Track deviation prevention device
A driving assistance ECU acquires, as a lateral margin distance, a larger distance out of a distance of a space formed between an object and a left lane marking in a track width direction and a distance of a space formed between the object and a right side lane marking in the track width direction when the object is present in front of the host vehicle. The ECU determines whether the probability that a host vehicle deviates from a track when the host vehicle passes by a side of the object is high, based on the lateral margin distance, and moves a deviation regulation line on a side on which the host vehicle is expected to cross out of a left side deviation regulation line and a right side deviation regulation line to an outside of the track by a predetermined offset distance when the probability is high.
1. A track deviation prevention device comprising:
a surrounding sensor configured to acquire surrounding information including information on positions of a left side lane marking and a right side lane marking of a road on which a host vehicle travels, and information on a position of an object positioned in front of the host vehicle;
a rudder angle changing actuator configured to change a rudder angle of the host vehicle; and
a control unit configured to execute track deviation prevention steering control of changing the rudder angle of the host vehicle by controlling the rudder angle changing actuator such that the host vehicle does not deviate from a track, in a state in which the host vehicle travels on the track between a left side deviation regulation line obtained by moving the left side lane marking to a right side or a left side by a first left side distance equal to or larger than zero and a right side deviation regulation line obtained by moving the right side lane marking to a right side or a left side by a first right side distance equal to or larger than zero, in a case where a steering control start condition that is satisfied when a probability that the host vehicle deviates from the track is high is satisfied,
wherein the control unit is configured to
acquire, as a lateral margin distance, a larger distance out of a distance of a space formed between the object and the left side lane marking in a track width direction and a distance of a space formed between the object and the right side lane marking in the track width direction, or a larger distance out of a distance of a space formed between the object and the left side deviation regulation line in the track width direction and a distance of a space formed between the object and the right side deviation regulation line in the track width direction based on the surrounding information in a case where the object is present in front of the host vehicle when the host vehicle travels on the track,
determine whether or not a deviation passage determination condition that is satisfied in a case where a probability that the host vehicle crosses one of the left side deviation regulation line and the right side deviation regulation line to deviate from the track when the host vehicle passes by a side of the object is high is satisfied, based on at least the lateral margin distance,
further move at least a deviation regulation line on a side on which the host vehicle is expected to cross when the host vehicle passes by the side of the object out of the left side deviation regulation line and the right side deviation regulation line to an outside of the track by a predetermined offset distance in a case where a determination is made that the deviation passage determination condition is satisfied,
determine whether or not the lateral margin distance is equal to or smaller than a predetermined first distance threshold value and is equal to or larger than a predetermined second distance threshold value smaller than the first distance threshold value, and determine that the deviation passage determination condition is satisfied at least in a case where a determination is made that the lateral margin distance is equal to or smaller than the first distance threshold value and is equal to or larger than the second distance threshold value,
change the first distance threshold value based on a kind of the object present in front of the host vehicle, and
change the second distance threshold value based on the kind of the object present in front of the host vehicle.
2. A track deviation prevention device comprising:
a surrounding sensor configured to acquire surrounding information including information on positions of a left side lane marking and a right side lane marking of a road on which a host vehicle travels, and information on a position of an object positioned in front of the host vehicle;
a rudder angle changing actuator configured to change a rudder angle of the host vehicle; and
a control unit configured to execute track deviation prevention steering control of changing the rudder angle of the host vehicle by controlling the rudder angle changing actuator such that the host vehicle does not deviate from a track, in a state in which the host vehicle travels on the track between a left side deviation regulation line obtained by moving the left side lane marking to a right side or a left side by a first left side distance equal to or larger than zero and a right side deviation regulation line obtained by moving the right side lane marking to a right side or a left side by a first right side distance equal to or larger than zero, in a case where a steering control start condition that is satisfied when a probability that the host vehicle deviates from the track is high is satisfied,
wherein the control unit is configured to
acquire, as a lateral margin distance, a larger distance out of a distance of a space formed between the object and the left side lane marking in a track width direction and a distance of a space formed between the object and the right side lane marking in the track width direction, or a larger distance out of a distance of a space formed between the object and the left side deviation regulation line in the track width direction and a distance of a space formed between the object and the right side deviation regulation line in the track width direction based on the surrounding information in a case where the object is present in front of the host vehicle when the host vehicle travels on the track,
determine whether or not a deviation passage determination condition that is satisfied in a case where a probability that the host vehicle crosses one of the left side deviation regulation line and the right side deviation regulation line to deviate from the track when the host vehicle passes by a side of the object is high is satisfied, based on at least the lateral margin distance,
further move at least a deviation regulation line on a side on which the host vehicle is expected to cross when the host vehicle passes by the side of the object out of the left side deviation regulation line and the right side deviation regulation line to an outside of the track by a predetermined offset distance in a case where a determination is made that the deviation passage determination condition is satisfied,
determine whether or not a magnitude of steering torque applied to a steering wheel of the host vehicle is equal to or larger than an override determination threshold value at least in one case out of a case where the track deviation prevention steering control is executed and a case where the track deviation prevention steering control is executable, and stop the track deviation prevention steering control in a case where a determination is made that the magnitude of the steering torque is equal to or larger than the override determination threshold value, and
change the override determination threshold value to a smaller value in a case where a determination is made that the deviation passage determination condition is satisfied than a case where a determination is not made that the deviation passage determination condition is satisfied.