Abstract: In a case of a mistaken pedal operation determination: ON, the driving assist ECU sets a value of a steering angle threshold ?ref to a value ?ref2 which is greater than a normal value of the steering angle threshold, and sets a value of a steering operation rate threshold ?ref to a value ?ref2 which is greater than a normal value of the steering operation rate threshold. When a steering angle ? is equal to or greater than the steering angle threshold ?ref and/or when a steering operation rate ? is equal to or greater than the steering operation rate threshold ?ref, the ECU delays a start timing of a automatic brake control, by setting a value of a threshold for executing TTCa to a delaying execution threshold TTCa2 that is smaller than a normal value of the threshold for executing TTCa.

Abstract: An object detection device detects objects around an own vehicle by fusing a plurality of pieces of target information obtained by detecting the objects as targets using a plurality of detection sensors with different detection accuracies, and includes a crowd determination unit that determines that a target other than a reference target detected in a predetermined crowd region based on the reference target selected from the targets is a crowd target; a region setting unit that sets a search region so as to include a crowd determination region in which the reference target and the crowd target are detected; and an object determination unit that determines an object indicated by a target in the search region by fusing the target information for the search region.

Abstract: A driving support apparatus is provided with: a determinator configured to determine a collision probability; and a braking controller programmed to perform a braking control, and a preliminary braking control. The braking controller includes: a braking force increaser configured to increase the braking force applied in the preliminary braking control; and a braking force adjuster configured to perform adjustment, if the braking force applied at an end time point of the preliminary braking control is greater than the braking force applied at a start time point of the braking control in such a manner that a braking force applied in transferring from the preliminary braking control to the braking control has a small change amount, or in such a manner that it is greater than the braking force applied at the end time point of the preliminary braking control.

Abstract: In a case of a mistaken pedal operation determination: ON, the driving assist ECU sets a value of a steering angle threshold ?ref to a value ?ref2 which is greater than a normal value of the steering angle threshold, and sets a value of a steering operation rate threshold ?ref to a value ?ref2 which is greater than a normal value of the steering operation rate threshold. When a steering angle ? is equal to or greater than the steering angle threshold ?ref and/or when a steering operation rate ? is equal to or greater than the steering operation rate threshold ?ref, the ECU delays a start timing of a automatic brake control, by setting a value of a threshold for executing TTCa to a delaying execution threshold TTCa2 that is smaller than a normal value of the threshold for executing TTCa.

Abstract: A driving support apparatus is provided with: a determinator configured to determine a collision probability; and a braking controller programmed to perform a braking control, and a preliminary braking control. The braking controller includes: a braking force increaser configured to increase the braking force applied in the preliminary braking control; and a braking force adjuster configured to perform adjustment, if the braking force applied at an end time point of the preliminary braking control is greater than the braking force applied at a start time point of the braking control in such a manner that a braking force applied in transferring from the preliminary braking control to the braking control has a small change amount, or in such a manner that it is greater than the braking force applied at the end time point of the preliminary braking control.

Abstract: In the case of a severe collision, the severity of the collision exceeds a first threshold value at which a pretensioner mechanism starts to activate, and then exceeds a second threshold value within a collision-discriminating time range T following the start of the activation; therefore, the force limiter mechanism unit is set at a high load. In the case of a gentle collision, the severity of the collision exceeds the first threshold value, at which the pretensioner mechanism starts to activate, but does not exceed the second threshold value within the collision-discriminating time range T following the start of the activation; therefore the force limiter mechanism unit is set at a low load. Therefore, without a determination delay, the switching of the force limiter mechanism can be appropriately selected.

Abstract: In the case of a severe collision, the severity of the collision exceeds a first threshold value at which a pretensioner mechanism starts to activate, and then exceeds a second threshold value within a collision-discriminating time range T following the start of the activation; therefore, the force limiter mechanism unit is set at a high load. In the case of a gentle collision, the severity of the collision exceeds the first threshold value, at which the pretensioner mechanism starts to activate, but does not exceed the second threshold value within the collision-discriminating time range T following the start of the activation; therefore the force limiter mechanism unit is set at a low load. Therefore, without a determination delay, the switching of the force limiter mechanism can be appropriately selected.