Vehicle traveling support apparatus

Patent metadata

Field	Value
Publication number	US-11027778-B2
Application number	US-202016835967-A
Country	US
Kind code	B2
Filing date	Mar 31, 2020
Priority date	Jul 6, 2017
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

Abstract

A driving support ECU is configured to set, when a recognition state of a lane marker by a sensor is a one side lane marker recognizable state which is a state where the sensor can recognize only one of a left lane marker and a right lane marker, a steering angle guard value and/or a steering angle speed guard value to a value which is smaller than when the recognition state of the lane marker is a both lane markers recognizable state which is a state where the sensor can recognize both the left lane marker and the right lane marker.

First claim

What is claimed is:

1. A vehicle traveling support apparatus comprising:
a sensor for recognizing a lane marker on a traveling lane in which an own vehicle is traveling; and
an electronic control unit for performing a lane keeping control to control a steering angle of said own vehicle so as to have said own vehicle travel along a target traveling line set based on at least any one of a left lane marker and a right lane marker recognized by said sensor, said left lane marker being on a left side with respect to said own vehicle, said right lane marker being on a right side with respect to said own vehicle,
wherein,
when performing said lane keeping control,
said electronic control unit is configured:
to execute at least any one of:
a process to control said steering angle so as to match a magnitude of said steering angle with a steering angle guard value when said magnitude of said steering angle exceeds said steering angle guard value; and
a process to control said steering angle so as to match a magnitude of a steering angle speed which is an amount of change per unit time of said steering angle with a steering angle speed guard value when said magnitude of said steering angle speed exceeds said steering angle speed guard value; and

to set, when a recognition state of said lane marker by said sensor is a one side lane marker recognizable state which is a state where said sensor can recognize only one of said left lane marker and said right lane marker, said steering angle guard value and/or said steering angle speed guard value corresponding to one or more of said executed processes to a value which is smaller than when said recognition state of said lane marker is a both lane markers recognizable state which is a state where said sensor can recognize both said left lane marker and said right lane marker.

2. The vehicle traveling support apparatus according to claim 1 ,
wherein,
said electronic control unit is configured to set, when a specific recognition state occurs where said lane marker recognized by said sensor changes from said left lane marker to said right lane marker or vice versa under said one side lane marker recognizable state, said steering angle guard value and/or said steering angle speed guard value corresponding to one or more of said executed processes to a value which is smaller than when said recognition state of said lane marker is said one side lane marker recognizable state and said specific recognition state does not occur.

3. The vehicle traveling support apparatus according to claim 2 ,
wherein,
said electronic control unit is configured to set, when said specific recognition state has occurred after said own vehicle crossed said lane marker recognized by said sensor under said one side lane marker recognizable state, all of said steering angle guard value and said steering angle speed guard value to values of when said recognition state of said lane marker is said both lane markers recognizable state.

4. The vehicle traveling support apparatus according to claim 2 ,
wherein,
said electronic control unit is configured to set, when a particular state has continued for a predetermine period from a time point at which said specific recognition state occurred, said particular state being a state where said recognition state of said lane marker by said sensor is said one side lane marker recognizable state and said particular recognition state does not occur, said steering angle guard value and/or said steering angle speed guard value corresponding to one or more of said executed processes to a value which is larger than when said specific recognition state occurs and is smaller than when said recognition state of said lane marker by said sensor is said both lane markers recognizable state.

5. The vehicle traveling support apparatus according to claim 4 ,
wherein,
said electronic control unit is configured to determine that said particular state has continued for said predetermine period, when a duration time of said particular state from a time point at which said specific recognition state occurred becomes equal to or longer than a threshold duration time.

6. The vehicle traveling support apparatus according to claim 4 ,
wherein,
said electronic control unit is configured to determine that said particular state has continued for said predetermine period, when a traveling distance of said own vehicle under said particular state from a time point at which said specific recognition state occurred becomes equal to or longer than a threshold traveling distance.

Assignees

• Toyota Motor Co Ltd

Inventors

• Ide Hirohito

Classifications

• B62D6/002 Primary

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D15/024

  Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car · CPC title

• B62D15/0255 Primary

  Automatic changing of lane, e.g. for passing another vehicle · CPC title