US 12,304,522 B2
Vehicle driving support device setting target traveling line
Kazuaki Aso, Gotemba (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Oct. 11, 2022, as Appl. No. 17/963,468.
Claims priority of application No. 2021-173570 (JP), filed on Oct. 25, 2021.
Prior Publication US 2023/0125510 A1, Apr. 27, 2023
Int. Cl. G01C 22/00 (2006.01); B60W 30/12 (2020.01); B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 30/12 (2013.01); B60W 2552/53 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A vehicle driving support device including a control device configured to set a target traveling line and execute lane keeping control, the lane keeping control performing autonomous steering of an own vehicle to travel along the target traveling line, the control device comprising a processor configured to
set a left limit line as a left end line and a right limit line as a right end line during execution of the lane keeping control, the left limit line being a line extending along a current lane and passing through a position offset rightward from a left-side target by a predetermined left side separation distance, the left-side target being a target present on a left side of the own vehicle, the right limit line being a line extending along the current lane and passing through a position offset leftward from a right-side target by a predetermined right side separation distance, the right-side target being a target present on a right side of the own vehicle,
set a center line of the current lane as the target traveling line when the center line is located between the left end line and the right end line, and set a line closer to the center line, of the left end line and the right end line, as the target traveling line when the center line is not located between the left end line and the right end line, in a case where the left end line is set on a left side of the right end line, in a traveling direction, and
set a line between the left end line and the right end line as the target traveling line in a case where the left end line is set on a right side of the right end line, in the traveling direction.