US 12,258,012 B2
Vehicle driving support device
Jiro Miyawaki, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Oct. 17, 2022, as Appl. No. 17/966,931.
Claims priority of application No. 2021-175777 (JP), filed on Oct. 27, 2021.
Prior Publication US 2023/0126820 A1, Apr. 27, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 60/001 (2020.02); B60W 2510/20 (2013.01); B60W 2540/18 (2013.01); B60W 2552/30 (2020.02); B60W 2710/20 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A vehicle driving support device including a control device that executes lane deviation suppression control in which an own vehicle is autonomously steered to suppress the own vehicle from deviating from a lane, the control device being configured to set a target steering force based on an intervention steering force and a driver-required steering force during execution of the lane deviation suppression control, the intervention steering force being a force autonomously set as a steering force for returning the own vehicle to the lane, and the driver-required steering force being a force set based on a steering operation force input to the own vehicle by a driver of the own vehicle, and the control device being configured to apply a steering force corresponding to the target steering force to the own vehicle to autonomously steer the own vehicle, wherein:
the control device is configured to start the lane deviation suppression control, set a steering force with a reference value larger than zero as the intervention steering force to set the target steering force, and execute the lane deviation suppression control, when a straight lane deviation condition or a curve inner lane deviation condition is satisfied while a pre-intervention in-phase condition is not satisfied, the straight lane deviation condition being a condition that there is a possibility that the own vehicle deviates from the lane while traveling on a straight road, the curve inner lane deviation condition being a condition that there is a possibility that the own vehicle deviates from the lane from an inside of a curved road while traveling on the curved road, and the pre-intervention in-phase condition being a condition that an in-phase steering operation force is being input to the own vehicle by the driver of the own vehicle, the in-phase steering operation force being a steering operation force that is equal to or larger than a predetermined value larger than zero and that is applied in a direction of returning the own vehicle that has deviated from the lane to the lane, and the control device is configured not to execute the lane deviation suppression control when the straight lane deviation condition or the curve inner lane deviation condition is satisfied while the pre-intervention in-phase condition is satisfied, or is configured to start the lane deviation suppression control, set a steering force smaller than the reference value as the intervention steering force to set the target steering force, and execute the lane deviation suppression control;
the control device is configured to set a steering force smaller than the reference value as the intervention steering force to set the target steering force and execute the lane deviation suppression control, when a post-intervention in-phase condition is satisfied during an avoidance control period, the post-intervention in-phase condition being a condition that the in-phase steering operation force larger than a predetermined value is input to the own vehicle by the driver, and the avoidance control period being a period from when the straight lane deviation condition or the curve inner lane deviation condition is satisfied and the lane deviation suppression control is started until the own vehicle is returned to the lane by the lane deviation suppression control; or
the control device is also configured to set a steering force smaller than the reference value as the intervention steering force to set the target steering force and execute the lane deviation suppression control, when a post-intervention steering condition is satisfied during a return control period, the post-intervention steering condition being a condition that a steering operation force larger than a predetermined value is input to the own vehicle by the driver, and the return control period being a period from when the own vehicle is returned to the lane by the lane deviation suppression control until the lane deviation suppression control is terminated after the straight lane deviation condition or the curve inner lane deviation condition is satisfied and the lane deviation suppression control is started; and
wherein the control device is configured to:
start the lane deviation suppression control, set the steering force having the reference value as the intervention steering force to set the target steering force and execute the lane deviation suppression control, when a curve outer lane deviation condition is satisfied while the pre-intervention in-phase condition is not satisfied the curve outer lane deviation condition being a condition that there is a possibility that the own vehicle deviates from the lane from an outside of a curved road while traveling on the curved road; and
set a steering force larger than the reference value as the intervention steering force to set the target steering force and execute the lane deviation suppression control, when the post-intervention in-phase condition is satisfied during the avoidance control period after the curve outer lane deviation condition is satisfied and the lane deviation suppression control is started.