US 9,809,251 B2
Lane following control device
Masaaki Yamaoka, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-ken (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota-shi, Aichi (JP)
Filed on Dec. 17, 2015, as Appl. No. 14/972,666.
Claims priority of application No. 2015-015230 (JP), filed on Jan. 29, 2015.
Prior Publication US 2016/0221604 A1, Aug. 4, 2016
Int. Cl. B62D 15/02 (2006.01)
CPC B62D 15/025 (2013.01) 5 Claims
OG exemplary drawing
 
1. A lane following control device configured to control a travelling of a host vehicle such that the lateral position of the host vehicle becomes a target lateral position which is set at a middle position of a travelling lane, the device comprising:
an ECU configured to:
detect an adjacent vehicle travelling on an adjacent lane which is adjacent to the travelling lane of the host vehicle; and
perform shift processing for shifting the target lateral position in the travelling lane from a middle position so as to be separated from the adjacent lane in response to a travelling direction distance between the adjacent vehicle detected by the ECU and the host vehicle being equal to or less than a travelling direction threshold value and a lane width direction distance between the adjacent vehicle detected by the ECU and the travelling lane of the host vehicle being equal to or less than a lane width direction threshold value; wherein
the ECU controls the travelling of the host vehicle according to the target lateral position, and
wherein, in response to the shift processing being performed on a first adjacent vehicle which is closest to the host vehicle among the adjacent vehicles detected by the ECU and travelling in front of the host vehicle, a travelling direction distance between a second adjacent vehicle travelling immediately front of the first adjacent vehicle in the adjacent lane and the first adjacent vehicle is equal to or less than a vehicle-to-vehicle distance threshold value, and a lane width direction distance between the second adjacent vehicle and the travelling lane of the host vehicle is equal to or less than the lane width direction threshold value, the ECU is configured to maintain the shift processing on the first adjacent vehicle until the shift processing is performed on the second adjacent vehicle.