Provided is a lane departure suppression control device for a vehicle capable of starting lane departure suppression control at an optimal timing corresponding to a lane shape. When the curvature of alane being traveled changes in a large direction, if the past road shape is a straight road, the control allowable range Wp set inside the left and right dividing lines and allowing lane departure suppression control is set to be the widest first allowable range Wa1(S25), and if the past road shape is a curved road, the control allowable range Wp is set to be the narrowest second allowable rangeWa2(S25). And a second allowable range Wa2 that is narrower than the first allowable range Wa1(S26). On the other hand, in the case where the curvature of the lane being traveled changes in the smalldirection, when the current road shape is a straight road, the control allowable range Wp is set to be the narrowest fourth allowable range Wa4(S28), and when the current road shape is a curve, the control allowable range Wp is set to be a third allowable range Wa3(S27) wider than the fourth allowable range Wa4.
提供车辆的车道偏离抑制控制装置,能在与车道形状对应的最佳时刻开始车道偏离抑制控制。在正在行驶的车道曲率正在向大的方向变化的情况下,在过去的道路形状为直线道路时,将设定于左右划分线的内侧,允许车道偏离抑制控制的控制允许范围Wp设为最宽的第1允许范围Wa1(S25),另外,在过去的道路形状为弯道时,将其设为比第1允许范围Wa1窄的第2允许范围Wa2(S26)。另一方面,在正在行驶的车道曲率正在向小的方向变化的情况下,在当前的道路形状为直线道路时,将控制允许范围Wp设为最窄的第4允许范围Wa4(S28),另外,在当前的道路形状为弯道时,将其设为比第4允许范围Wa4宽的第3允许范围Wa3(S27)。
Lane departure suppression control device
车辆的车道偏离抑制控制装置
2021-03-05
Patent
Elektronische Ressource
Chinesisch