VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD
First Claim
1. A vehicle control apparatus comprising:
- a lane boundary line recognizing section configured to recognize a lane boundary line of a lane in which a vehicle is traveling;
a present vehicle position recognizing section configured to recognize a present position of a predetermined reference point of the vehicle, wherein the reference point is located within or close to the vehicle;
a predicted vehicle position calculating section configured to calculate a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position;
an imaginary lane boundary line calculating section configured to calculate an imaginary lane boundary line, wherein the imaginary lane boundary line is substantially tangent to the lane boundary line at a point close to the predicted position;
a lane deviation prevention control section configured to perform a lane deviation prevention control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line; and
an operation permitting section configured to selectively permit and suppress the lane deviation prevention control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.
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Accused Products
Abstract
A vehicle control apparatus includes a first section that recognizes a lane boundary line of a lane in which a vehicle is traveling. A second section recognizes a present position of a predetermined reference point of the vehicle. A third section calculates a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position. A fourth calculates an imaginary lane boundary line, wherein the imaginary lane boundary line is tangent to the lane boundary line at a point close to the predicted position. A fifth section performs a control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line. A sixth section selectively permits and suppresses the control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.
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Citations
15 Claims
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1. A vehicle control apparatus comprising:
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a lane boundary line recognizing section configured to recognize a lane boundary line of a lane in which a vehicle is traveling; a present vehicle position recognizing section configured to recognize a present position of a predetermined reference point of the vehicle, wherein the reference point is located within or close to the vehicle; a predicted vehicle position calculating section configured to calculate a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position; an imaginary lane boundary line calculating section configured to calculate an imaginary lane boundary line, wherein the imaginary lane boundary line is substantially tangent to the lane boundary line at a point close to the predicted position; a lane deviation prevention control section configured to perform a lane deviation prevention control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line; and an operation permitting section configured to selectively permit and suppress the lane deviation prevention control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle control apparatus comprising:
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a lane deviation tendency calculating section configured to calculate a tendency of a vehicle to deviate from a lane in which the vehicle is traveling; and a lane deviation suppression control section configured to perform a lane deviation suppression control of suppressing the tendency by applying at least one of a yawing moment and a decelerating force to the vehicle in response to determination that the vehicle has the tendency to deviate from the lane, wherein the lane deviation suppression control section is further configured to; perform the lane deviation suppression control in response to determination that the tendency is a tendency to deviate outwardly from the lane; and selectively perform and limit the lane deviation suppression control depending on state of the tendency in response to determination that the tendency is a tendency to deviate inwardly from the lane. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A vehicle control method comprising:
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determining whether or not a vehicle has a tendency to deviate from a curved lane in which the vehicle is traveling; suppressing the tendency by applying at least one of a yawing moment and a decelerating force to the vehicle in response to determination that the vehicle has the tendency; permitting the suppression constantly in response to determination that the tendency is a tendency to deviate outwardly from the lane; permitting the suppression in response to determination that the tendency is a tendency to deviate inwardly from the lane and satisfies a predetermined condition; and suppressing the suppression in response to determination that the tendency is a tendency to deviate inwardly from the lane and fails to satisfy the condition.
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Specification