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Travel assist apparatus and travel assist method

  • US 9,852,633 B2
  • Filed: 02/28/2011
  • Issued: 12/26/2017
  • Est. Priority Date: 02/28/2011
  • Status: Expired due to Fees
First Claim
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1. A travel assist apparatus that performs assist of warning or support so that a departure of a subject vehicle from a traveling lane is avoided, the apparatus comprising:

  • at least one processor configured to;

    set the traveling lane based on a non-travelable area or a road marking to indicate a lane boundary;

    change a boundary position of the lane boundary of the traveling lane such that the boundary position approaches a subject vehicle as a lane entering angle of an oncoming vehicle with respect to the traveling lane and a lane departure angle of the subject vehicle with respect to the travelling lane increases,wherein the lane departure angle of the subject vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the subject vehicle and the lane entering angle of oncoming vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the oncoming vehicle;

    determine whether at least one of a distance between the subject vehicle and the boundary position or a time required until the subject vehicle arrives at the boundary position is not more than a predetermined value; and

    upon an affirmative determination, perform assist of the warning or support so that the departure of the subject vehicle from the traveling lane is avoided.

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