To provide a track deviation prevention device capable of appropriately executing track deviation prevention steering control in a case where an object is present in front of an own vehicle.SOLUTION: When determining that an own vehicle highly possibly departs from a track between a left side deviation regulation line and a right side deviation regulation line, an ECU executes track deviation prevention steering control of changing a steering angle so as to prevent the own vehicle from deviating from the track. When an object is present in front of the own vehicle, the ECU acquires, as a lateral margin distance, a larger distance out of a distance of a space formed between the object and a left lane marking in a track width direction and a distance of a space formed between the object and a right side lane marking in the track width direction. The ECU determines whether the probability is high that the own vehicle deviates from the track when the own vehicle passes by a side of the object, based on the lateral margin distance, and when determining that the probability is high, moves, by a predetermined offset distance to an outside of the track, a deviation regulation line on a side on which the own vehicle is expected to cross out of the left side deviation regulation line and the right side deviation regulation line.SELECTED DRAWING: Figure 1
【課題】自車両の前方に物標が存在する場合、走路逸脱防止操舵制御を適切に実行できる走路逸脱防止装置を提供する。【解決手段】ECUは、自車両が、左側逸脱規制ラインと右側逸脱規制ラインとの間の走路から逸脱する可能性が高いと判定した場合、自車両が走路から逸脱しないように舵角を変更する走路逸脱防止操舵制御を実行する。ECUは、自車両の前方に物標が存在するとき、物標と左側区画線との間に形成される空間の走路幅方向の距離、及び、物標と右側区画線との間に形成される空間の走路幅方向の距離、のうち大きい方の距離、を横余裕距離として取得する。ECUは、その横余裕距離に基いて、自車両が物標の横を通過するときに走路から逸脱する可能性が高いか否かを判定し、その可能性が高いと判定した場合、左側規制ライン及び右側規制ラインのうち自車両が横切ると予想される側の規制ラインを走路の外側へ所定のオフセット距離だけ移動させる。【選択図】図1
TRACK DEVIATION PREVENTION DEVICE
走路逸脱防止装置
2023-05-15
Patent
Electronic Resource
Japanese