# US 11,897,540 B2 · Vehicle traveling support apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,540 B2 - Document ID: US11897540B2 - Status: Granted - Kind: B2 - Application number: 17/307,527 - Filed: 2021-05-04 - Published: 2021-10-14 - Granted: 2024-02-13 - Earliest claimed: 2017-07-06 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Hirohito Ide - Web page: https://patentgrep.com/patent/US11897540B2 ## CPC - B62D 15/0255: {Automatic changing of lane, e.g. for passing another vehicle} - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 15/024: {Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - 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) - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A driving support ECU is configured to, when s specific recognition state occurs where a lane marker recognized changes from a left lane marker to a right lane marker or vice versa under a one side lane marker recognizable state, set a steering angle guard value to a second steering angle guard value smaller than a first steering angle guard value and set a steering angle speed guard value to a second steering angle speed guard value smaller than a first steering angle speed guard value. ## Claims ### Claim 1 A vehicle traveling support apparatus comprising: a sensor for recognizing a lane marker on a traveling lane in which an own vehicle is traveling; and an electronic control unit configured to perform a lane keeping control to control a steering angle of said own vehicle so as to have said own vehicle travel along a target traveling line set based on at least any one of a left lane marker and a right lane marker recognized by said sensor, said left lane marker being on a left side with respect to said own vehicle, said right lane marker being on a right side with respect to said own vehicle, wherein, when performing said lane keeping control, said electronic control unit is configured to: execute at least any one of: (i) a process to control said steering angle so as to match a magnitude of said steering angle with a steering angle guard value when said magnitude of said steering angle exceeds said steering angle guard value; and (ii) a process to control said steering angle so as to match a magnitude of a steering angle speed which is an amount of change per unit time of said steering angle with a steering angle speed guard value when said magnitude of said steering angle speed exceeds said steering angle speed guard value; and set, when a recognition state of said lane marker by said sensor is a one side lane marker recognizable state which is a state where said sensor can recognize only one of said left lane marker and said right lane marker, a change amount of said steering angle and/or a change amount of said steering angle speed to a value which is smaller than when said recognition state of said lane marker is a both lane markers recognizable state which is a state where said sensor can recognize both said left lane marker and said right lane marker. ### Claim 2 (depends on 1) The vehicle traveling support apparatus according to claim 1, wherein, said electronic control unit is configured to set, when a specific recognition state occurs where said lane marker recognized by said sensor changes from said left lane marker to said right lane marker or vice versa under said one side lane marker recognizable state, said steering angle guard value and/or said steering angle speed guard value corresponding to one or more of said executed processes to a value which is smaller than when said recognition state of said lane marker is said one side lane marker recognizable state and said specific recognition state does not occur. ### Claim 3 (depends on 2) The vehicle traveling support apparatus according to claim 2, wherein, said electronic control unit is configured to set, when said specific recognition state has occurred after said own vehicle crossed said lane marker recognized by said sensor under said one side lane marker recognizable state, all of said steering angle guard value and said steering angle speed guard value to values of when said recognition state of said lane marker is said both lane markers recognizable state. ### Claim 4 (depends on 2) The vehicle traveling support apparatus according to claim 2, wherein, said electronic control unit is configured to set, when a particular state has continued for a predetermined period from a time point at which said specific recognition state occurred, said particular state being a state where said recognition state of said lane marker by said sensor is said one side lane marker recognizable state and said specific recognition state does not occur, said steering angle guard value and/or said steering angle speed guard value to a value which is larger than when said specific recognition state occurs and is smaller than when said recognition state of said lane marker by said sensor is said both lane markers recognizable state. ### Claim 5 (depends on 4) The vehicle traveling support apparatus according to claim 4, wherein, said electronic control unit is configured to determine that said particular state has continued for said predetermined period, when a duration time of said particular state from a time point at which said specific recognition state occurred becomes equal to or longer than a threshold duration time. ### Claim 6 (depends on 4) The vehicle traveling support apparatus according to claim 4, wherein, said electronic control unit is configured to determine that said particular state has continued for said predetermined period, when a traveling distance of said own vehicle under said particular state from a time point at which said specific recognition state occurred becomes equal to or longer than a threshold traveling distance. ### Claim 7 (depends on 1) The vehicle traveling support apparatus according to claim 1, wherein, said electronic control unit is configured to set, when a specific recognition state occurs where said lane marker recognized by said sensor changes from said left lane marker to said right lane marker or vice versa under said one side lane marker recognizable state, said change amount of said steering angle and/or said change amount of said steering angle speed to a value which is smaller than when said recognition state of said lane marker is said one side lane marker recognizable state and said specific recognition state does not occur. ### Claim 8 (depends on 7) The vehicle traveling support apparatus according to claim 7, wherein, said electronic control unit is configured to set, when said specific recognition state has occurred after said own vehicle crossed said lane marker recognized by said sensor under said one side lane marker recognizable state, all of said change amount of said steering angle and said change amount of said steering angle speed to values of when said recognition state of said lane marker is said both lane markers recognizable state. ### Claim 9 (depends on 7) The vehicle traveling support apparatus according to claim 7, wherein, said electronic control unit is configured to set, when a particular state has continued for a predetermined period from a time point at which said specific recognition state occurred, said particular state being a state where said recognition state of said lane marker by said sensor is said one side lane marker recognizable state and said specific recognition state does not occur, said change amount of said steering angle and/or said change amount of said steering angle speed to a value which is larger than when said specific recognition state occurs and is smaller than when said recognition state of said lane marker by said sensor is said both lane markers recognizable state. ### Claim 10 A vehicle traveling support apparatus comprising: a sensor for recognizing a lane marker on a traveling lane in which an own vehicle is traveling; and an electronic control unit configured to perform a lane keeping control to control a steering angle of said own vehicle so as to have said own vehicle travel along a target traveling line set based on at least any one of a left lane marker and a right lane marker recognized by said sensor, said left lane marker being on a left side with respect to said own vehicle, said right lane marker being on a right side with respect to said own vehicle, wherein, when performing said lane keeping control, said electronic control unit is configured to: execute at least any one of: (i) a process to control said steering angle so that a magnitude of said steering angle set when a change amount in the position of the target traveling line in the lane width direction is relatively large is larger than a magnitude of said steering angle set when a change amount in the position of the target traveling line in the lane width direction is relatively small; and (ii) a process to control said steering angle so that a magnitude of a steering angle speed which is an amount of change per unit time of said steering angle set when a change amount in the position of the target traveling line in the lane width direction is relatively large is larger than a magnitude of said steering angle speed set when a change amount in the position of the target traveling line in the lane width direction is relatively small; and set, when a recognition state of said lane marker by said sensor is a one side lane marker recognizable state which is a state where said sensor can recognize only one of said left lane marker and said right lane marker, a change amount of said steering angle and/or a change amount of said steering angle speed to a value which is smaller than when said recognition state of said lane marker is a both lane markers recognizable state which is a state where said sensor can recognize both said left lane marker and said right lane marker. ### Claim 11 A vehicle traveling support apparatus comprising: a sensor for recognizing a lane marker on a traveling lane in which an own vehicle is traveling; and an electronic control unit configured to perform a lane keeping control to control a steering angle of said own vehicle so as to have said own vehicle travel along a target traveling line set based on at least any one of a left lane marker and a right lane marker recognized by said sensor, said left lane marker being on a left side with respect to said own vehicle, said right lane marker being on a right side with respect to said own vehicle, wherein, when performing said lane keeping control, said electronic control unit is configured to: execute at least any one of: (i) a process to control said steering angle so as to match a magnitude of said steering angle with a steering angle guard value when said magnitude of said steering angle exceeds said steering angle guard value; and (ii) a process to control said steering angle so as to match a magnitude of a steering angle speed which is an amount of change per unit time of said steering angle with a steering angle speed guard value when said magnitude of said steering angle speed exceeds said steering angle speed guard value; and set, when a specific recognition state occurs where said lane marker recognized by said sensor changes from said left lane marker to said right lane marker or vice versa under one side lane marker recognizable state which is a state where said sensor can recognize only one of said left lane marker and said right lane marker, a change amount of said steering angle and/or a change amount of said steering angle speed to a value which is smaller than when said recognition state of said lane marker is said one side lane marker recognizable state and said specific recognition state does not occur.