Vehicle driving support device

A vehicle driving support device comprising:

• a surrounding environment recognition unit configured to acquire surrounding environment information of a surrounding environment ahead of a vehicle;
• a travel control unit configured to operate a brake driver of the vehicle;
• and
• a collision avoidance controller provided in the travel control unit, wherein
• the collision avoidance controller comprises:
• a vehicle position estimator configured to estimate a position of the vehicle and generate a forecast traveling path of the vehicle when the vehicle turns across an opposite lane at an intersection;
• an oncoming vehicle recognizer configured to recognize an oncoming vehicle traveling on each of lanes of the opposite lane, based on the surrounding environment information;
• a collision forecast calculator configured to detect, for each of the lanes, a collision forecast position at which the forecast traveling path of the vehicle intersects with a traveling path of the oncoming vehicle, the collision forecast calculator being configured to detect the collision forecast positions starting from a lane of the opposite lane farthest from the vehicle to a lane of the opposite lane closest to the vehicle, and forecast a collision between the vehicle and the oncoming vehicle;
• and
• a collision avoidance operation determiner configured to determine whether to execute collision avoidance control in which the travel control unit operates the brake driver, for the collision forecast position at which the collision of the vehicle with the oncoming vehicle is forecast by the collision forecast calculator, and
• the collision avoidance controller is configured to perform the collision avoidance control at a collision avoidance position on the forecast traveling path of the vehicle, the collision avoidance position corresponding to, among collision forecast positions for which the collision avoidance control is to be executed by the collision avoidance operation determiner, the collision forecast position on one of the lanes that is closest to the vehicle.