In-lane driving assist apparatus for a vehicle
When switching from lane departure suppression control (LDA control) to lane keep assist control (LKA control), a self-vehicle is suppressed from deviating out of a traveling lane. A driving assist preferentially carries out the LKA control, but carries out the LDA control instead of the LKA control when there is a possibility that the self-vehicle may deviate out of the traveling lane under the LKA control. When the LDA control is returned to the LKA control after the lane departure avoidance operation of the self-vehicle is completed, the LDA control is continued while an angle between an orientation of the self-vehicle and the traveling lane is not a predetermined angle or less, and it is switched to the LKA control after the angle becomes the predetermined angle or less.
1. An in-lane driving assist apparatus for a vehicle, the in-lane driving assist apparatus comprising a processor configured to:
perform a lane keep assist control including controlling a steering assist torque of a steering mechanism in order to maintain a traveling position of a vehicle near a target traveling line;
perform a lane departure suppression control including controlling the steering assist torque of the steering mechanism in order to avoid the vehicle departing out of a traveling lane, the steering assist torque including a torque component that orients the vehicle in a direction parallel to the traveling lane;
when an angle between a vehicle direction and the direction parallel to the traveling lane is above a predetermined angle value during the lane keep assist control, perform the lane departure suppression control instead of performing the lane keep assist control; and
when the angle between the vehicle direction and the direction parallel to the traveling lane is the predetermined angle value or less, perform the lane keep assist control instead of performing the lane departure suppression control.
2. The in-lane driving assist apparatus for a vehicle, according to claim 1 , wherein the lane departure suppression control includes a parallel control that is control carried outperformed after the above steering assist torque is controlled to decrease, the parallel control more aggressively orienting the self-vehicle to the direction parallel to the traveling lane than with a previous lane departure suppression control.
3. An in-lane driving assist apparatus for a vehicle, the in-lane driving assist apparatus comprising a processor configured to:
perform a lane keep assist control including controlling a steering assist torque of a steering mechanism in order to maintain a traveling position of a vehicle near a target traveling line;
perform a lane departure suppression control including controlling the steering assist torque of the steering mechanism in order to avoid the vehicle departing out of a traveling lane, the steering assist torque including a torque component that orients the vehicle in a direction parallel to the traveling lane;
when an angle between a vehicle direction and the direction parallel to the traveling lane is above a predetermined angle value during the lane keep assist control, perform the lane departure suppression control instead of performing the lane keep assist control; and
when the lane departure suppression control is switched to the lane keep assist control, perform a strong lane keep assist control including increasing a control gain from a first value to a second value to determine the steering assist torque in the lane keep assist control and then returning the control gain to the first value.
4. The in-lane driving assist apparatus according to claim 3 , wherein the processor is further configured to, when a departure amount in a road width direction of the vehicle from the target traveling line is a predetermined value or less and the angle between the vehicle direction and the direction parallel to the traveling lane is the predetermined angle, perform the lane keep assist control including returning the control gain to the first value instead of performing the strong lane keep assist control.