To provide a vehicle drive assisting device, a vehicle drive assisting method, and a vehicle drive assisting program capable of applying assist steering force to a steering operation even when one of right and left white lines relative to a vehicle is not detectable.SOLUTION: A vehicle drive assisting device 10 executes a steering assist control that applies assist steering force to a steering operation. The vehicle drive assisting device sets, in the steering assist control, a left-side limit steering angle based on the positional relation between a left-side road boundary and a self vehicle 100 and on the running state of the self vehicle, or a right-side limit steering angle based on the positional relation between a right-side road boundary and the self vehicle and on the running state of the self vehicle, applies a clockwise-rotation assist steering force in accordance with a difference between the steering angle and the left-side limit steering angle to the steering operation when the steering angle exceeds the left-side limit steering angle in the counterclockwise rotation, and applies a counterclockwise-rotation assist steering force in accordance with a difference between the steering angle and the right-side limit steering angle to the steering operation when the steering angle exceeds the right-side limit steering angle in the clockwise rotation.SELECTED DRAWING: Figure 2
【課題】車両の左右の白線の一方を検出することができないときにも、支援操舵力を操舵操作に付与することができる車両運転支援装置、車両運転支援方法及び車両運転支援プログラムを提供する。【解決手段】車両運転支援装置10は、支援操舵力を操舵操作に付与する操舵支援制御を行う。車両運転支援装置は、操舵支援制御において、左側走路境界と自車両100との位置関係及び自車両の走行状態に基づいて左側限度舵角を設定し或いは右側走路境界と自車両との位置関係及び自車両の走行状態に基づいて右側限度舵角を設定し、舵角が左側限度舵角を反時計回りに越えている場合、舵角と左側限度舵角との差に応じた時計回りの支援操舵力を操舵操作に付与し、舵角が右側限度舵角を時計回りに越えている場合、舵角と右側限度舵角との差に応じた反時計回りの支援操舵力を操舵操作に付与する。【選択図】 図2
VEHICLE DRIVE ASSISTING DEVICE, VEHICLE DRIVE ASSISTING METHOD, AND VEHICLE DRIVE ASSISTING PROGRAM
車両運転支援装置、車両運転支援方法及び車両運転支援プログラム
2024-10-18
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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