Steering assist device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShota Fujii
Life of this patent
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Abstract
A steering control device includes a driving support ECU. When white line recognition loss, which is a state in which white lines are not properly recognizable, has occurred during execution of an LCA, the driving support ECU calculates a target trajectory for returning a yaw angle to a state immediately before the start of the LCA. The driving support ECU controls a steering angle based on the calculated target trajectory. As a result, a lateral speed of an own vehicle is reduced, and thus sufficient time can be secured for handing over operation of a steering wheel to a driver from a steering assist state.
Claims6
A steering assist device, comprising:
- lane recognition means for recognizing a lane to acquire lane information including a relative positional relation of an own vehicle with respect to the lane;
- lane change assist control means for executing a lane change assist control, in which a steering is controlled based on the lane information so that the own vehicle changes lanes from an original lane in which the own vehicle is currently traveling to a target lane adjacent to the original lane;
- recognition failure state detection means for detecting a recognition failure state, which includes a state in which the lane is not recognizable by the lane recognition means and a state in which reliability of recognizing the lane by the lane recognition means is lower than a standard;
- lane change assist stop means for stopping the lane change assist control when the recognition failure state is detected during execution of the lane change assist control;
- and
- yaw angle return control means for executing a yaw angle return control, in which, when the lane change assist control has been stopped due to detection of the recognition failure state, the steering is controlled so that a yaw angle, which is an angle formed between a formation direction of the lane and a direction in which the own vehicle faces, is reduced by an amount of increase resulting from the lane change assist control.
Dependencies are inferred from the claim text.