VEHICLE DRIVING ASSIST APPARATUS
FIG6 is a view for showing candidate collision avoidance paths used for avoiding a collision of the vehicle with an obstacle  FIG6 is a view for showing candidate collision avoidance paths used for avoiding a collision of the vehicle with an obstacle
When the driving assist ECU 10 determines that there is the high possibility that the own vehicle 100 collides with the obstacle, the driving assist ECU 10 calculates a target collision avoidance path with the predetermined calculation cycle. The target collision avoidance path is a path along which the own vehicle 100 should move for avoiding the collision of the own vehicle 100 with the obstacle. For example, as shown in FIG6, the driving assist ECU 10 specifies a predicted movement path A. The predicted movement path A is a path along which the own vehicle 100 predictively moves, assuming that the own vehicle 100 moves with maintaining the movement condition of the own vehicle 100 at the present movement condition. In addition, the driving assist ECU 10 specifies a predicted movement path B1. The predicted movement path B1 is a path along which the own vehicle 100 predictively moves with a lateral acceleration acquired by adding a maximum lateral force change amount ΔGy to the present lateral acceleration Gy0 of the own vehicle 100. The maximum lateral force change amount ΔGy is a maximum change amount of a lateral force which turns the own vehicle 100 safely at the present movement speed of the own vehicle 100. In addition, the driving assist ECU 10 specifies a predicted movement path B2. The predicted movement path B2 is a path along which the own vehicle 100 predictively moves with a lateral acceleration acquired by subtracting the maximum lateral force change amount ΔGy from the present lateral acceleration Gy0 of the own vehicle 100.  When the driving assist ECU 10 determines that there is the high possibility that the own vehicle 100 collides with the obstacle, the driving assist ECU 10 calculates a target collision avoidance path with the predetermined calculation cycle. The target collision avoidance path is a path along which the own vehicle 100 should move for avoiding the collision of the own vehicle 100 with the obstacle. For example, as shown in FIG6, the driving assist ECU 10 specifies a predicted movement path A. The predicted movement path A is a path along which the own vehicle 100 predictively moves, assuming that the own vehicle 100 moves with maintaining the movement condition of the own vehicle 100 at the present movement condition. In addition, the driving assist ECU 10 specifies a predicted movement path B1. The predicted movement path B1 is a path along which the own vehicle 100 predictively moves with a lateral acceleration acquired by adding a maximum lateral force change amount ΔGy to the present lateral acceleration Gy0 of the own vehicle 100. The maximum lateral force change amount ΔGy is a maximum change amount of a lateral force which turns the own vehicle 100 safely at the present movement speed of the own vehicle 100. In addition, the driving assist ECU 10 specifies a predicted movement path B2. The predicted movement path B2 is a path along which the own vehicle 100 predictively moves with a lateral acceleration acquired by subtracting the maximum lateral force change amount ΔGy from the present lateral acceleration Gy0 of the own vehicle 100.
view
100
vehicle
['1. A vehicle driving assist apparatus comprising: at least one sensor (40) to detect an obstacle existing around a vehicle (100) to which the vehicle driving assist apparatus is applied; and an electronic control unit (10) configured to: start an execution of a collision avoidance steering assist control to automatically steer the vehicle (100) to avoid a collision of the vehicle (100) with the detected obstacle in response to a driver of the vehicle (100) performing a collision avoidance steering operation for steering the vehicle (100) for avoiding the collision of the vehicle (100) with the detected obstacle when there is a possibility that the vehicle (100) collides with the detected obstacle; cancel the execution of the collision avoidance steering assist control in response to the driver performing a counter collision avoidance steering operation for steering the vehicle (100) against automatically steering the vehicle (100) intended to be achieved by the collision avoidance steering assist control after a first predetermined time elapses from starting the execution of the collision avoidance steering assist control; and continue the execution of the collision avoidance steering assist control until the first predetermined time elapses from starting the execution of the collision avoidance steering assist control even when the driver performs the counter collision avoidance steering operation.']