Driving supporter

Abstract

A driving supporter includes a support inhibitor that inhibits support of driving when a steering-operation value is greater than a threshold value. The support inhibitor includes a threshold-value determiner that determines the threshold value to a value greater when a first object and a second object are present than when the first object is present, and the second object is absent. The first object has a relationship in which a relative positional relationship between the object and an own vehicle is a relationship in which a steering operation is estimated to be performed in a first direction in which the own vehicle avoids the object. The second object has a relationship in which the relative positional relationship is a relationship in which the steering operation is estimated to be performed in a second direction reverse to the first direction such that the own vehicle avoids the object.

1 - 11 . (canceled) 
     
     
         12 . A driving supporter configured to perform support of driving such that an own vehicle drives within a lane, the driving supporter comprising:
 a state obtaining device configured to obtain a state representing a view in an area;   at least one processor configured to:
 detect one or more objects in the area based on the state obtained by the state obtaining device; 
 obtain a relative positional relationship between the one or more objects and the own vehicle; 
 inhibit the support of the driving based on a steering-operation value representing a magnitude of a steering operation performed by a driver being greater than a threshold value; and 
 determine the threshold value to be a value that is greater when a first object and a second object different from the first object, among the one or more objects, are detected in the state obtained by the state obtaining device than when only the first object is detected in the state, wherein the first object has a first relationship in which the obtained relative positional relationship is a relationship in which it is estimated that the steering operation is to be performed in a first direction in which the own vehicle avoids the first object, and wherein the second object has a second relationship in which the relative positional relationship is a relationship in which it is estimated that the steering operation is to be performed in a second direction reverse to the first direction such that the own vehicle avoids the second object. 
   
     
     
         13 . A driving supporter configured to perform support of driving such that an own vehicle drives within a lane, the driving supporter comprising:
 a state obtaining device configured to obtain a state resenting a view in an area;   at least one processor configured to:
 detect one or more objects in the area based on the state obtained by the state obtaining device; 
 obtain a relative positional relationship between the one or more objects and the own vehicle; 
 inhibit the support of the driving based on a steering-operation value representing a magnitude of a steering operation performed by a driver being greater than a threshold value; 
 determine the threshold value to be a value that is greater when a first object and a second object different from the first object, among the one or more objects, are detected in the state obtained by the state obtaining device than when only one of the first object and the second object is detected in the state, wherein the first object has a first relationship in which the obtained relative positional relationship is a relationship in which it is estimated that the steering operation is to be performed in a first direction in which the own vehicle avoids the first object, and wherein the second object has a second relationship in which the relative positional relationship is a relationship in which it is estimated that the steering operation is to be performed in a second direction reverse to the first direction such that the own vehicle avoids the second object; and 
 determine the threshold value to be a value that is smaller when only one of the first object and the second object is detected in the state obtained by the state obtaining device, than when there is no object that has a relationship in which the relative positional relationship obtained based on the state obtained by the state obtaining device is a relationship in which it is estimated that the steering operation is to be performed in a direction in which the own vehicle avoids the object. 
   
     
     
         14 . A driving supporter configured to perform support of driving such that an own vehicle drives within a lane, the driving supporter comprising:
 a state obtaining device configured to obtain a state representing a view in an area;   at least one processor configured to:
 detect one or more objects in the area based on the state obtained by the state obtaining device; 
 obtain a relative positional relationship between the one or more objects and the own vehicle; 
 inhibit the support of the driving based on a steering-operation value representing a magnitude of a steering operation performed by a driver being greater than a threshold value; and 
 determine the threshold value to be a value that is greater when a state of an own lane that is a lane on which an own vehicle travels or state of an adjacent lane that is a lane adjacent to the own lane is a specific state than when the state of the own lane or the state of the adjacent lane is not the specific state, the state of the own lane and the state of the adjacent lane being obtained based on the state obtained by the state obtaining device. 
   
     
     
         15 . The driving supporter according to  claim 14 , wherein the at least one processor is further configured to determine that the state of the own vehicle is the specific state when a width of the own lane is less than a set value. 
     
     
         16 . The driving supporter according to  claim 14 , wherein the at least one processor is further configured to determine that the state of the own lane or the adjacent lane is the specific state when a traffic volume of the own lane or the adjacent lane is large.