US 11,814,099 B2
Lane departure prevention control apparatus
Takashi Omikawa, Tokyo (JP); and Ryo Hajika, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Aug. 27, 2021, as Appl. No. 17/459,755.
Claims priority of application No. 2020-144270 (JP), filed on Aug. 28, 2020.
Prior Publication US 2022/0063722 A1, Mar. 3, 2022
Int. Cl. B62D 15/02 (2006.01); B62D 7/15 (2006.01); B60W 30/12 (2020.01); B60W 10/20 (2006.01); B60W 50/08 (2020.01); B60W 50/00 (2006.01)
CPC B62D 15/025 (2013.01) [B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 50/087 (2013.01); B62D 7/159 (2013.01); B60W 2050/0071 (2013.01); B60W 2510/20 (2013.01); B60W 2555/20 (2020.02); B60W 2710/20 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A lane departure prevention control apparatus to be applied to a vehicle, the lane departure prevention control apparatus comprising:
a traveling-environment recognition unit configured to recognize a traveling environment in front of the vehicle and detect, based on the recognized traveling environment, lane lines defining a left side and a right side of a lane on which the vehicle travels;
a vehicle-behavior detector configured to detect behavior of the vehicle;
a predicted departure determination unit configured to predict that the vehicle is to depart from the lane based on the detected lane lines and the detected behavior of the vehicle;
a lane departure prevention control processor configured to:
in response to predicting that the vehicle is to depart from the lane, 1) set a target steering angle being a steering angle with which departure of the vehicle from the lane is preventable, 2) detect, using a steering-angle detector, an actual steering angle of steering-wheel operation currently being performed by a driver of the vehicle, and 3) determine that the actual steering angle of the steering-wheel operation currently being performed by the driver is in a direction opposite a lane departing direction;
in response to determining that the actual steering angle of the steering-wheel operation currently being performed by the driver is in the direction opposite the lane departing direction, determine, based on a difference between the actual steering angle and the target steering angle, whether the target steering angle is in the lane departing direction relative to the actual steering angle or the direction opposite the lane departing direction;
when the target steering angle is in the lane departing direction relative to the actual steering angle, 1) update the set target steering angle to be further toward the direction opposite the lane departing direction and 2) execute a lane departure prevention control based on the updated target steering angle; and
when the target steering angle is in the direction opposite the lane departing direction relative to the actual steering angle, 1) maintain the already set target steering angle and 2) execute the lane departure prevention control based on the maintained target steering angle.