Granted Patent B2

US 12,649,520 · App. 18/931,045 · Granted Jun 9, 2026

Inventor: Chenyu Wang (Toyota, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

B62D15/025

Abstract

Claims (41)

1 . A lane departure suppression device comprising a processor configured to perform steering control in which a steering angle of a vehicle is changed such that the vehicle does not depart from a lane, on which the vehicle travels, in a case where the vehicle is about to depart from the lane,

wherein the processor is configured to end the steering control when a vehicle horizontal position of the vehicle reaches a first horizontal position in the lane after the steering control is started, and

wherein, while the steering control is being executed, the processor is configured to execute an override condition changing process including:

acquiring (i) the vehicle horizontal position that is a distance between the vehicle and a boundary line and (ii) a steering torque applied to a steering member by a driver, the boundary line being a side of the lane that the vehicle is closest to;

determining whether the steering torque is equal to or greater than a first torque threshold;

in a case where the steering torque is determined to be equal to or greater than the first torque threshold, executing an override to stop the steering control;

in a case where the steering torque is determined to be less than the first torque threshold, determining whether the vehicle horizontal position has reached the first horizontal position, the first horizontal position being closer to the boundary line than a second horizontal position;

in a case where the vehicle horizontal position is determined to have reached the first horizontal position, changing an override condition by replacing the first torque threshold with a second torque threshold that is less than the first torque threshold;

after the changing, determining whether the steering torque is equal to or greater than the second torque threshold; and

in a case where the steering torque is determined to be equal to or greater than the second torque threshold, executing the override to stop the steering control.

2 . The lane departure suppression device according to claim 1 , wherein:

a third horizontal position is set between the first horizontal position and the second horizontal position; and

the processor is configured to lower the override condition in a stepwise manner by:

replacing the first torque threshold with the second torque threshold when the vehicle horizontal position reaches the second horizontal position; and

replacing the second torque threshold with a third torque threshold that is less than the second torque threshold when the vehicle horizontal position reaches the third horizontal position.

3 . A lane departure suppression method comprising performing steering control in which a steering angle of a vehicle is changed such that the vehicle does not depart from a lane, on which the vehicle travels, in a case where the vehicle is about to depart from the lane,

wherein the steering control is ended when a vehicle horizontal position of the vehicle reaches a first horizontal position in the lane after the steering control is started, and

wherein, while the steering control is being executed, an override condition changing process is executed including:

acquiring (i) the vehicle horizontal position that is a distance between the vehicle and a boundary line and (ii) a steering torque applied to a steering member by a driver, the boundary line being a side of the lane that the vehicle is closest to;

determining whether the steering torque is equal to or greater than a first torque threshold;

in a case where the steering torque is determined to be equal to or greater than the first torque threshold, executing an override to stop the steering control;

in a case where the steering torque is determined to be less than the first torque threshold, determining whether the vehicle horizontal position has reached the first horizontal position, the first horizontal position being closer to the boundary line than a second horizontal position;

in a case where the vehicle horizontal position is determined to have reached the first horizontal position, changing an override condition by replacing the first torque threshold with a second torque threshold that is less than the first torque threshold;

after the changing, determining whether the steering torque is equal to or greater than the second torque threshold; and

in a case where the steering torque is determined to be equal to or greater than the second torque threshold, executing the override to stop the steering control.

4 . A non-transitory storage medium storing a program causing a computer of a lane departure suppression device configured to perform steering control in which a steering angle of a vehicle is changed such that the vehicle does not depart from a lane, on which the vehicle travels, in a case where the vehicle is about to depart from the lane to execute a process, the process comprising:

ending the steering control when a vehicle horizontal position of the vehicle reaches a first horizontal position in the lane after the steering control is started; and

while the steering control is being executed, executing an override condition changing process including:

acquiring (i) the vehicle horizontal position that is a distance between the vehicle and a boundary line and (ii) a steering torque applied to a steering member by a driver, the boundary line being a side of the lane that the vehicle is closest to;

determining whether the steering torque is equal to or greater than a first torque threshold;

in a case where the steering torque is determined to be equal to or greater than the first torque threshold, executing an override to stop the steering control;

in a case where the steering torque is determined to be less than the first torque threshold, determining whether the vehicle horizontal position has reached the first horizontal position, the first horizontal position being closer to the boundary line than a second horizontal position;

in a case where the vehicle horizontal position is determined to have reached the first horizontal position, changing an override condition by replacing the first torque threshold with a second torque threshold that is less than the first torque threshold;

after the changing, determining whether the steering torque is equal to or greater than the second torque threshold; and

in a case where the steering torque is determined to be equal to or greater than the second torque threshold, executing the override to stop the steering control.

5 . The lane departure suppression device according to claim 1 , wherein the processor is configured to determine that the vehicle is about to depart from the lane when an estimated reaching time in which the vehicle is expected to reach the boundary line is shorter than a predetermined threshold time.

6 . The lane departure suppression device according to claim 1 , wherein the processor is configured to change the override condition by lowering the first torque threshold linearly or curvilinearly after the vehicle horizontal position reaches the second horizontal position.

7 . The lane departure suppression method according to claim 3 , wherein determining that the vehicle is about to depart from the lane comprises determining that an estimated reaching time in which the vehicle is expected to reach the boundary line is shorter than a predetermined threshold time.

8 . The lane departure suppression method according to claim 3 , wherein changing the override condition comprises lowering the first torque threshold linearly or curvilinearly after the vehicle horizontal position reaches the second horizontal position.

9 . The non-transitory storage medium according to claim 4 , wherein the process further comprises determining that the vehicle is about to depart from the lane when an estimated reaching time in which the vehicle is expected to reach the boundary line is shorter than a predetermined threshold time.

10 . The non-transitory storage medium according to claim 4 , wherein changing the override condition comprises lowering the first torque threshold linearly or curvilinearly after the vehicle horizontal position reaches the second horizontal position.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (11)