US 11,987,242 B2
Lane departure prevention device
Kazuki Itazuri, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 25, 2022, as Appl. No. 17/704,533.
Claims priority of application No. 2021-080437 (JP), filed on May 11, 2021.
Prior Publication US 2022/0363252 A1, Nov. 17, 2022
Int. Cl. B60W 30/12 (2020.01); B60W 10/20 (2006.01); B60W 30/14 (2006.01); B60W 40/105 (2012.01); B60W 40/13 (2012.01); B60W 50/10 (2012.01); B60W 50/16 (2020.01); B62D 15/02 (2006.01); G06V 20/56 (2022.01); B60W 50/14 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 30/146 (2013.01); B60W 40/105 (2013.01); B60W 40/13 (2013.01); B60W 50/10 (2013.01); B60W 50/16 (2013.01); B62D 15/025 (2013.01); G06V 20/588 (2022.01); B60W 2040/1315 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2520/14 (2013.01); B60W 2540/20 (2013.01); B60W 2552/53 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A lane departure prevention device comprising:
a vehicle position of a vehicle detector configured to detect a vehicle position with respect to a lane; and
a control unit configured to, when a determination is made that there is a possibility that the vehicle will move out of the lane based on the vehicle position detected by the vehicle position detector, execute lane keeping control, which is at least one of automatic steering of a steering wheel and issuing of a warning, wherein:
the control unit is configured to, when a determination is made that a driver has gone from showing no intention to move out of the lane to showing an intention to move out of the lane to cross a first lane boundary, withhold the execution of the lane keeping control until a determination is made that a preset return-to-control condition is satisfied; and
the control unit is configured to, when a determination is made that the vehicle is approaching a second lane boundary present ahead of the vehicle to which the vehicle will travel with a speed equal to or faster than a reference speed, continue withholding the execution of the lane keeping control even when the determination is made that the return-to-control condition is satisfied.