DRIVING SUPPORT APPARATUS

PROBLEM TO BE SOLVED: To provide a driving support apparatus capable of performing control in which a characteristic part having a large influence on a perception of a driver is properly considered in an optical flow of the driver.SOLUTION: A driving support apparatus includes: sensible optical flow calculating means 4 for calculating a sensible optical flow by extracting a feature point whose visual sensibility is equal to or greater than a certain value from an image ahead of a vehicle for a driver; movement direction sensible amount calculation means 5 for calculating a movement direction sensible amount which is an amount reflecting a vehicle traveling direction perceived by the driver on the basis of the sensible optical flow; and driving support control means 6 for controlling the vehicle based on the movement direction sensible amount. When there is a deviation between the sensible amount in the moving direction and the traveling direction of the vehicle, a reaction force generated by steering reaction force generating means 7 is given to the steering in the direction in which the sensible amount in the moving direction is biased, and an addition of a balance index by balance index adding means 8 and a suppression of a field of view by visual field suppressing means 9 are executed in order to eliminate the deviation of the sensible amount in the moving direction.SELECTED DRAWING: Figure 1 【課題】運転者のオプティカルフローにおいて運転者の知覚に対して影響が大きい特徴部分を適切に考慮した制御を行い得る運転支援装置を提供する。【解決手段】運転支援装置は、車両前方映像から運転者にとって視覚的顕著性が一定以上である特徴点を抽出することにより感覚的オプティカルフローを算出する感覚的オプティカルフロー算出手段４と、感覚的オプティカルフローに基づいて、運転者の感じる車両進行方向を反映した量である移動方向感覚量を算出する移動方向感覚量算出手段５と、移動方向感覚量に基づいて車両を制御する運転支援制御手段６を備える。移動方向感覚量と車両進行方向に乖離がある場合、移動方向感覚量の偏った方向への操舵に対して操舵反力発生手段７による反力が与えられ、また移動方向感覚量の偏りを解消すべく、バランス指標追加手段８によるバランス指標の追加や、視野抑制手段９による視野抑制が実行される。【選択図】 図１