PROBLEM TO BE SOLVED: To prevent a vehicle from deviating from a lane while reducing the events of lane keep control being performed unnecessarily against the intention of a vehicular driver at a continuous curve.SOLUTION: A lane keep apparatus 100 has a continuous curve determination part 14 for determining that a lane is a continuous curve. In a case where a curve inside determination part 15 determines that a lane border line a vehicle V approaches is a lane border line on a curve inside, and if time calculated by an arrival time calculation part 13 is equal to or less than a second threshold being smaller than a first threshold that is applied to the case of approaching a lane border line on a curve outside, a lane keep control part 16 performs lane keep control. In the case of approaching a lane border line on a curve inside intentionally in a continuous curve, timing of the lane keep control is delayed, while in the case of approaching a lane border line on a curve outside, the timing of the lane keep control is advanced. Thus it is possible to prevent the vehicle V from deviating from the lane while reducing events of lane keep control being performed unnecessarily against an intention of a vehicular driver at a continuous curve.SELECTED DRAWING: Figure 2

    【課題】連続カーブで車両の運転者の意に反した不要な車線維持制御が行われることを低減しつつ、車両の車線からの逸脱を防止する。【解決手段】車線維持装置100の連続カーブ判定部14により車線が連続カーブであると判定され、カーブ内側判定部15により車両Vが接近する車線境界線がカーブ内側の車線境界線であると判定された場合は、到達時間算出部13により算出された時間がカーブの外側の車線境界線に接近する場合の第1の閾値よりも小さい第2の閾値以下のときに、車線維持制御部16により車線維持制御が行われる。連続カーブで意図的にカーブ内側の車線境界線に接近する場合には車線維持制御のタイミングが遅くなり、カーブ外側の車線境界線に接近する場合には車線維持制御のタイミングが早くなる。連続カーブで車両Vの運転者の意に反した不要な車線維持制御が行われることを低減しつつ、車両Vの車線からの逸脱を防止することができる。【選択図】図2


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    Title :

    LANE KEEP APPARATUS


    Additional title:

    車線維持装置


    Contributors:

    Publication date :

    2017-10-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge



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