Nissan Motor Company Limited

Shuhei Nishimaki

Yasuhisa Hayakawa

Masahiro Kobayashi

Ko Sato

A braking/driving force control unit determines whether or not the driver has a intention of lane change on the basis of the detected road shape and the steering amount. The braking/driving force control unit detects an obstacle which is an obstacle present rearward and sideward of the vehicle. The braking/driving force control unit determines whether approach prevention control for preventing an the vehicle from approaching to the obstacle should start, when it is determined that the driver has the intention of lane change and the obstacle is detected, and performs the approach prevention control for supporting prevention of the vehicle from approaching to the obstacle when it is determined that the control should start. At this time, the braking/driving force control unit determines detection accuracy of the road shape ahead of the vehicle and suppresses the determination of the start of the control when the detection accuracy is low.

Vehicle driving support apparatus

A lateral object that exists on a side of the vehicle is detected. When an estimated later-arriving lateral position reaches a predetermined threshold value under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1. Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1. When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time elapses, then the suppression of the lateral movement is forbidden.

Running control device, and running control method

A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.

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Kanagawa, Japan

Shuhei Nishimaki