OBSTACLE AVOIDANCE SUPPORT DEVICE AND OBSTACLE AVOIDANCE SUPPORT METHOD

摘要

PROBLEM TO BE SOLVED: To reliably reflect cancellation of obstacle avoidance support based on the intention of a driver.SOLUTION: When detecting an obstacle to be avoided ahead of a vehicle, an obstacle avoidance support device determines an avoidance trajectory for the obstacle, and calculates follow-up steering force for controlling travel of the vehicle on the basis of the avoidance trajectory. The obstacle avoidance support device calculates assist steering force to perform travel control for obstacle avoidance, on the basis of the calculated follow-up steering force and steering force of the driver, and determines cancellation of the assist steering force of the vehicle after detecting that the steering force of the driver exceeds a force for holding steering against the assist steering force.