Patent ID: 8849514

Claim:
A driving support device comprising: a detection unit for detecting a driving state of a vehicle, a position of a lane marker, and positions and types of obstacles around said vehicle; a calculation unit for calculating, based on said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, a target yaw moment; and a distribution unit for distributing, based on at least one of said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, said target moment to a first actuator for controlling a driving/braking force and a second actuator for controlling a steering, wherein said calculation unit calculates an accident risk, based on the position of said lane marker, and the positions and types of said obstacles around the vehicle, said distribution unit has, based on said accident risk, a case that said target yaw moment is distributed so as to operate only said first actuator, and a case that said target yaw moment is distributed so as to operate said first actuator and said second actuator, and said distributed target yaw moments have a same direction, and are different only in size, based on said accident risk.