Subaru Corporation

Ryo Hajika

Masahito Takizawa

Yuki Aoyama

Takashi Omikawa

Daisuke Mashiyama

Takeshi Tamaki

Hiroyuki Negishi

Natsumi Komiyama

Hajime Tsukagoshi

A lane-line recognizing apparatus for a vehicle includes an edge-point detector and an approximate-line calculation processor. The edge-point detector is configured to detect edge points on the basis of brightness variation within a detection region for a lane line. The approximate-line calculation processor is configured to calculate an approximate line of a point group including the edge points. The lane-line recognizing apparatus has: a first mode in which the lane-line recognizing apparatus is configured to mainly search for standard edge candidate points having brightness relatively high; and a second mode in which the lane-line recognizing apparatus is configured to mainly search for opposite edge candidate points having brightness relatively low. The lane-line recognizing apparatus is configured to selectively perform switching between the first and the second modes in accordance with the number of the detected opposite edge candidate points.

Lane-line recognizing apparatus for vehicle

A lane departure prevention control apparatus for a vehicle includes a traveling-environment recognition unit configured to detect lane lines, a steering-angle detector, a vehicle-behavior detector, a predicted departure determination unit, a lane departure prevention control processor, and a steering override determination unit. The predicted departure determination unit is configured to predict whether the vehicle is to depart from the lane. The lane departure prevention control processor is configured to set a target steering angle and execute a lane departure prevention control. The steering override determination unit is configured to check presence of steering override based on the driver's steering-wheel operation. The lane departure prevention control processor is configured to set the target steering angle in a direction to assist the steering-wheel operation in a case where the steering override is present and the target steering angle is in a steering-decrease direction relative to the actual steering angle.

Lane departure prevention control apparatus

A lane departure prevention control apparatus includes a recognizer that recognizes environment ahead of a vehicle and detects left and right lane markers of a lane where the vehicle is traveling based on the environment, a first detector that detects vehicle behavior, a determiner that predicts whether the vehicle will depart from the lane markers based on the lane markers and the vehicle behavior, a setting unit that sets a range for permitting lane departure prevention control from the lane markers, a calculator that transmits a signal corresponding to steering torque for preventing the vehicle departure from the lane markers to a steering controller when the vehicle departs from the lane markers and the vehicle is within the control permission range, and a second detector that detects a shape change in the lane. The unit variably sets the control permission range based on the shape change.

Lane departure prevention control apparatus for vehicle

A lane keeping controller includes a first initial target steering angle calculator, a second initial target steering angle calculator, and a steering angle calculator. A first arithmetic unit of the first initial target steering angle calculator performs a first arithmetic operation to calculate a first initial target steering angle using a lane curvature so that a vehicle runs along the lane curvature. A second arithmetic unit of the second initial target steering angle calculator performs a second arithmetic operation to calculate a second initial target steering angle using a yaw angle deviation so that a yaw angle to lane agrees with a target yaw angle. During execution of override control, the lane curvature and the yaw angle deviation are not corrected and a target steering angle is made to be small in comparison with that during execution of normal lane keeping control.

Lane keeping controller

A lane deviation prevention control device for a vehicle includes a target steering torque calculator, a rate limit processor, and a rate limit value calculator. The target steering torque calculator calculates target steering torque to be applied to a steering system of an own vehicle in a lane deviation prevention control. The lane deviation prevention control includes preventing the own vehicle from deviating from a lane on which the own vehicle is traveling. The rate limit processor performs rate limit processing. The rate limit processing includes limiting a speed of change in the target steering torque to a rate limit value. The rate limit value calculator calculates the rate limit value in accordance with a deviation state of the own vehicle from the lane.

Lane deviation prevention control device for vehicle

A lane deviation prevention control device for a vehicle includes a target steering torque calculator, a friction torque estimator, and a friction compensation rate variable controller. The target steering torque calculator calculates target steering torque to be applied to a steering system of an own vehicle in a lane deviation prevention control. The friction torque estimator estimates friction torque of the steering system. The friction compensation rate variable controller performs, on the basis of steering torque produced by a driver's steering operation and on the basis of a traveling state of the own vehicle, a variable control of an addition rate at which the friction torque is added to the target steering torque to compensate friction of the steering system.

A lane deviation prevention control device for a vehicle includes first and second target amount of turn calculators and a target amount of turn switchover determiner. The first target amount of turn calculator calculates a first target amount of turn until an arrival at a first target point. The second target amount of turn calculator calculates a second target amount of turn from the first target point to a second target point. The target amount of turn switchover determiner obtains a yaw angle estimated value until the arrival at the first target point, estimates, on the basis of the yaw angle estimated value, arrival time until the arrival at the first target point, and compares the arrival time with a threshold, to determine timing of a switchover from the first target amount of turn to the second target amount of turn.

A lane deviation prevention control device for a vehicle includes a target yaw rate calculator, a target steering torque calculator, and an integration permission determiner. The integration permission determiner determines, on the basis of a state of an own vehicle with respect to a lane and on the basis of a state of an actual yaw rate with respect to a target yaw rate, whether or not to permit an integral control in a proportional integral differential control, in executing a feedback control on the target yaw rate by the proportional integral differential control.

A lane deviation prevention control device for a vehicle includes an exterior information detector and a lane deviation prevention control start determiner. The lane deviation prevention control start determiner determines to start a lane deviation prevention control even when an own vehicle has already deviated from an own lane on which the own vehicle is traveling, on the condition that the exterior information detector detects an approaching vehicle that is approaching the own vehicle, on an adjacent lane on deviation side on which deviation is taking place, and that a lateral position of the own vehicle is equal to or smaller than a control start threshold.

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Tokyo, Japan

Ryo Hajika