DRIVING ASSISTANCE DEVICE
First Claim
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1. A driving assistance device comprising:
- a recognition controller configured to recognize lane markings and objects nearby a vehicle;
a lane change determination controller configured to determine whether or not a lane changing is possible based on a recognition result of the recognition controller;
an automatic lane change controller configured to, when the lane changing has been determined to be possible by the lane change determination controller and an operation to a direction indicator has been detected, execute an automatic lane change control of the vehicle in a direction indicated by the operation;
a torque sensor configured to detect a steering torque and a steering direction; and
a steering suppression controller configured to execute a steering suppression control,wherein the steering suppression controller does not execute the steering suppression control when the lane changing has been determined to be possible by the lane change determination controller and the torque sensor has detected a predetermined steering input torque or greater.
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Abstract
An RDM controller executes RDM control (steering suppression control). However, the RDM controller does not execute RDM control in cases in which lane changing has been determined to be possible by a LC determination section and a torque sensor has detected a steering input of a predetermined amount or greater.
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Citations
14 Claims
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1. A driving assistance device comprising:
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a recognition controller configured to recognize lane markings and objects nearby a vehicle; a lane change determination controller configured to determine whether or not a lane changing is possible based on a recognition result of the recognition controller; an automatic lane change controller configured to, when the lane changing has been determined to be possible by the lane change determination controller and an operation to a direction indicator has been detected, execute an automatic lane change control of the vehicle in a direction indicated by the operation; a torque sensor configured to detect a steering torque and a steering direction; and a steering suppression controller configured to execute a steering suppression control, wherein the steering suppression controller does not execute the steering suppression control when the lane changing has been determined to be possible by the lane change determination controller and the torque sensor has detected a predetermined steering input torque or greater. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vehicle control method executed by an on-board computer, the method comprising steps of:
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recognizing lane markings and objects nearby a vehicle; determining whether or not a lane changing is possible based on a recognition result of the recognizing step; executing, when the lane changing has been determined to be possible and an operation to a direction indicator has been detected, an automatic lane change control of the vehicle in a direction indicated by the operation; detecting a steering torque and a steering direction by a torque sensor; and executing a steering suppression control and stopping the steering suppression control when the lane changing has been determined to be possible and the torque sensor has detected a predetermined steering input torque or greater.
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14. A non-transitory computer readable medium storing a vehicle control program for causing an on-board computer to execute processing, the processing comprising steps of:
recognizing lane markings and objects nearby a vehicle; determining whether or not a lane changing is possible based on a recognition result of the recognizing step; executing, when the lane changing has been determined to be possible and an operation to a direction indicator has been detected, an automatic lane change control of the vehicle in a direction indicated by the operation; detecting a steering torque and a steering direction by a torque sensor; and executing a steering suppression control and stopping the steering suppression control when the lane changing has been determined to be possible and the torque sensor has detected a predetermined steering input torque or greater.
Specification