US 11,718,294 B2
Lane departure prevention control apparatus for vehicle
Takashi Omikawa, Tokyo (JP); and Ryo Hajika, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jun. 11, 2020, as Appl. No. 16/898,893.
Claims priority of application No. JP2019-155894 (JP), filed on Aug. 28, 2019.
Prior Publication US 2021/0061271 A1, Mar. 4, 2021
Int. Cl. B60W 30/12 (2020.01); B60W 40/072 (2012.01); B60W 10/20 (2006.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 40/072 (2013.01); G06V 20/588 (2022.01); B60W 2552/53 (2020.02); B60W 2554/4046 (2020.02); B60W 2710/20 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A lane departure prevention control apparatus for a vehicle, the lane departure prevention control apparatus comprising:
a traveling environment recognizer configured to i) recognize a traveling environment ahead of the vehicle, and ii) detect a lane marker that marks one of two sides of a traveling lane in which the vehicle is traveling based on the recognized traveling environment;
a control permission range setting unit configured to set a control permission range extending from the lane marker toward a lane center of the traveling lane, wherein the control permission range indicates a range in which execution of departure prevention control is permitted, wherein the execution of departure prevention control is permitted when a reference point of the vehicle enters the control permission range, and wherein the reference point is set at a predetermined location of a vehicle body of the vehicle;
a vehicle behavior detector configured to detect behavior of the vehicle;
a predicted departure determiner configured to i) predict a travel path of the reference point based on the detected behavior and ii) determine whether the predicted travel path of the reference point crosses a line based on the detected lane marker and the predicted travel path of the reference point, wherein the line is set at a predetermined distance from the lane marker to the lane center and set within the control permission range;
a steering torque calculator configured to, in response to determining that i) the reference point enters the control permission range extending from the lane marker toward the lane center of the traveling lane and ii) the predicted travel path of the reference point crosses the line, transmit a drive signal corresponding to steering torque to a steering controller to execute the departure prevention control for preventing departure of the vehicle from the lane marker and configured to, in response to determining that i) the reference point does not enter the control permission range extending from the lane marker toward the lane center of the traveling lane and ii) the predicted travel path of the reference point crosses the line, not to transmit the drive signal corresponding to the steering torque to the steering controller to execute the departure prevention control; and
a lane shape detector configured to detect a change in a lane curvature of the traveling lane,
wherein, when the detected change in the lane curvature is in a direction in which the lane curvature decreases or the lane curvature is constant, the control permission range setting unit sets a width of the control permission range that extends from the lane marker toward the lane center of the traveling lane to be narrower than a half width of the traveling lane, and
wherein, when the detected change in the lane curvature is in a direction in which the lane curvature increases, the control permission range setting unit sets the width of the control permission range that extends from the lane marker toward the lane center of the traveling lane to be equal to or wider than the half width of the traveling lane.