Lane deviation prevention control apparatus of vehicle

1. A lane deviation prevention control apparatus of a vehicle comprising:

a support controller that determines whether or not the vehicle deviates from a lane in which the vehicle is traveling and, when determining that the vehicle deviates from the lane, executes support control including at least a warning for preventing the lane deviation,

wherein the support controller includes:

a first support controller that calculates a predicted lane deviation time until the vehicle deviates from the lane in future, on the basis of a vehicle lateral position in a width direction of the lane in which the vehicle is traveling, a yaw angle of the vehicle with respect to the lane, and vehicle speed, and determines the lane deviation from the predicted lane deviation time; and

a second support controller that determines whether the vehicle deviates from the lane, when the yaw angle of the vehicle with respect to the lane points to a direction deviating from the lane, and

wherein the support controller selects the first support controller when the vehicle lateral position is closer to a lane center than to a predetermined position that is set according to a traveling environment, and selects the second support controller when the vehicle lateral position is closer to a lane end than to the predetermined position.

2. The lane deviation prevention control apparatus of a vehicle according to claim 1 , wherein a dead zone where the support control is not executed is set at a predetermined region along the lane center.

3. The lane deviation prevention control apparatus of a vehicle according to claim 1 , wherein the predetermined position is set variably according to vehicle speed and is set closer to the lane center as the vehicle speed increases.

4. The lane deviation prevention control apparatus of a vehicle according to claim 2 , wherein the predetermined position is set variably according to vehicle speed and is set closer to the lane center as the vehicle speed increases.

5. The lane deviation prevention control apparatus of a vehicle according to claim 1 , wherein the predetermined position is set variably according to a curvature of the lane and, as the curvature of the lane increases, the predetermined position on an outer side of a curve is set closer to the lane center and the predetermined position inside the curve is set closer to the lane end.

6. The lane deviation prevention control apparatus of a vehicle according to claim 2 , wherein the predetermined position is set variably according to a curvature of the lane and, as the curvature of the lane increases, the predetermined position on an outer side of a curve is set closer to the lane center and the predetermined position inside the curve is set closer to the lane end.

7. The lane deviation prevention control apparatus of a vehicle according to claim 3 , wherein the predetermined position is set variably according to a curvature of the lane and, as the curvature of the lane increases, the predetermined position on an outer side of a curve is set closer to the lane center and the predetermined position inside the curve is set closer to the lane end.

8. The lane deviation prevention control apparatus of a vehicle according to claim 4 , wherein the predetermined position is set variably according to a curvature of the lane and, as the curvature of the lane increases, the predetermined position on an outer side of a curve is set closer to the lane center and the predetermined position inside the curve is set closer to the lane end.

9. The lane deviation prevention control apparatus of a vehicle according to claim 1 , wherein the predetermined position is set variably according to a width of the lane and is set closer to the lane center as the width of the lane increases.

10. The lane deviation prevention control apparatus of a vehicle according to claim 2 , wherein the predetermined position is set variably according to a width of the lane and is set closer to the lane center as the width of the lane increases.

11. The lane deviation prevention control apparatus of a vehicle according to claim 3 , wherein the predetermined position is set variably according to a width of the lane and is set closer to the lane center as the width of the lane increases.

12. The lane deviation prevention control apparatus of a vehicle according to claim 4 , wherein the predetermined position is set variably according to a width of the lane and is set closer to the lane center as the width of the lane increases.

13. The lane deviation prevention control apparatus of a vehicle according to claim 1 , wherein the predetermined position is set variably according to a cant of a traveling road and, as the cant increases, the predetermined position is set closer to the lane end on an upper side of the cant and the predetermined position is set closer to the lane center on a lower side of the cant.

14. The lane deviation prevention control apparatus of a vehicle according to claim 2 , wherein the predetermined position is set variably according to a cant of a traveling road and, as the cant increases, the predetermined position is set closer to the lane end on an upper side of the cant and the predetermined position is set closer to the lane center on a lower side of the cant.

15. The lane deviation prevention control apparatus of a vehicle according to claim 3 , wherein the predetermined position is set variably according to a cant of a traveling road and, as the cant increases, the predetermined position is set closer to the lane end on an upper side of the cant and the predetermined position is set closer to the lane center on a lower side of the cant.

16. The lane deviation prevention control apparatus of a vehicle according to claim 4 , wherein the predetermined position is set variably according to a cant of a traveling road and, as the cant increases, the predetermined position is set closer to the lane end on an upper side of the cant and the predetermined position is set closer to the lane center on a lower side of the cant.