Lane departure control system

摘要

A lane departure control system is provided which works to control a lane departure of a vehicle. The lane departure control system determines a controlled angle between a heading direction and a target direction of the vehicle running in a lane. When the vehicle is expected to unintentionally leave the lane, the system steers the vehicle toward the center of the lane by the controlled angle at at least a first yaw rate in a first angular range and a second yaw rate in a second angular range following the first angular range. Each of the first and second yaw rates is changed at a constant rate. This results in simplified calculation of the schedule of changing the first and second yaw rates.

主权项

1. A lane departure control apparatus for controlling a lane departure of a vehicle using a steering mechanism, the apparatus comprising:
an angle determiner which determines a controlled angle between a direction the vehicle is pointing within a given area of a lane on a road and a target angular direction in which the vehicle is to be pointed; and a lane departure controller which enters a first steering control mode when the angle determiner determines that the vehicle is about to deviate from the given area of the lane, wherein in the first steering control mode, the lane departure controller controls the steering mechanism to steer the vehicle toward a center of the given area of the lane by the controlled angle at least a first yaw rate in a first angular range and a second yaw rate in a second angular range following the first angular range, each of the first and second yaw rates being changed at a constant rate.