LANE DEVIATION PREVENTIVE DEVICE

摘要

PROBLEM TO BE SOLVED: To prevent one's own vehicle from being judged not to be apt to deviate a lane, before the vehicle is fully recovered from being apt to deviate the lane, resulting from that the estimated lateral displacement is in fluctuations as the travelling lane width fluctuates. SOLUTION: It is determined whether or not one's own vehicle is apt to deviate the lane, based on deviation determining values Xw, Xc and a travelling position of the vehicle. At this time, when a deviation warning device 23 and deviation preventive control are not operated, the values Xw, Xc are updated into actual deviation determining values Xw*. Xc*corresponding to a current travelling lane width W (steps S21, S23, S24, S25). In contrast, when the alarm device 23 or the preventive control are activated, after this, the values Xw, Xc are not updated until both warning device 23 and preventive control stop operations, and the values Xw, Xc at the time when the warning device 23 or the preventive control start the operations are held (steps S21, S22, S24), then, the deviation is determined, based on the values Xw, Xc. COPYRIGHT: (C)2005,JPO&NCIPI