 guides the driving of the driver by video and audio. Further, the support realization unit 18 guides the driving of the driver by applying a reaction force to the steering wheel, the accelerator pedal, and the brake pedal by the actuator. Further, the support realization unit 18 controls the speed, acceleration, deceleration, and steering angle of the host vehicle regardless of the driving operation of the driver.

  Hereinafter, operation | movement of the driving assistance device 10 of this embodiment is demonstrated. As illustrated in FIG. 2, the risk calculation unit 13 of the driving support device 10 acquires the current positions and speeds of the host vehicle and the obstacle by the environment recognition unit 11 and the host vehicle state detection unit 12 (S11). The risk level calculation unit 13 predicts future positions of the host vehicle and the obstacle (S12). The assistance amount determination unit 14 determines a necessary assistance amount from the predicted future positions of the host vehicle and the obstacle (S13). When the action determination unit 15 determines that the driver's steering operation has occurred after the determination of the support amount (S15), the support change amount calculation unit 17 determines the amount of the driver's steering operation using a simple calculation described later. The support amount is corrected and an appropriate support amount is determined (S15).

  As illustrated in FIG. 3, it is assumed that the support amount that is predicted to cause the host vehicle V0 to pass the route Pold with respect to the obstacle H1 is determined. However, as shown in FIG. 4, when the driver performs a steering operation that avoids the obstacle H1 after the support amount is determined, the route P that the host vehicle V0 is predicted to pass after the driver's steering operation is The margin d is separated from the Pold. In this case, the driver assistance may be uncomfortable because the driving assistance is too strong. In addition, in the situation of FIG. 4, if the future position of the host vehicle is predicted and the amount of support is calculated again, there is a problem that calculation cost is required. Therefore, the following method is used in the present embodiment.

Hereinafter, a method for changing the assistance amount by directly using the steering amount of the driver will be described. The support change amount calculation unit 17 acquires the driver's steering amount in FIG. 4 and directly changes the braking control amount as the support amount. For example, when the amount of assistance by the braking control shown in FIG. 5 is determined in FIG. 3, the maximum braking control amount is changed as shown in FIG. Can be reduced. In addition to the method using the steering amount directly, the area of the space formed between the future predicted route of the host vehicle V0 at the time of determining the support amount and the predicted future route of the host vehicle V0 newly predicted after steering by the driver A method of using can also be considered.
Snew = Sold + f (γ) (1)
(Snew: Maximum braking control amount after update, Sold: Maximum braking control amount before update)

Hereinafter, a method for obtaining f (γ) in the above equation (1) will be described. As shown in FIG. 7, when the obstacle H1 which is a pedestrian exists on the left side of the own vehicle V0, when a driver steers to the right, assistance should be weakened. On the other hand, support should be strengthened when the driver steers to the left. Therefore, as shown in FIG. 7, the right direction of the steering there is a region A ₀ amount assistance becomes zero. On the other hand, there may be a region Amax where the assistance amount reaches the maximum value in the left direction of the steering. For example, a linear relationship as shown in FIG. 8 can be considered between the driver's steering amount γ and the braking control support amount.

  The operation for correcting the support amount will be described in detail. As shown in FIG. 9, a situation is assumed in which an obstacle H1, which is a moving body, crosses the traveling direction of the host vehicle V0. It is assumed that driving support by braking is started for the host vehicle V0 having the initial speed V at this time. In the situation of FIG. 9, when the driver notices the obstacle H1 and steers to the right, the driver feels uncomfortable if the support amount does not change. Therefore, the support change amount calculation unit 17 has a map of the steering angle θ and the brake support deceleration g as shown in FIG. 10 in advance. In FIG. 10, a map in which the brake assist deceleration g has a normal distribution with respect to the steering angle θ is divided when the obstacle H1 is a vehicle, a bicycle, or a person. A map as shown in FIG. 10 may be derived based on the degree of collision between the host vehicle V0 and the obstacle H1. It is also conceivable to change the variance σ in FIG. 10 which is an amount for reducing the support amount according to the speed at which the obstacle H1 pops out.

  Further, when the host vehicle V0 approaches the obstacle H1 that is a moving body, when the amount of support is increased, an arctangent map as shown in FIG. 11 is conceivable instead of the normal distribution map of FIG. In FIG. 10, the horizontal axis is the steering angle θ. However, in the situation where the host vehicle V0 is traveling on a curve as shown in FIGS. 3 and 4, there is a situation where it is difficult to reduce the amount of support only by the steering angle θ. Conceivable. In view of this, when the route changes due to a driver's operation or other disturbance with respect to the initial predicted route, a method of determining the amount of support using two of the outside traveling route and a new predicted route may be considered. For example, in FIGS. 3 and 4, the travel route is a curve to the right, and the new predicted route is a curve to the right with a greater turn. Therefore, the support change amount calculation unit 17 can determine the correction amount to the support amount using the difference between the polarities of the two curves and the area formed between the routes as the horizontal axis of the map.

  According to the present embodiment, the support realizing unit 18 of the driving support device 10 performs driving support for the driver of the host vehicle V0 based on the driving support amount determined by the support amount determining unit 14 according to the situation around the host vehicle V0. When there is steering by the driver after determining the driving support amount, the support amount change amount calculating unit 17 and the support realizing unit 18 are corrected by a correction amount corresponding to the steering amount by the driver after determining the driving support amount. Driver assistance is provided based on the amount of driving assistance provided. For this reason, driving assistance that is comfortable for the driver is executed. Further, the calculation of the correction amount can be easily performed as compared with the case of calculating the support amount again, and the calculation cost can be reduced.

  Further, according to the present embodiment, the support amount change amount calculation unit 17 and the support realization unit 18 perform the driving support amount determined according to the situation around the host vehicle V0 and the steering by the driver after determining the driving support amount. The driving assistance of the driver is performed with the driving assistance amount corrected based on the map associated with the correction amount according to the steering amount by the driver after determining the amount and the driving assistance amount. For this reason, the driving support unit can easily obtain the correction amount.

  Further, according to the present embodiment, the assistance amount determination unit 14 determines the driving assistance amount so as to avoid the contact between the obstacle H1 around the host vehicle V0 and the host vehicle V0, and the assistance amount change amount calculation unit 17 and The support realization unit 18 corrects the driving support amount to be larger as the steering direction based on the steering amount by the driver after determining the driving support amount is closer to the obstacle H1, and the driver after determining the driving support amount It correct | amends so that a driving assistance amount may become small, so that the direction of the steering by a steering amount is far from the obstacle H1. As a result, when the direction of steering by the driver's steering amount after determining the driving support amount is close to the obstacle H1, and the driver's recognition of the obstacle is low, it is safe by correcting so that the driving support amount increases. Can increase the sex. In addition, when the direction of steering by the driver's steering amount after determining the driving support amount is far from the obstacle H1 and the driver's recognition of the obstacle is high, the driver's correction is made so that the driving support amount becomes small. A sense of incongruity can be reduced.

  Hereinafter, a second embodiment of the present invention will be described. In this embodiment, when obstacles are discovered one after another, the driving assistance amount for avoiding contact between each obstacle and the host vehicle is determined once, and when there is steering by the driver after that, The driving support amount for avoiding each obstacle that has already been determined according to the steering amount is corrected.

As shown in FIG. 12, the driving support device 10 of the own vehicle V0 determines the initial target passing path P ₁ and support amount to the obstacle H1. Thereafter, a situation is assumed in which an obstacle H2 is found as shown in FIG. When there is an operation action by the driver after determining the support amount for the obstacle H1, the support change amount calculation unit 17 performs the initial support for the obstacle H1 as in the first embodiment. The amount is corrected based on the driver's operation amount. For the obstacle H2, the amount of support is determined based on the expected route between the obstacle H2 and the host vehicle V0 as in the past. If there is an operation action by the driver thereafter, the support change amount calculation unit 17 also calculates the initial support amount for the obstacle H2 based on the driver's operation amount as in the first embodiment. To correct. Since the calculation required for correction is simple, the calculation cost can be reduced.

  In the conventional technology described above, when changes in driver operation or changes in the environment occur, the conventional method of predicting the situation or predicting the degree of danger has a high calculation cost and may not be able to determine the amount of assistance in time. There is. A problem in the above-described conventional technology is a reduction in time for calculating the support amount. The conventional complicated prediction calculation and support amount determination method may delay the determination of the support amount. This becomes a serious problem as the number of obstacles to be supported increases.

  In the present embodiment, the assistance amount determination unit 14 determines a driving assistance amount for avoiding contact between the obstacle H1 found around the host vehicle V0 and the host vehicle V0, and the obstacle amount H1 and the host vehicle V0. After determining the driving support amount for avoiding contact, the driving support amount for avoiding contact between the obstacle H1 and the host vehicle V0 is corrected according to the steering amount by the driver, and newly discovered around the host vehicle V0. The amount of driving support for avoiding contact between the obstacle H2 and the host vehicle V0 is determined, and the amount of driving support for avoiding contact between the obstacle H2 and the host vehicle V0 is determined, and then the amount of steering by the driver is determined. The driving support amount for avoiding contact between the obstacle H2 and the host vehicle V0 is corrected. As a result, when obstacles are discovered one after another, once the driving assistance amount for avoiding contact between each of the obstacles H1, H2 and the host vehicle V0 is determined, and then the driver steers Since it is only necessary to correct the driving support amount for avoiding the obstacles H1 and H2 already determined according to the steering amount, it is possible to reduce the cost for calculating the driving support amount. .

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention. For example, in the above-described embodiment, the change in the optimal support amount caused by the driver's steering amount has been described. You may use the posture of the foot, the vehicle speed, the brake pedal pressure, and the like. In addition, the correction of the support amount may use not only the driver's operation amount but also the amount of change in the external environment such as movement and orientation of the target obstacle. The amount of support to be changed includes the amount of support for vehicle speed and steering, the color of visual presentation, the intensity of light of visual presentation, the blinking speed of visual presentation, the volume of auditory presentation, the pitch of sound of auditory presentation, The strength of tactile presentation, the vibration cycle of tactile presentation, etc. can be considered.

DESCRIPTION OF SYMBOLS 10 ... Driving assistance device, 11 ... Environment recognition part, 12 ... Own vehicle state detection part, 13 ... Risk level calculation part, 14 ... Support amount determination part, 15 ... Action determination part, 16 ... Environment change determination part, 17 ... Support Change calculation part, 18 ... support realization part.

Claims (7)

An environment recognition unit that detects obstacles around the vehicle ,
A host vehicle state detection unit for detecting the state of the host vehicle;
A risk calculation unit for calculating the risk of the host vehicle from the obstacle recognized by the environment recognition unit and the state of the host vehicle detected by the host vehicle state detection unit;
A support amount determination unit that determines a braking control amount that is a degree to support the driving of the driver of the host vehicle by braking control from the risk level of the host vehicle calculated by the risk level calculation unit;
An action determination unit that determines the steering amount of the driver from the state of the host vehicle detected by the host vehicle state detection unit;
A support change amount calculation unit that corrects the braking control amount determined by the support amount determination unit based on the steering amount of the driver determined by the action determination unit;
A support realization unit that supports the driver according to the braking control amount corrected by the support change amount calculation unit;
With
The support change amount calculation unit determines the braking control amount so as to avoid contact between the obstacle around the host vehicle and the host vehicle, and is determined by the action determination unit after determining the braking control amount. Further, the amount of steering by the driver determined by the action determination unit after determining the braking control amount after correcting the braking control amount as the steering direction by the steering amount by the driver is closer to the obstacle. A driving support device that corrects the braking control amount so that the braking control amount decreases as the steering direction by the distance from the obstacle increases .   An environment recognition unit that detects obstacles around the vehicle,
  A host vehicle state detection unit for detecting the state of the host vehicle;
  A risk calculation unit for calculating the risk of the host vehicle from the obstacle recognized by the environment recognition unit and the state of the host vehicle detected by the host vehicle state detection unit;
  A support amount determination unit that determines a braking control amount that is a degree to support the driving of the driver of the host vehicle by braking control from the risk level of the host vehicle calculated by the risk level calculation unit;
  An action determination unit that determines the steering amount of the driver from the state of the host vehicle detected by the host vehicle state detection unit;
  A support change amount calculation unit that corrects the braking control amount determined by the support amount determination unit based on the steering amount of the driver determined by the action determination unit;
  A support realization unit that supports the driver according to the braking control amount corrected by the support change amount calculation unit;
With
  The support change amount calculation unit determines the braking control amount so as to avoid contact between the obstacle around the host vehicle and the host vehicle, and is determined by the action determination unit after determining the braking control amount. The driving support device corrects the braking control amount to be smaller as the steering amount by the driver is larger.   The driving support device according to claim 2, wherein the support change amount calculation unit corrects the braking control amount with respect to the steering amount to increase as the speed at which the obstacle pops out increases. The support change amount calculation unit
Determining the braking control amount for avoiding contact between the first obstacle found around the host vehicle and the host vehicle, and avoiding contact between the first obstacle and the host vehicle; the braking control amount for avoiding first of said obstacle based on the steering amount by the driver after determining the braking control amount and the contact between the host vehicle is corrected,
In order to determine the braking control amount for avoiding contact between the second obstacle newly discovered around the host vehicle and the host vehicle, and to avoid contact between the second obstacle and the host vehicle. the corrected braking control amount for avoiding the second said obstacle and the contact between the vehicle corresponding to a steering amount by the driver after the determined braking control amount of any of claims 1 to 3 or driving support apparatus according to (1).   An environment recognition process for detecting obstacles around the vehicle by the environment recognition unit of the driving support device;
  The vehicle state detection step of detecting the state of the vehicle by the vehicle state detection unit of the driving support device;
  The risk calculation unit of the driving support device calculates the risk of the host vehicle from the obstacle recognized in the environment recognition step and the state of the host vehicle detected in the host vehicle state detection step. Risk level calculation process,
  The assistance amount determination unit of the driving assistance device determines a braking control amount that is a degree of assisting driving of the driver of the own vehicle by braking control from the danger degree of the own vehicle calculated in the risk degree calculating step. A support amount determination process;
  An action determination step of determining a steering amount of the driver from the state of the host vehicle detected in the host vehicle state detection step by the action determination unit of the driving support device;
  A support change amount calculation for correcting the braking control amount determined in the support amount determination step based on the steering amount of the driver determined in the action determination step by the support change amount calculation unit of the driving support device. Process,
  A support realization step of assisting the driver of the host vehicle according to the braking control amount corrected in the support change amount calculation step by the support realization unit of the driving support device;
With
  In the support change amount calculation step, the braking control amount is determined so as to avoid contact between the obstacle around the host vehicle and the host vehicle, and after the braking control amount is determined, the behavior determination unit determines the braking control amount. Further, the amount of steering by the driver determined by the action determination unit after determining the braking control amount after correcting the braking control amount as the steering direction by the steering amount by the driver is closer to the obstacle. A driving support method that corrects the braking control amount to be smaller as the steering direction of the vehicle is farther from the obstacle.   An environment recognition process for detecting obstacles around the vehicle by the environment recognition unit of the driving support device;
  The vehicle state detection step of detecting the state of the vehicle by the vehicle state detection unit of the driving support device;
  The risk calculation unit of the driving support device calculates the risk of the host vehicle from the obstacle recognized in the environment recognition step and the state of the host vehicle detected in the host vehicle state detection step. Risk level calculation process,
  The assistance amount determination unit of the driving assistance device determines a braking control amount that is a degree of assisting driving of the driver of the own vehicle by braking control from the danger degree of the own vehicle calculated in the risk degree calculating step. A support amount determination process;
  An action determination step of determining a steering amount of the driver from the state of the host vehicle detected in the host vehicle state detection step by the action determination unit of the driving support device;
  A support change amount calculation for correcting the braking control amount determined in the support amount determination step based on the steering amount of the driver determined in the action determination step by the support change amount calculation unit of the driving support device. Process,
  A support realization step of assisting the driver of the host vehicle according to the braking control amount corrected in the support change amount calculation step by the support realization unit of the driving support device;
With
  In the support change amount calculation step, the braking control amount is determined so as to avoid contact between the obstacle around the host vehicle and the host vehicle, and after the braking control amount is determined, the behavior determination unit determines the braking control amount. A driving support method for correcting the braking control amount to be smaller as the steering amount by the driver is larger.   The driving support method according to claim 6, wherein in the support change amount calculation step, the braking control amount with respect to the steering amount is corrected so as to increase as the speed at which the obstacle pops out is increased.

Images