US 12,377,913 B2
Driver assist system for vehicle
Keigo Miyama, Toyota (JP); and Shintaro Saigo, Nisshin (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 29, 2023, as Appl. No. 18/523,454.
Claims priority of application No. 2023-018885 (JP), filed on Feb. 10, 2023.
Prior Publication US 2024/0270311 A1, Aug. 15, 2024
Int. Cl. B62D 15/02 (2006.01); B60W 10/20 (2006.01); B60W 30/12 (2020.01); B60W 40/105 (2012.01); G06V 20/56 (2022.01)
CPC B62D 15/025 (2013.01) [B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 40/105 (2013.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2540/18 (2013.01); B60W 2552/53 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A driver assist system for a vehicle that assists a driver to steer the vehicle so as to prevent deviation of the vehicle from a predetermined lane, comprising:
a controller that controls a steering force,
wherein the controller comprises:
an edge line detector that detects a right edge line and a left edge line of the predetermined lane on which the vehicle travels;
a limit steering angle detector that detects a right limit steering angle at which the vehicle reaches the right edge line in a predetermined time given that the vehicle travels at a current speed, and a left limit steering angle at which the vehicle reaches the left edge line in the predetermined time given that the vehicle travels at the current speed;
an actual steering angle detector that detects an actual steering angle as an operating amount from a position at which the vehicle propels straight ahead;
a comparator that compares the actual steering angle with the right limit steering angle and the left limit steering angle;
a steering assistor that establishes a steering reaction force when the actual steering angle exceeds the right limit steering angle or the left limit steering angle, in a direction to reduce a difference between the actual steering angle and the right limit steering angle or the left limit steering angle exceeded by the actual steering angle;
a determiner that determines a satisfaction of a predetermined condition relating to a width of the predetermined lane; and
an adjustor that imaginarily sets the right edge line and the left edge line on a center of the predetermined lane in a width direction, and calculate the right limit steering angle and the left limit steering angle based on the right edge line and the left edge line set imaginarily so as to establish the steering reaction force by the steering assistor, when the satisfaction of the predetermined condition is determined by the determiner.