Toyota Jidosha Kabushiki Kaisha

Robert Boschgmbh

Ryo Inomata

Hironori Ito

Akira Nagae

Masayuki Ikeda

Kumiko Kondo

Tomoyuki Doi

Toshifumi Sugisawa

A lane departure prevention apparatus () has: a departure preventing device () for preventing a vehicle () from departing from a driving lane by controlling at least one of a steering apparatus () and a braking apparatus () selected on the basis of a state of the vehicle, when it is determined that the vehicle may depart from the driving lane; and a determining device for determining whether or not an abnormality condition that it is difficult for a person to normally drive the vehicle is satisfied, the departure preventing device prevents the vehicle from departing from the driving lane by controlling the braking apparatus even if the state of the vehicle is not a predetermined state in which the departure preventing device should prevent the vehicle from departing from the driving lane by controlling the braking apparatus, when it is determined that the abnormality condition is satisfied.

Lane departure prevention apparatus

A lane keep assist device is configured to perform lane keep assist control for making a host vehicle travel along a lane, and preventing the host vehicle from departing from the lane. The lane keep assist device includes an electronic control device configured to detect presence or absence of another vehicle, present in a vicinity of the host vehicle, which have a gradual decrease in a distance from the host vehicle, and when the other vehicle is detected, the electronic control device configured to set virtual line extending along front-rear direction of the detected other vehicle at position away by first predetermined distance in right-left direction of the other vehicle from lateral side of the detected other vehicle, and to specify the lane based on the set virtual line to perform the lane keep assist control.

Lane keep assist device

A lane departure preventing device includes at least one electronic control unit. The at least one electronic control unit is configured to: when there is a likelihood that a vehicle will depart from a traveling lane, calculate a prevention yaw moment, and control a brake actuator such that the prevention yaw moment is applied to the vehicle; acquire a lateral acceleration; determine whether the lateral acceleration is greater than an ideal value by a predetermined value; control the brake actuator such that the braking force matches a target braking force required to apply the prevention yaw moment to the vehicle, when the lateral acceleration is not greater than the ideal value by the predetermined value; and control the brake actuator such that the braking force is less than the target braking force, when the lateral acceleration is greater than the ideal value by the predetermined value.

Lane departure preventing device

A driving support apparatus is provided with: a first controller programmed to perform a first control, which is to make a speed of a vehicle not to exceed a predetermined speed; a second controller programmed to perform a second control, which is a driving support control that is different from the first control; a preventer configured to prevent the second control on the basis of an operation of an accelerator by an occupant of the vehicle; and a prevention reducer configured to control the preventer to hardly prevent the second control if the first control is performed, in comparison with when the first control is not performed.

Driving support apparatus

A deflection control apparatus is provided with: a controller programmed to: a determine whether or not a vehicle is about depart from a driving lane, perform a deflection control of supplying a brake fluid pressure to at least one of brake mechanisms provided for corresponding wheels so that a yaw moment in a direction of avoiding departure of the vehicle is applied to the vehicle, if it is determined that the vehicle is about to depart, arithmetically operate a departure angle of the vehicle, and arithmetically operate a boost trajectory for boosting the brake fluid pressure to a target brake fluid pressure on condition that the departure angle is greater than a predetermined angle. The controller is programmed to perform the deflection control after boosting in advance the brake fluid pressure associated with the at least one of the plurality of brake mechanism, on the basis of the boost trajectory.

Deflection control apparatus

A deflection control apparatus is provided with: a determinator configured to determine whether or not a vehicle is about to depart from a driving lane; and a controller programmed to perform a deflection control for controlling a braking apparatus to supply a fluid pressure to at least one of brake mechanisms corresponding to a front wheel and a rear wheel on a side opposite to a departure direction of the vehicle. The controller is programmed to control the braking apparatus to supply the fluid pressure to the brake mechanism that is close to a fluid pressure source, out of the brake mechanisms corresponding to the front wheel and the rear wheel on the opposite side, on condition that a motion state corresponds to a regular-use area of the braking apparatus, if it is determined that the vehicle is about to depart from the driving lane.

A lane departure prevention apparatus () has: a controlling device () configured to control a braking device () so that prevention yaw moment for preventing a vehicle from departing from a driving lane; and determining device () configured to determine whether or not slip ratio of a front wheel is larger than a first threshold value (KSfr) and whether or not slip ratio of a rear wheel is larger than a second threshold value (KSrr), the controlling device is configured to control the braking device so that the braking force applied from the braking device becomes smaller than the braking force for applying the prevention yaw moment, if it is determined that the slip ratio of the front wheel is larger than the first threshold value and/or the slip ratio of the rear wheel is larger than the second threshold value.

A deflection control apparatus is configured to perform a deflection control in which a subject vehicle is deflected by a braking force difference between left and right wheels. The deflection control apparatus is provided with a releaser configured to release the deflection control if a steering operation, which is an operation of deflecting the subject vehicle in a direction opposite to a direction in which the subject vehicle is deflected by the deflection control, is detected during the deflection control. When releasing the deflection control, the releaser is configured to reduce a controlled variable over a predetermined time, which is shorter than a fall time of the controlled variable when the deflection control is ended without being released, and which becomes longer, as the controlled variable increases when the steering operation is detected.

A deflection control apparatus is configured to perform a deflection control in which a subject vehicle is deflected by a braking force difference between left and right wheels. The vehicle control apparatus is provided with: a calculator configured, in the deflection control, (i) to calculate a target yaw rate so that the subject vehicle drives on a target track by the deflection control, and (ii) to calculate a target yaw moment by dividing the calculated target yaw rate by a coefficient based on a velocity of the subject vehicle; and a controller configured to control a braking force of each wheel so that the target yaw moment is applied to the subject vehicle.

A vehicle control apparatus is provided with: a controller (i) configured to set first brake fluid pressure associated with wheels on one of left and right sides out of a plurality of wheels to be higher than second brake fluid pressure associated with wheels on the other side in order to turn a vehicle in one direction, and configured (ii) to then increase the second brake fluid pressure by using a fluid pressure difference between the first brake fluid pressure and the second brake fluid pressure, and (iii) to set the first brake fluid pressure to be lower than the second brake fluid pressure while holding the second brake fluid pressure in order to turn the vehicle in another direction, which is different from the one direction.

Vehicle control apparatus

A vehicle control apparatus includes an electronic control device that controls an internal combustion engine such that a response delay of the internal combustion engine at the time of acceleration is restrained for a predetermined time period from the time point at which an acceleration demand of a driver of a vehicle is estimated when the acceleration demand is estimated while the vehicle is travelling using a driving force from the internal combustion engine.

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Ashigarakami-gun, Japan

Ryo Inomata