US 12,134,381 B2
Driver support device
Kazuki Itazuri, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jul. 27, 2022, as Appl. No. 17/874,645.
Claims priority of application No. 2021-132341 (JP), filed on Aug. 16, 2021.
Prior Publication US 2023/0049874 A1, Feb. 16, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 10/20 (2006.01); B62D 15/02 (2006.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B62D 15/021 (2013.01); B62D 15/025 (2013.01); B60W 2510/202 (2013.01); B60W 2540/18 (2013.01); B60W 2540/223 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A driver support device comprising:
a drive device configured to change a steering angle that is an angle of a steered wheel of a vehicle by applying torque to a steering shaft coupled to a steering wheel provided in the vehicle; and
a control unit configured to execute lane departure avoidance control that controls the drive device so as to change the steering angle to avoid departure of the vehicle from a traveling lane in which the vehicle is traveling when a predetermined start condition is satisfied, wherein the control unit is configured to execute the lane departure avoidance control such that, when a holding position indicating a position of a hand of a driver of the vehicle holding the steering wheel does not meet a predetermined specific condition at a time when the start condition is satisfied, a magnitude of a steering angular velocity that is an amount of change in the steering angle per unit time is smaller than the magnitude when the holding position meets the specific condition at the time when the start condition is satisfied.