Nissan Motor Company Limited

Kou Satou

Yasuhisa Hayakawa

Masahiro Kobayashi

Youji Hamaguchi

Takeshi Iwasaka

Hidekazu Nakajima

Yoshiaki Tabata

A lane departure prevention system is provided with a lane departure tendency detection section, a yaw moment calculating section and a yaw moment control section. The lane departure tendency detection section detects a degree of a lane departure tendency of a host vehicle exhibiting a tendency of departing from its driving lane. The yaw moment calculating section calculates a base yaw moment to be applied to the host vehicle based on the degree of the lane departure tendency. The yaw moment control section applies the base yaw moment calculated by the yaw moment calculating section to the host vehicle when the base yaw moment is equal to or larger than a first prescribed minimum yaw moment, which is greater than zero, and applies the first prescribed minimum yaw moment to the host vehicle if the base yaw moment is smaller than the first prescribed minimum yaw moment.

Lane departure prevention system

When an obstacle is sensed on a side of a vehicle, the future position of the vehicle after a prescribed time is predicted. When the predicted vehicle future position reaches a prescribed lateral position in the lane width direction, a decision to start a control is made, and the vehicle is controlled in a direction to prevent it from coming too close to the obstacle. If a state occurs in which the obstacle is sensed after not being sensed (i.e., it is first sensed), a decision to start the control is suppressed.

Vehicle driving support system and vehicle driving support method

When an obstacle on either of the two sides of a vehicle is detected, the future position of the vehicle after a prescribed time is predicted. When the future predicted vehicle position reaches a prescribed lateral position in the width direction of the lane, control start is determined such that obstacle avoiding control is carried out to prevent the approach of the vehicle to the obstacle. When an intention of the driver to enter the lane of the obstacle is detected, the start timing for obstacle avoiding control is shortened.

Vehicle operation supporting device and vehicle operation supporting method

A deviation controller to prevent deviation of a vehicle from a lane of travel includes a displacement estimator configured to estimate a future lateral displacement of the vehicle with respect to the lane of travel, a detecting device configured to detect a tendency of the vehicle to deviate from the lane of travel, a prevention controller configured to apply a yaw moment to correct a travel path of the vehicle when the tendency of the vehicle to deviate from the lane of travel is detected, a correction canceling device configured to cancel the yaw moment of the prevention controller when a steering angle exceeds a canceling threshold, and a threshold adjusting device configured to adjust the canceling threshold in response to the estimated future lateral displacement.

Lane deviation prevention controller

An apparatus to prevent a vehicle from deviating from a lane of travel includes an acquisition device configured to measure a yaw angle between the vehicle and the lane of travel, a lane deviation controller configured to output a yaw moment to maintain the vehicle in the lane of travel, a restriction device configured to restrict the yaw moment output when the measured yaw angle exceeds a first angle limit, and a correction device configured to adjust the first angle limit in response to a measured condition.

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Atsugi, Japan

Kou Satou