# US 10,479,358 B2 · In-lane driving assist apparatus for a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,479,358 B2 - Document ID: US10479358B2 - Status: Granted - Kind: B2 - Application number: 15/812,212 - Filed: 2017-11-14 - Published: 2018-05-17 - Granted: 2019-11-19 - Earliest claimed: 2016-11-17 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Hiroaki Kataoka; Kazuma Hashimoto - Web page: https://patentgrep.com/patent/US10479358B2 ## CPC - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 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. ### Claim 4 (depends on 3) 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.