| CPC B60W 30/12 (2013.01) [B60W 50/0097 (2013.01); B60W 50/14 (2013.01); B60W 2540/223 (2020.02); B60W 2710/20 (2013.01)] | 13 Claims |
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1. A vehicle control system to be applied to a vehicle, the vehicle control system comprising:
a camera configured to capture an image in front of the vehicle;
an image processor configured to recognize a left lane line of the vehicle and a right lane line of the vehicle based on the image;
a driving support controller configured to:
generate a first prediction path and a second prediction path, each being generated on a different basis, wherein
(i) the first prediction path is generated based on map information and positional information of the vehicle, and
(ii) the second prediction path is generated based on the left lane line and the right lane line,
calculate a left deviation amount and a right deviation amount in response to generating the first prediction path and the second prediction path, the left deviation amount indicating a distance by which a left edge of the vehicle departs leftward from the left lane line along the second prediction path after a predetermined time period from a current time point in a case where the vehicle travels along the first prediction path, the right deviation amount indicating a distance by which a right edge of the vehicle departs rightward from the right lane line along the second prediction path after the predetermined time period from the current time point in the case where the vehicle travels along the first prediction path;
determine whether the left deviation amount is larger than a predetermined value;
determine whether the right deviation amount is larger than the predetermined value;
generate a third prediction path, i) in response to determining that the left deviation amount is larger than the predetermined value or ii) in response to determining that the right deviation amount is larger than the predetermined value, the third prediction path extending through an intermediate point between the first prediction path and the second prediction path, the third prediction path separating from the first prediction path and the second prediction path in front of the vehicle;
select the third prediction path as a travel path of the vehicle, in response to generating the third prediction path; and
select the second prediction path as the travel path of the vehicle, in response to i) determining that the left deviation amount is not larger than the predetermined value and ii) determining that the right deviation amount is not larger than the predetermined value;
an assist travel controller configured to perform hands-off driving in which a driver who drives the vehicle is not to perform steering or course-keeping based on the first prediction path and the second prediction path; and
a transition controller configured to perform a transition from the hands-off driving to hands-on driving i) in response to determining that the left deviation amount is larger than the predetermined value or ii) in response to determining that the right deviation amount is larger than the predetermined value.
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