JP6033811B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that controls steering and braking of a vehicle.

  Conventionally, there is known a lane keeping assist device that assists steering or braking so that the host vehicle travels on a traveling lane that is divided by a lane marking, and stops the assistance by a driver's operation (for example, Patent Documents). 1 and Patent Document 2).

  The lane keeping assist device described in Patent Document 1 is configured to stop steering assist on the condition that a steering amount equal to or greater than a cancellation determination threshold is detected.

  Patent Document 2 discloses a steering wheel that is operated by a driver's steering force, a power steering device that transmits the steering force of the steering wheel to steer the steering wheel, and power regardless of the steering force of the steering wheel. There is described an automatic traveling device for a vehicle that includes an automatic steering device that sets a steering force of a steering device to steer a steering wheel. The automatic traveling apparatus includes a steering angle sensor that detects a steering angle of the steering wheel and an actual steering angle sensor that detects a steering angle of the power steering apparatus, and an output value of the steering angle sensor and an actual steering angle sensor When the difference from the output value exceeds a predetermined value, the automatic steering mode by the automatic steering device is canceled.

  Further, the automatic travel device is configured to cancel the automatic brake operation mode when detecting depression of the accelerator pedal.

JP 2009-214680 A Japanese Patent No. 3185623

  In the prior art, steering assistance is canceled on the condition that a steering operation by a driver at a predetermined level or higher is a requirement, and braking assistance is released by depressing the accelerator pedal at a predetermined level or higher. However, in this case, there has been a case where appropriate steering and braking support cancellation is not performed based on the driver's driving intention. As a result, the driver may feel uncomfortable by assisting steering and braking against the driver's intention to drive.

  The present invention has been made in view of such a background, and a driving support device capable of reducing or eliminating a driver's uncomfortable feeling caused by steering and braking support contrary to driving intention in controlling steering and braking of a vehicle. The purpose is to provide.

  The present invention has been made to achieve the above object, and supports both steering and braking of a vehicle so as to travel in a lane divided by a lane mark, and according to the operation of the driver of the vehicle. The present invention relates to a travel support device including a travel support control unit that stops one or both of the steering and braking of the vehicle, a vehicle, or a travel support method executed by the travel support device.

And the driving assistance device of the present invention is
It has an acceleration intention detection unit that detects the driver's acceleration intention,
In the case where the driving support control unit supports both steering and braking of the vehicle,
When the acceleration intention detection unit detects an acceleration intention to bring the vehicle speed to a vehicle speed equal to or higher than a predetermined first level, the vehicle steering assistance is continued while the vehicle braking assistance is stopped. Configured to
When the acceleration intention detecting unit detects an acceleration intention to make the vehicle speed of the vehicle equal to or higher than a second level greater than the first level, support for both steering and braking of the vehicle is stopped. It is configured.

  According to the study by the inventors of the present application, the driver's intention to accelerate includes at least two types of acceleration intention for maintaining the current vehicle speed and acceleration intention for performing overtaking or merging. The acceleration based on the latter acceleration intention is larger than the acceleration based on the former acceleration intention. In addition, when the driver has the intention of accelerating the former, it is often intended to drive the current lane as it is, so it is assumed that the driver does not have an active steering intention. . On the other hand, when the driver has the latter intention to accelerate, it is assumed that in addition to the acceleration intention, the driver has an active steering intention accompanying overtaking or merging.

  According to the driving assistance device of the present invention configured with attention paid to this point, braking assistance is stopped when an acceleration intention for making the vehicle speed equal to or higher than a predetermined first level is detected. This respects the driver's intention to accelerate. On the other hand, since it is not recognized that the driver has a positive intention to steer, steering assistance is continued.

  On the other hand, when an acceleration intention for making the vehicle speed equal to or higher than a predetermined second level larger than the first level is detected, both steering and braking assistance are stopped. Thereby, the driver's driving intention including the acceleration intention and the steering intention is appropriately respected.

  As described above, according to the driving support device of the present invention, the driver's driving intention is appropriately respected in assisting the steering and braking, so that the uncomfortable feeling caused by the steering and braking support contrary to the driving intention is reduced or eliminated. Can be done.

In the driving support device of the present invention,
The first level vehicle speed is preferably the current vehicle speed of the vehicle.

  If it is an intention to accelerate to maintain the current vehicle speed, it cannot be recognized that the driver has a positive intention to steer. According to the travel support device having the configuration configured by paying attention to this point, only the braking support is stopped and the steering support is continued in the case of an intention to accelerate to maintain the current vehicle speed of the vehicle. Therefore, the uncomfortable feeling caused by the steering and braking assistance that is against the driving intention can be reduced or eliminated.

In the driving support device of the present invention,
The acceleration intention detection unit is configured to detect an opening degree of an accelerator pedal of the vehicle as the acceleration intention,
The travel support control unit
Stop the braking support of the vehicle when the opening degree of the accelerator pedal detected by the acceleration intention detecting unit exceeds the braking assistance stop threshold value that is the opening degree of the accelerator pedal for making the vehicle speed equal to or higher than the first level. Configured to
When the opening degree of the accelerator pedal detected by the acceleration intention detecting unit exceeds the steering assistance stop threshold value that is the opening degree of the accelerator pedal for making the vehicle speed equal to or higher than the second level greater than the braking assistance stop threshold value. It is preferable that the vehicle is configured to stop support for both steering and braking of the vehicle.

  According to the travel support device having the above configuration, braking support is stopped or braking and steering support are stopped based on the degree of opening of the accelerator pedal that is presumed to appropriately reflect the driver's driving intention. Thereby, the uncomfortable feeling given to the driver due to the steering and braking assistance that is against the driving intention can be reduced or eliminated.

In the travel support device of the configuration,
Provided with an inclination angle detection unit for detecting the inclination angle of the road,
The driving support control unit determines the steering support stop threshold as the steering support when the driving road is flat or downhill when the inclination angle detection unit detects an inclination angle indicating that the driving road is uphill. The correction is made so that the value is larger than the stop threshold.

  When the travel path is an uphill, the opening degree of the accelerator pedal required for predetermined acceleration increases. According to the driving support device having the configuration configured with attention paid to this point, when the inclination angle detection unit detects an inclination angle indicating that the traveling path is an uphill, the steering assistance stop threshold value Is corrected to a larger value than in the case of flat ground or downhill. Thus, the steering and braking assistance can be stopped in a manner that appropriately reflects the driver's driving intention.

In the driving support device of the present invention,
A storage unit for storing the position of the vehicle where the support for one or both of the steering and braking is stopped, and the driver's intention to accelerate at the position after the support stop;
The travel support control unit assists steering and braking of the vehicle based on the previous driver's intention to accelerate at the position stored in the storage unit when the vehicle travels the position from the next time onward. It is configured as follows.

  If the vehicle passes next through a position where a predetermined acceleration intention has been detected previously, it is assumed that the driver is likely to show the same acceleration intention. According to the driving support device having the above configuration, steering and braking support in accordance with the driving preference of the driver is performed, so that the driver's uncomfortable feeling caused by the steering and braking support that is against the driving intention can be reduced or eliminated.

Next, the vehicle of the present invention is
It has an acceleration intention detection unit that detects the driver's acceleration intention,
The travel support control unit
In the case of assisting both the steering and braking of the vehicle,
When the acceleration intention detection unit detects an acceleration intention to bring the vehicle speed to a vehicle speed equal to or higher than a predetermined first level, the vehicle steering assistance is continued while the vehicle braking assistance is stopped. Configured to
When the acceleration intention detecting unit detects an acceleration intention to make the vehicle speed of the vehicle equal to or higher than a second level greater than the first level, support for both steering and braking of the vehicle is stopped. It is configured.

  According to the vehicle of the present invention, the same operational effects as those of the above-described travel support device of the present invention can be obtained.

Next, the driving support method of the present invention includes:
An acceleration intention detection process for detecting the driver's acceleration intention;
In the case of assisting both the steering and braking of the vehicle, the travel is detected when the acceleration intention detection step for detecting the vehicle speed of the vehicle to a vehicle speed equal to or higher than a predetermined first level is detected in the acceleration intention detection step. A first support stop step in which the support control unit continues the support for steering the vehicle while stopping the support for braking the vehicle;
When the intention to accelerate to make the vehicle speed of the vehicle equal to or higher than the second level higher than the first level is detected in the acceleration intention detection step, the driving support control unit performs both steering and braking of the vehicle. Including a second support stop step of stopping the support.

  By applying the driving support method of the present invention to a vehicle and implementing it, the same operational effects as those of the driving support device of the present invention described above can be obtained.

The block diagram of a driving assistance device. The flowchart of a driving assistance process. The figure explaining the outline of a driving assistance process. The figure which shows the relationship between an accelerator pedal opening and acceleration. The figure which shows the relationship between accelerator pedal opening and implementation of assistance.

  An embodiment of a driving support device of the present invention will be described with reference to FIGS.

(Configuration of driving support device)
With reference to FIG. 1, the driving support device 10 is capable of braking the lane mark recognition device 2, the sensor group 3, the speaker 5, the display 6, the steering mechanism 7 a that can steer the steering wheel of the vehicle 1, and the vehicle 1. It is mounted on a vehicle 1 (corresponding to a vehicle of the present invention) provided with a braking mechanism 7b.

  The sensor group 3 includes a vehicle speed sensor 3 a that detects the traveling speed of the vehicle 1, a steering angle sensor 3 b that detects the steering angular speed of the steering wheel of the vehicle 1, and a yaw rate that detects the yaw rate (rotational angular velocity) around the vertical center of gravity axis of the vehicle 1. A sensor 3c, a torque sensor 3d for detecting a steering torque input to the steering wheel of the vehicle 1, a brake pedal sensor 3e for detecting the depression force of the brake pedal of the vehicle 1, and an accelerator pedal opening for detecting the opening degree of the accelerator pedal of the vehicle 1 A degree sensor 3f, a GPS sensor 3g that detects position data of the vehicle 1 by GPS (Global Positioning System), and an inclination angle sensor 3h that outputs an inclination angle of a traveling path on which the vehicle 1 is traveling are included.

  The steering mechanism 7a is configured to steer the steered wheels of the vehicle 1 based on the steering torque input to the steering wheel detected by the torque sensor 3d or a steering command from the travel support control unit 13 described later.

  The braking mechanism 7b is configured to brake the wheels of the vehicle 1 based on the depression of the brake pedal detected by the brake pedal sensor 3e or a braking command from the travel support control unit 13 described later.

  The driving support device 10 is an electronic unit configured by a CPU, a memory, various interface circuits, and the like (not shown), and the tilt angle detection unit 11 is executed by the CPU executing a steering control program held in a memory (not shown). It functions as the acceleration intention detection unit 12 and the travel support control unit 13. In addition, the driving support method of the present invention is implemented by the driving support device 10.

(Driving support processing)
The outline of the driving support process executed by the driving support device 10 will be described with reference to FIGS. 2 and 3.

  FIG. 2 / STEP 1 is a process by the tilt angle detection unit 11. The inclination angle detection unit 11 detects the inclination angle of the traveling road on which the vehicle 1 is traveling from the inclination angle sensor 3h. The inclination angle detection unit 11 is configured to detect a positive inclination angle when the traveling road is an uphill, and to detect a negative inclination angle when the road is a downhill.

  FIG. 2 / STEP 2 to FIG. 2 / STEP 5 are processes by the driving support control unit 13.

  The travel support control unit 13 corrects the steering support stop threshold used in FIG. 2 / STEP 7 described later based on the tilt angle detected by the tilt angle detection unit 11. More specifically, the driving support control unit 13 corrects the steering support stop threshold so that it increases continuously or intermittently as the tilt angle increases. When the inclination angle detected by the inclination angle detection unit 11 indicates the inclination angle of the uphill, the driving support control unit 13 sets the steering support stop threshold value on the uphill from the steering support stop threshold value on the flat ground or the downhill. May be configured to have a large value.

  FIG. 2 / STEP 3 is a process in which the driving support control unit 13 recognizes the lane recognized by the lane mark recognition device 2. The lane mark recognizing device 2 executes a predetermined process, and based on the video signal in front of the vehicle 1 output from the camera, the lane mark (continuous line lane mark and broken line) of the road on which the vehicle 1 is traveling. Lane mark) is recognized. As the lane mark recognition method, a technique described in Japanese Patent Laid-Open No. 2012-248168 proposed by the applicant of the present application can be employed. Based on the lane mark recognized by the lane mark recognition device 2, the driving support device 10 recognizes the lane in which the vehicle 1 is traveling.

  The driving support control unit 13 determines whether or not the vehicle 1 may deviate from the currently traveling lane based on the lane recognized in FIG. 2 / STEP 3 (FIG. 2 / STEP 4). For example, as shown in FIG. 3A, the distance between the vehicle 1 and the lane mark LM1 may be equal to or less than a predetermined distance, and the angle θ1 formed by the traveling direction of the vehicle 1 and the lane mark LM1 may deviate. If the angle is equal to or greater than the predetermined first angle, the driving support control unit 13 determines that the vehicle 1 may deviate from the currently traveling lane.

  When the determination result is affirmative (FIG. 2 / STEP4... YES), the driving support device 10 performs the processes of FIG. If the determination result is negative (FIG. 2 / STEP4... NO), the driving support device 10 ends the processing of the current cycle.

  In subsequent FIG. 2 / STEP5, the driving support control unit 13 warns the driver that there is a possibility of departure via the speaker 5 and the display 6 (FIG. 2 / STEP5). The driving support control unit 13 may warn the driver that there is a possibility of departure by vibrating the steering wheel in a predetermined direction instead of or in addition to the warning.

  The subsequent FIG. 2 / STEP 6 is processing by the acceleration intention detection unit 12. The acceleration intention detection unit 12 acquires the accelerator pedal opening based on the output of the accelerator pedal opening sensor 3f.

  FIG. 2 / STEP 7 to FIG. 2 / STEP 13 are processes by the driving support control unit 13.

  In subsequent FIG. 2 / STEP7, the driving support control unit 13 determines whether or not the accelerator pedal opening degree acquired by the acceleration intention detecting unit 12 is equal to or greater than a steering support stop threshold value. The steering assist stop threshold is an accelerator pedal opening required for acceleration of a predetermined acceleration or higher (for example, acceleration of 0.05 G or higher) in view of the current vehicle speed indicated by a two-dot chain line in FIG. For example, the determination result is negative when the accelerator pedal is depressed a little so as to maintain the current vehicle speed but not accelerate the predetermined acceleration. On the other hand, when the driver accelerates with the intention of overtaking or joining, the determination result is affirmative because the acceleration often exceeds the predetermined acceleration.

  When the determination result of FIG. 2 / STEP 7 is affirmative (FIG. 2 / STEP 7... YES), the driving support device 10 stores the current position of the vehicle 1 indicated by the GPS sensor 3g in the cancel position storage unit 21, and Thereafter, after the driving operation information by the driver until the determination result of FIG. 2 / STEP 7 becomes negative is stored in the operation content storage unit 22 (FIG. 2 / STEP 12B), it waits for a predetermined time (FIG. 2 / STEP 13). . When the driver has a driving intention, the driving intention is presumed to be sustained to some extent. For this reason, in this embodiment, the travel support at the predetermined time is interrupted by waiting for a predetermined time after it is estimated that there is a driving intention.

  When the determination result is negative (FIG. 2 / STEP 7... NO), the driving support control unit 13 determines whether or not the accelerator pedal opening is equal to or greater than the braking support stop threshold (FIG. 2 / STEP 8).

  Here, the braking support stop threshold is set to the opening degree of the accelerator pedal necessary for maintaining the current vehicle speed indicated by a one-dot chain line in FIG. For example, the determination result is affirmative in a state where the accelerator pedal is slightly depressed so that the current vehicle speed is maintained but the predetermined acceleration is not accelerated.

  If the determination result is affirmative (FIG. 2 / STEP8... YES), the driving support control unit 13 stores the current position of the vehicle 1 indicated by the GPS sensor 3g in the cancel position storage unit 21, and thereafter The information of the driving operation by the driver until the determination result of 2 / STEP 8 becomes negative is stored in the operation content storage unit 22 (FIG. 2 / STEP 12A).

  When the determination result is negative (FIG. 2 / STEP8... NO), the driving support control unit 13 determines the degree of deviation from the lane based on the angle θ formed by the traveling direction of the vehicle 1 and the lane mark LM1. It is determined whether the angle is equal to or greater than a predetermined second angle (FIG. 2 / STEP 9).

  The second angle is larger than the first angle for determining the possibility of departure. For example, as shown in FIG. 3A, in the case where the degree of departure is small, that is, a gentle departure (deviation substantially parallel to the lane mark LM1), the angle θ1 formed by the traveling direction of the vehicle 1 and the lane mark LM1. Is less than the second angle, the determination result is negative. On the other hand, as shown in FIG. 3B, when the degree of departure is large, that is, when there is a possibility that the vehicle deviates greatly from the lane mark LM1, the angle θ2 formed by the traveling direction of the vehicle 1 and the lane mark LM1 is equal to or greater than the second angle. Therefore, the determination result is affirmative.

  When the determination result is affirmative (FIG. 2 / STEP9... YES), the driving support control unit 13 controls the operation of the braking mechanism 7b to control the vehicle 1 as shown in FIG. Decelerate (FIG. 2 / STEP 10). After FIG. 2 / STEP 10 or FIG. 2 / STEP 12A, or when the determination result of FIG. 2 / STEP 9 is negative (FIG. 2 / STEP 9... NO), the driving support control unit 13 performs FIG. As shown in FIG. 4, by controlling the operation of the steering mechanism 7a, the vehicle 1 does not return to the original lane or deviate from the traveling lane (the distance between the center position of the vehicle 1 and the LM1 is within a predetermined range). The steering wheel of the vehicle 1 is steered as shown in FIG. 2 (STEP 11). The driving support control unit 13 may start the process of FIG. 2 / STEP 11 while the process of FIG. 2 / STEP 10 is being executed, or may start the process of FIG. The process may be started.

  After the processing of FIG. 2 / STEP 11 or FIG. 2 / STEP 13, the driving support device 10 ends the processing of the current cycle.

  That is, when the accelerator opening of the vehicle 1 is less than the braking support stop threshold, the driving support device 10 of the present embodiment supports both steering and braking of the vehicle 1 as shown in FIG. To implement. In addition, when the accelerator opening of the vehicle 1 is an accelerator opening that is greater than or equal to the braking support stop threshold and less than the steering support stop threshold, the driving support device 10 supports only the steering of the vehicle 1 as shown in FIG. To do. Then, when the accelerator opening of the vehicle 1 is equal to or greater than the steering support stop threshold, the driving support device 10 stops both steering and braking support of the vehicle 1 as shown in FIG.

  When the current position of the vehicle 1 is the position stored in the cancel position storage unit 21 in FIG. 2 / STEP 12A or FIG. 2 / STEP 12B, the driving support control unit 13 performs the braking support in FIG. / STEP 11 for steering assistance, based on the driver's previous operation content stored in the operation content storage unit 22 in FIG. 2 / STEP 12A or FIG. The contents of may be corrected.

  In addition, when the current position of the vehicle 1 is the position stored in the cancel position storage unit 21, the travel support control unit 13 determines whether to perform braking support and steering support (FIG. 2 / STEP7 or FIG. 2). / STEP8), it may be determined whether or not to perform the assistance based on the previous operation content of the driver stored in the operation content storage unit 22.

  In the driving intention estimation process, the driving support device 10 determines whether to perform steering support and braking support based on the accelerator pedal opening indicated by the accelerator pedal opening sensor 3f. Even when execution of steering assistance and braking assistance is determined based on the opening of the pedal, the steering instruction operation of the steering wheel indicated by the torque sensor 3d, the brake operation indicated by the brake pedal sensor 3e, and the parking indicated by other sensors (not shown) If at least one of a brake operation, a winker operation, a shift lever operation, a wiper operation, and a driving support setting OFF operation is performed, one or both of the steering support and the braking support may be interrupted. Good.

(Operational effect of this embodiment)
According to the examination by the inventors of the present application, the driver's intention to accelerate includes at least an acceleration intention to maintain the current vehicle speed (an intention to perform acceleration indicated by a one-dot chain line in FIG. 4), overtaking or There are two types of acceleration intentions for performing merging and the like (FIG. 4 / intentions for accelerating indicated by two-dot chain lines). The acceleration based on the latter acceleration intention is larger than the acceleration based on the former acceleration intention. In addition, when the driver has the intention of accelerating the former, it is often intended to drive the current lane as it is, so it is assumed that the driver does not have an active steering intention. . On the other hand, when the driver has the latter intention to accelerate, it is assumed that in addition to the acceleration intention, the driver has an active steering intention accompanying overtaking or merging.

  According to the driving support apparatus 10 of the present invention configured with attention paid to this point, braking is performed when an acceleration intention for making the vehicle speed of the vehicle 1 a vehicle speed equal to or higher than a predetermined first level (current vehicle speed) is detected. Is stopped (FIG. 2 / STEP8... YES, see FIG. 5). This respects the driver's intention to accelerate. On the other hand, since it is not recognized that the driver actively has a steering intention, the steering assistance is continued (FIG. 2 / STEP 11).

  On the other hand, if an intention to accelerate to make the vehicle speed equal to or higher than a predetermined second level greater than the first level (for example, a vehicle speed after acceleration of 0.05 G) is detected, steering and braking are performed. Both supports are stopped (see FIG. 2 / STEP7... YES, FIG. 5). Thereby, the driver's driving intention including the acceleration intention and the steering intention is appropriately respected.

  As described above, according to the driving support device 10 of the present invention, the driver's driving intention is appropriately respected in assisting the steering and braking, so that the uncomfortable feeling caused by the steering and braking support contrary to the driving intention is reduced or reduced. Can be resolved.

  In the case of the intention to accelerate to maintain the current vehicle speed (intention to perform acceleration shown in FIG. 4 / dotted line), it is recognized that the driver actively has the intention to steer. I can't. According to the travel support device 10 configured in this regard, the acceleration intention of maintaining the current vehicle speed of the vehicle 1 (intention to perform acceleration indicated by the dashed line in FIG. 4). In some cases, only the braking assistance is stopped (FIG. 2 / STEP 8... YES, see FIG. 5), and the steering assistance is continued (FIG. 2 / STEP 11), resulting in steering and braking assistance contrary to the driving intention. The uncomfortable feeling can be reduced or eliminated.

  According to the travel support device 10 having the above configuration, the braking support is stopped based on the opening degree of the accelerator pedal that is presumed to appropriately reflect the driving intention of the driver (FIG. 2 / STEP7 or FIG. 2 / STEP8). Alternatively, braking and steering assistance are stopped (see FIG. 5). Thereby, the uncomfortable feeling given to the driver due to the steering and braking assistance that is against the driving intention can be reduced or eliminated.

  When the travel path is an uphill, the opening degree of the accelerator pedal required for predetermined acceleration increases. According to the travel support device 10 configured in this regard, the steering support stop threshold is set to be flat or downhill when the tilt angle is detected to indicate that the travel path is uphill. It is corrected to a value larger than the case of FIG. 2 (FIG. 2 / STEP2). Thus, the steering and braking assistance can be stopped in a manner that appropriately reflects the driver's driving intention.

  If the vehicle passes next through a position where a predetermined acceleration intention has been detected previously, it is assumed that the driver is likely to show the same acceleration intention. According to the travel support device 10 having the configuration described above, steering and braking support in accordance with the driving preference of the driver is performed, so that the driver's uncomfortable feeling due to the steering and braking support that is against the driving intention can be reduced or eliminated. .

(Modification)
In the present embodiment, the accelerator pedal opening degree is acquired as the driver's intention to accelerate, but instead, for example, based on an acceleration instruction via an input device such as a manual driving assistance device or a microphone, Acceleration intention may be detected.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle (own vehicle), 2 ... Lane mark recognition apparatus, 3f ... Accelerator pedal sensor, 7a ... Steering mechanism, 7b ... Control mechanism, 10 ... Driving support device, 12 ... Acceleration intention detection part, 13 ... Driving support control part .

Claims (7)

Driving support control that supports steering and braking of a vehicle so as to travel in a lane that is divided by a lane mark, and stops one or both of the steering and braking of the vehicle according to an operation of the driver of the vehicle A travel support device comprising a unit,
It has an acceleration intention detection unit that detects the driver's acceleration intention,
The travel support control unit
In the case of assisting both the steering and braking of the vehicle,
When the acceleration intention detection unit detects an acceleration intention to bring the vehicle speed to a vehicle speed equal to or higher than a predetermined first level, the vehicle steering assistance is continued while the vehicle braking assistance is stopped. Configured to
When the acceleration intention detecting unit detects an acceleration intention to make the vehicle speed of the vehicle equal to or higher than a second level greater than the first level, support for both steering and braking of the vehicle is stopped. A driving support device characterized by being configured. In the driving assistance device according to claim 1,
The driving support device according to claim 1, wherein the first level vehicle speed is a current vehicle speed of the vehicle. In the driving assistance device according to claim 1 or 2,
The acceleration intention detection unit is configured to detect an opening degree of an accelerator pedal of the vehicle as the acceleration intention,
The travel support control unit
Stop the braking support of the vehicle when the opening degree of the accelerator pedal detected by the acceleration intention detecting unit exceeds the braking assistance stop threshold value that is the opening degree of the accelerator pedal for making the vehicle speed equal to or higher than the first level. Configured to
When the opening degree of the accelerator pedal detected by the acceleration intention detecting unit exceeds the steering assistance stop threshold value that is the opening degree of the accelerator pedal for making the vehicle speed equal to or higher than the second level greater than the braking assistance stop threshold value. A travel support device configured to stop support for both steering and braking of the vehicle. In the driving assistance device according to claim 3,
Provided with an inclination angle detection unit for detecting the inclination angle of the road,
The driving support control unit determines the steering support stop threshold as the steering support when the driving road is flat or downhill when the inclination angle detection unit detects an inclination angle indicating that the driving road is uphill. A driving support device configured to correct to a value larger than the stop threshold. In the driving assistance device according to any one of claims 1 to 4,
A storage unit for storing the position of the vehicle where the support for one or both of the steering and braking is stopped, and the driver's intention to accelerate at the position after the support stop;
The travel support control unit assists steering and braking of the vehicle based on the previous driver's intention to accelerate at the position stored in the storage unit when the vehicle travels the position from the next time onward. It is comprised as follows. The driving assistance device characterized by the above-mentioned. Supporting one or both of steering and braking of the vehicle so as to travel on the lane marked by the lane mark, and stopping support of one or both of steering and braking of the vehicle according to the operation of the driver of the vehicle A vehicle including a driving support control unit,
It has an acceleration intention detection unit that detects the driver's acceleration intention,
The travel support control unit
In the case of assisting both the steering and braking of the vehicle,
When the acceleration intention detection unit detects an acceleration intention to bring the vehicle speed to a vehicle speed equal to or higher than a predetermined first level, the vehicle steering assistance is continued while the vehicle braking assistance is stopped. Configured to
When the acceleration intention detecting unit detects an acceleration intention to make the vehicle speed of the vehicle equal to or higher than a second level greater than the first level, support for both steering and braking of the vehicle is stopped. A vehicle characterized by being configured. Supporting one or both of steering and braking of the vehicle so as to travel on the lane marked by the lane mark, and stopping support of one or both of steering and braking of the vehicle according to the operation of the driver of the vehicle A method executed by a driving support device including a driving support control unit,
An acceleration intention detection process for detecting the driver's acceleration intention;
In the case of assisting both the steering and braking of the vehicle, the travel is detected when the acceleration intention detection step for detecting the vehicle speed of the vehicle to a vehicle speed equal to or higher than a predetermined first level is detected in the acceleration intention detection step. A first support stop step in which the support control unit continues the support for steering the vehicle while stopping the support for braking the vehicle;
When the intention to accelerate to make the vehicle speed of the vehicle equal to or higher than the second level higher than the first level is detected in the acceleration intention detection step, the driving support control unit performs both steering and braking of the vehicle. A driving support method comprising a second support stop step of stopping the support of the vehicle.