Driving assistance apparatus

A driving assistance apparatus to be mounted on a vehicle, the vehicle comprising a transfer and a differential rotation limiting device, the transfer being configured to transmit a driving force generated by a travel power source in response to an accelerator operation to a front wheel driving device and a rear wheel driving device and to permit differential rotation between the front wheel driving device and the rear wheel driving device, the accelerator operation being performed by a driver who drives the vehicle, the front wheel driving device being configured to drive a front wheel, the rear wheel driving device being configured to drive a rear wheel, the differential rotation limiting device being configured to generate a limiting force that limits the differential rotation, the driving assistance apparatus comprising:

• an inwardly headed state detection unit configured to make a detection of an inwardly headed state in which the vehicle is cornering with a yaw rate and a slip angle of a vehicle body of the vehicle having different signs;
• a target accelerator operation amount setting unit configured to set, in response to the detection of the inwardly headed state, a target accelerator operation amount so that a difference between a driving force on the rear wheel caused by an output of the travel power source and an absolute value of a braking force on the rear wheel caused by internal circulation torque of the transfer is reduced;
• and
• an information presentation unit configured to present the driver with information regarding the target accelerator operation amount.

A driving assistance apparatus to be mounted on a vehicle, the vehicle comprising a transfer and a differential rotation limiting device, the transfer being configured to transmit a driving force generated by a travel power source in response to an accelerator operation to a front wheel driving device and a rear wheel driving device and to permit differential rotation between the front wheel driving device and the rear wheel driving device, the accelerator operation being performed by a driver who drives the vehicle, the front wheel driving device being configured to drive a front wheel, the rear wheel driving device being configured to drive a rear wheel, the differential rotation limiting device being configured to generate a limiting force that limits the differential rotation, the driving assistance apparatus comprising:

• circuitry configured to
• make a detection of an outwardly headed state in which the vehicle is cornering with a yaw rate and a slip angle of a vehicle body of the vehicle having a same sign, and
• set, in response to the detection of the outwardly headed state, a target accelerator operation amount so that a difference between a driving force on the front wheel caused by an output of the travel power source and an absolute value of a braking force on the front wheel caused by internal circulation torque of the transfer is reduced;
• and
• an information presentation device configured to present the driver with information regarding the target accelerator operation amount.

A driving assistance apparatus to be mounted on a vehicle, the vehicle comprising a transfer and a differential rotation limiting device, the transfer being configured to transmit a driving force generated by a travel power source in response to an accelerator operation to a front wheel driving device and a rear wheel driving device and to permit differential rotation between the front wheel driving device and the rear wheel driving device, the accelerator operation being performed by a driver who drives the vehicle, the front wheel driving device being configured to drive a front wheel, the rear wheel driving device being configured to drive a rear wheel, the differential rotation limiting device being configured to generate a limiting force that limits the differential rotation, the driving assistance apparatus comprising:

• circuitry configured to
• make a detection of an inwardly headed state in which the vehicle is cornering with a yaw rate and a slip angle of a vehicle body of the vehicle having different signs, and
• set, in response to the detection of the inwardly headed state, a target accelerator operation amount so that reduces a difference between a driving force on the rear wheel caused by an output of the travel power source and an absolute value of a braking force on the rear wheel caused by internal circulation torque of the transfer is reduced;
• and
• an information presentation device configured to present the driver with information regarding the target accelerator operation amount.