PROBLEM TO BE SOLVED: To provide a lane keeping controller that safely performs lane keeping control while suppressing an increase in cost.SOLUTION: A lane keeping controller 1 which controls a vehicle to travel while keeping a predetermined position in a width direction of a travel lane partitioned by lane partition lines, comprises: partition line recognition means 4 that recognizes lane partition lines on both sides of right and left; partition line recognition rate calculating means 5 that calculates recognition rates of lane partition lines recognized by the partition line recognition means 4; and travel position change means 6 that sets a target position of keeping traveling within the travel lanes when the recognition rate for the lane partition line of lower recognition rate, out of right and left lane partition lines recognized by the partition line recognition means 4, is lower than a first threshold value, and controls the vehicle to travel while keeping the target position. The travel position change means 6 sets a target position so that the target position becomes closer to a lane partition line of a higher recognition rate, as the recognition rate of the lane partition line of lower recognition rate out of right and left lane partition lines recognized by the partition line recognition means 4 is lower.
【課題】コストの増大を抑えつつ安全に車線維持制御を行う車線維持制御装置の提供。【解決手段】車線区画線により区画された走行車線の幅方向所定位置を維持して走行するように車両を制御する車線維持制御装置1であって、左右両側の車線区画線を認識する区画線認識手段4と、区画線認識手段4により認識された車線区画線の認識率を算出する区画線認識率算出手段5と、区画線認識手段5により認識された左右の車線区画線のうち、認識率が低い方の車線区画線の認識率が第1の閾値より低い場合に、走行車線内で走行を維持する目標位置を設定し、当該目標位置を維持して走行するように車両を制御する走行位置変更手段6とを備え、走行位置変更手段6は、区画線認識手段4により認識された左右の車線区画線のうち、認識率が低い方の車線区画線の認識率が低いほど、目標位置が、認識率が高い方の車線区画線に近くなるように目標位置を設定する。【選択図】図1
LANE KEEPING CONTROLLER
車線維持制御装置
2015-11-02
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / 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 |