PROBLEM TO BE SOLVED: To provide a lane deviation avoidance device capable of suppressing destabilization of control.SOLUTION: A lane deviation avoidance device (1) comprises: an image acquisition unit (3) for acquiring an image; a recognition unit (5) for recognizing a lane boundary line; a control execution unit (15) for executing steering control based on a position of an own vehicle to the lane boundary line; a variation amount calculation unit (9) for calculating one or more variation amounts V selected from following v1-v4; a determination unit (11) for determining whether or not, a value of each variation amount V is equal to or higher than a threshold; and a control suppression unit (13) for inhibiting start of steering control or finishing steering control which is being executed, when the value of each variation amount V is equal to or higher than the threshold. In variation amounts, v1 is a variation amount in a lateral position, v2 is a variation amount in a yaw angle, v3 is a variation amount n curvature of the lane boundary line, and v4 is a variation amount in a pitch angle.SELECTED DRAWING: Figure 1

    【課題】制御の不安定化を抑制できる車線逸脱回避装置を提供すること。【解決手段】画像を取得する画像取得ユニット(3)と、車線境界線を認識する認識ユニット(5)と、車線境界線に対する自車両の位置に基づき操舵制御を実行する制御実行ユニット(15)と、以下のv1〜v4から成る群から選択される1以上の変動量Vを算出する変動量算出ユニット(9)と、変動量Vの値が閾値以上であるか否かを判断する判断ユニット(11)と、変動量Vの値が閾値以上である場合、操舵制御の開始を禁止するか、実行中の操舵制御を終了させる制御抑制ユニット(13)とを備えることを特徴とする車線逸脱回避装置(1)。v1:横位置における変動量、v2:ヨー角における変動量、v3:車線境界線の曲率における変動量、v4:ピッチ角における変動量。【選択図】図1


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    Titel :

    LANE DEVIATION AVOIDANCE DEVICE


    Weitere Titelangaben:

    車線逸脱回避装置


    Beteiligte:
    NAKAHARA NAOTO (Autor:in)

    Erscheinungsdatum :

    2017-01-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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