Lane keeping traveling support apparatus

a technology of supporting apparatus and lane keeping, which is applied in the direction of transportation and packaging, instruments, image enhancement, etc., can solve the problems of excessively high assist control, conventional apparatus cannot keep a traveling position, and assist control reaches the upper limit value, so as to reduce the magnitude of steering assist torque and weaken the control effect of lane keeping assist control

Active Publication Date: 2018-07-19
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0047]According to the above aspect, the lane keeping assist control decreases the magnitude of the steering assist torque for causing the own vehicle to travel along the target traveling line by the lane keeping assist control. That is, the control effect of the lane keeping assist control is weakened. As a result, when the driver i...

Problems solved by technology

Therefore, for example, in a situation where the speed of the vehicle traveling in a curve section is excessively high, and/or in a situation where a disturbance (a cross/side wind, a road surface inclination, and the like) is excessively serious, a case may arise where the steering assist torque by the lane keeping assist control reaches the upper limit value.
When the steering assist torque reaches the upper limit value, the conventional apparatus can not keep a traveling p...

Method used

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  • Lane keeping traveling support apparatus
  • Lane keeping traveling support apparatus
  • Lane keeping traveling support apparatus

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modified examples

[0183]Although the embodiment of the present invention has been specifically described above, the present invention is not limited to the above embodiment, and various modified examples based on the technical idea within the scope of the present invention can be adopted.

[0184]The above-described present apparatus is said to be configured as follows, when the specific driving situation arises where the own vehicle is likely to deviate from the traveling lane (i.e., when the LDA calculation start condition is satisfied), and when it is determined that the steering of the steering wheel SW is performed by the driver of the own vehicle in such a manner that the own vehicle faces (heads to) the lane departing direction. That is, in such a case, the above-described present apparatus calculates the corrected LDA target torque TLDAf by multiplying the reference LDA target torque TLDAs calculated using the formula (2) by the LDA control gain GLDA set to the value α larger than “0” and smalle...

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Abstract

A lane keeping traveling support apparatus includes a driving support ECU. The driving support ECU is configured to determine a lane departure prevention torque in such a manner that a magnitude of the lane departure prevention torque becomes smaller or to stop performing a lane departure prevention control, when the lane departure prevention control is performed in place of a lane keeping assist control and a specific operation of a steering wheel is performed by a driver so as to have a direction of an own vehicle head to a lane departure direction.

Description

BACKGROUND OF THE INVENTION1. Field of the Invention[0001]The present invention relates to a lane keeping traveling support apparatus which controls a steering assist torque in such a manner that a vehicle (own vehicle) does not deviate from a lane where the own vehicle is traveling.2. Description of the Related Art[0002]A lane keeping traveling support apparatus, which has been conventionally known, recognizes lane markers such as a white line or a yellow line on a road by using a camera sensor mounted on an own vehicle to control a steering assist torque in such a manner that the own vehicle travels at an appropriate position within a “traveling lane (lane) specified by the recognized lane markers” (for example, refer to WO 2011 / 064825). Hereinafter, the conventional lane keeping traveling support apparatus is also referred to as a “conventional apparatus”. A lane keeping assist control and a lane departure prevention control are known as a control to realize a typical lane keepin...

Claims

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Application Information

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IPC IPC(8): B62D15/02B62D5/04B62D6/08G06K9/00
CPCB62D15/025B62D5/0463B62D6/08G06K9/00798G08G1/167G06K9/209G06T2207/30204G06T2207/30256G06T7/60B60W30/12B60W2710/202G06V20/588
Inventor KATAOKA, HIROAKIHASHIMOTO, KAZUMA
Owner TOYOTA JIDOSHA KK
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