Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Kazumichi Oka

Yuji Okuda

Hidenobu Kinugasa

A lane departure avoidance system includes: a recognition unit that recognizes a road edge of the road, and recognizes an outer line as a dividing line drawn on a road-edge side of a lane closest to the road edge; and an assist implementation unit that provides, within an area including the lane closest to the road edge and extending to the road edge, a forbidden position over which a vehicle is forbidden from going toward the road edge, and implements traveling assistance such that the vehicle does not go over the forbidden position. The system includes a shoulder width calculation unit that calculates, as a shoulder width, a width from the outer line to the road edge. The wider the shoulder width calculated by the shoulder width calculation unit is, the closer the forbidden position is set to the road edge by the assist implementation unit.

Lane departure avoidance system

A lane departure avoidance apparatus characterized by including a control performing unit performing control to acquire a position of a subject vehicle in a lane in which the subject vehicle is traveling and to prevent departure from the lane, from when a control start condition is satisfied until a control end condition is satisfied, a curvature acquiring unit acquiring a curvature of the lane, and a condition setting unit setting the control start condition or the control end condition based on the curvature acquired by the curvature acquiring unit.

Lane departure avoidance apparatus

A sensor output correction system is provided which is capable of minimizing a risk that a correction value for use in zero-point correction differs from an actual deviation of a zero-point. An ECU includes a travel road information acquisition portion which obtains a curvature of a travel road on which a system-mounted vehicle is traveling and a vehicle information acquisition portion which obtains a detected value of a yaw rate sensor. The ECU determines whether the system-mounted vehicle is traveling on a straight path or not based on the curvature derived by the travel road information acquisition portion. The ECU determines a value (i.e., a zero-point equivalent value) which corresponds to a deviation of a current zero point of the yaw rate sensor based on detected values of the yaw rate sensor sampled while the system-mounted vehicle is moving on the straight path. The ECU determines a correction value which is subtracted from the detected value using the zero-point equivalent value.

Sensor output correction apparatus

A lane-deviation-suppressing-system () sets a target point in front of a lane when a vehicle travels, and calculates, as a target trajectory, an trajectory causing the vehicle to travel to the set target trajectory, using a polynomial of fifth-order with respect to time. Then, the system judges that a recalculation of the target trajectory is necessary if the vehicle traveling along the target trajectory returns to the target point after separating from the target point in an orthogonal direction to an extending direction of the lane. If the system judges that the recalculation of the target trajectory is necessary, it recalculates that. For calculating the target trajectory, depending on a vehicle traveling state, the system selects a fifth or higher order polynomial or a polynomial of first-order with respect to time. If using the first-order polynomial, it is used by calculating a lateral speed at which the vehicle moves in the orthogonal direction.

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Kariya, Japan

Kazumichi Oka