US 12,263,838 B2
Lane departure suppression device
Kazuki Itazuri, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jul. 29, 2022, as Appl. No. 17/877,038.
Claims priority of application No. 2021-132940 (JP), filed on Aug. 17, 2021.
Prior Publication US 2023/0055183 A1, Feb. 23, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 50/14 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 50/14 (2013.01); B60W 2520/12 (2013.01); B60W 2520/125 (2013.01); B60W 2540/10 (2013.01); B60W 2552/10 (2020.02); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A lane departure suppression device comprising:
a vehicle position detection device that detects a position of a vehicle with respect to a lane; and
an electronic control unit configured to:
execute a lane departure suppression control that includes automatically steering a steering wheel and/or issuing a warning based on the position of the vehicle detected by the vehicle position detection device,
determine that a driver intends to maintain the lane when a turn signal lever is not in an operating position and the driver is performing a steering operation to maintain the lane, the steering operation being determined by whether a magnitude of a steering torque is less than a first predetermined value or a magnitude of a steering angle is less than a second predetermined value,
determine that the driver intends to depart from the lane beyond a lane boundary when the turn signal lever is in the operating position or the driver is performing the steering operation to change the lane, the steering operation being determined by whether the magnitude of the steering torque is equal to or greater than the first predetermined value or the magnitude of the steering angle is equal to or greater than the second predetermined value, and
based upon the determination that the driver intends to depart from the lane beyond the lane boundary, cancel the lane departure suppression control.