LANE DEVIATION PREVENTION CONTROL APPARATUS OF VEHICLE

摘要

First support control for determining lane deviation on the basis of a predicted lane deviation time is selected when a vehicle lateral position is within a region on the outer side of a dead zone and on a lane center side further inward than a predetermined position. Second support control for determining the lane deviation on the basis of the vehicle lateral position and a yaw angle to lane is selected when the vehicle lateral position is within a region on the lane end side on the outer side of the predetermined position.

主权项

1. A lane deviation prevention control apparatus of a vehicle comprising:
a support controller that determines whether or not the vehicle deviates from a lane in which the vehicle is traveling and, when determining that the vehicle deviates from the lane, executes support control including at least a warning for preventing the lane deviation, wherein the support controller includes:
a first support controller that calculates a predicted lane deviation time until the vehicle deviates from the lane in future, on the basis of a vehicle lateral position in a width direction of the lane in which the vehicle is traveling, a yaw angle of the vehicle with respect to the lane, and vehicle speed, and determines the lane deviation from the predicted lane deviation time; anda second support controller that determines whether the vehicle deviates from the lane, when the yaw angle of the vehicle with respect to the lane points to a direction deviating from the lane, and wherein the support controller selects the first support controller when the vehicle lateral position is closer to a lane center than to a predetermined position that is set according to a traveling environment, and selects the second support controller when the vehicle lateral position is closer to a lane end than to the predetermined position.