lane departure avoidance device

Abstract

The present invention provides a lane departure avoiding device, wherein the first fluctuation amount of the lateral position of the host vehicle relative to the lane boundary line recognized by the recognition unit, the yaw of the host vehicle relative to the above-mentioned lane boundary line recognized by the recognition unit At least one selected variation amount selected from the second variation amount of the angle, the third variation amount of the curvature of the lane boundary line recognized by the recognition unit, and the fourth variation amount of the pitch angle of the host vehicle is above a corresponding threshold value In the case of , the start of the steering control is prohibited or the above-mentioned steering control in execution is terminated.

Description

technical field [0001] The present disclosure relates to a lane departure avoidance device. Background technique [0002] Conventionally, there is known a lane departure avoiding device that performs steering control as described below. That is, the lane departure avoiding device first uses the on-board camera to capture a picture of the front of the host vehicle, and acquires an image of the front. Next, the lane departure avoidance device recognizes the lane boundary line in the captured image. Then, the lane departure avoiding device steers the vehicle in a direction to prevent the vehicle from departing from the traveling lane based on the position of the vehicle relative to the recognized lane boundary line or the like (see Patent Document 1). [0003] Patent Document 1: Japanese Patent No. 3882304 [0004] When the lane boundary line on the road is thin or the state of the road is poor, the recognition result of the lane boundary line by the lane departure device ma...

AI Technical Summary

Problems solved by technology

[0004] When the lane boundary line on the road is thin, or the state of the road is poor, the recognition result of the lane boundary line by the above-mentioned lane departure device may become unstable

If the above-mentioned lane departure device performs the above-mentioned steering control based on the recognition result of such a lane boundary line, the steering control may also become unstable.

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