A deviation avoidance apparatus includes: a boundary detection section that detects boundaries defining both edges in a width direction of a traveling path on which an own vehicle travels; a deviation prediction section that predicts that the own vehicle will deviate from the traveling path based on a travelling condition of the own vehicle that travels on the traveling path defined by the boundaries detected by the boundary detection section; an object detection section that detects an object that exists on one of the boundaries, the one of the boundaries being on a side where the own vehicle deviates from the traveling path, or outside of the one of the boundaries; a deviation avoidance section that commands, when the deviation prediction section predicts that the own vehicle will deviate from the traveling path, a travel control unit to have the own vehicle avoid deviating from the traveling path, the travel control unit controlling the travelling condition; and a command value adjustment section that adjusts, when the object detection section detects the object, a command value to be output from the deviation avoidance section to the travel control unit such that a maximum movement position in a case where the own vehicle moves to the side where the own vehicle deviates from the traveling path is on an inside of the traveling path with respect to the one of the boundaries on the side where the own vehicle deviates from the traveling path.
DEVIATION AVOIDANCE APPARATUS
2018-06-21
Patent
Electronic Resource
English
LANE OUTWARD DEVIATION AVOIDANCE ASSIST APPARATUS AND LANE OUTWARD DEVIATION AVOIDANCE ASSIST METHOD
European Patent Office | 2015
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