Patent ID: 8706352

Claim:
A driving support device for a vehicle traveling on a road with travel lanes, comprising: a side obstacle detection device for detecting a presence of an obstacle on a side of the vehicle; a future position predictor that predicts a future position of the vehicle after a prescribed time starting from when the obstacle is detected by the side obstacle detection device; and a controller configured to perform the following control: set a control start position in a lane width direction; set a prescribed lateral position between the control start position and a center of a travel lane of the vehicle; and when the obstacle is detected by the side obstacle detection device in a detection cycle subsequent to a detection cycle in which no obstacle is detected, for a given position of the obstacle, selectively apply a yaw moment to the vehicle in a direction to prevent the vehicle from approaching the obstacle based on a current lateral position of the vehicle with respect to the prescribed lateral position, wherein the yaw moment is applied if the current lateral position of the vehicle is between the center of the travel lane and the prescribed lateral position and the future position of the vehicle is closer to the obstacle in the lane width direction than the control start position, and is suppressed if the current lateral position of the vehicle is closer to the obstacle than the prescribed lateral position.