Lane departure prevention apparatus
A lane departure prevention apparatus ( 17 ) has: a departure preventing device ( 172 ) for preventing a vehicle ( 1 ) from departing from a driving lane by controlling at least one of a steering apparatus ( 142 ) and a braking apparatus ( 13 ) 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.
1. A lane departure prevention apparatus comprising a controller,
the controller being programmed to:
determine whether or not a departure condition is satisfied, the departure condition being a condition that there is a possibility that a vehicle departs from a driving lane on which the vehicle is currently traveling;
when the departure condition is satisfied, select at least one of a steering apparatus and a braking apparatus of the vehicle, on the basis of a traveling state of the vehicle, for controlling the vehicle to prevent the vehicle from departing from the driving lane; and
determine whether or not a predetermined abnormality condition is satisfied, the abnormality condition is a condition that it is difficult for a person in the vehicle to normally drive the vehicle,
when the departure condition and the abnormality condition are both satisfied, prevent the vehicle from departing from the driving lane by controlling at least the braking apparatus without controlling the steering apparatus for preventing the vehicle from departing from the driving lane.
2. A lane departure prevention apparatus comprising a controller,
the controller being programmed to:
determine whether or not a departure condition is satisfied, the departure condition being a condition that there is a possibility that a vehicle departs from a driving lane on which the vehicle is currently traveling;
prevent the vehicle from departing from the driving lane by controlling at least one of a steering apparatus and a braking apparatus of the vehicle that is selected on the basis of a traveling state of the vehicle, when it is determined that the departure condition is satisfied; and
determine whether or not a predetermined abnormality condition is satisfied, the abnormality condition is a condition that it is difficult for a person in the vehicle to normally drive the vehicle,
the controller being programmed to prevent the vehicle from departing from the driving lane by controlling at least the braking apparatus without executing a control for preventing the vehicle from departing from the driving lane by controlling the steering apparatus, when it is determined that the departure condition and the abnormality condition are satisfied, wherein
an operation state of the controller is changed between an ON state in which the controller is allowed to control at least one of the steering apparatus and the braking apparatus and an OFF state in which the controller does not control both of the steering apparatus and the braking apparatus,
the controller is programmed to change the operation state to the ON state and then to prevent the vehicle from departing from the driving lane by controlling at least the braking apparatus, when it is determined that the departure condition and the abnormality condition are satisfied and the operation state is the OFF state.