# US 12,600,353 B2 · Lane departure suppression device and lane departure suppression method

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,600,353 B2
- Document ID: US12600353B2
- Status: Granted
- Kind: B2
- Application number: 18/968,596
- Filed: 2024-12-04
- Published: 2025-07-17
- Granted: 2026-04-14
- Earliest claimed: 2024-01-16
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Hajime Nagae
- Web page: https://patentgrep.com/patent/US12600353B2

## CPC

- B60W 30/12: Lane keeping
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/14: Yaw
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2720/14: Yaw
- G06V 2201/07: Target detection
- G06V 2201/08: Detecting or categorising vehicles
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A lane departure suppression device includes a driving assistance ECU configured to, when determination is made that there is a risk that a vehicle departs from a lane based on information acquired by a target information acquisition device that acquires information about a target around a host vehicle, execute yaw moment application control of applying a yaw moment for suppressing the departure of the vehicle from the lane to the vehicle. The driving assistance ECU is configured to, when determination is made that the vehicle travels on a road without a center line and that there is a risk that the vehicle departs from the lane in an off-road direction, reduce the yaw moment as compared with when determination is made that the vehicle travels on a road with a center line and that there is a risk that the vehicle departs from the lane in the off-road direction.

## Claims

### Claim 1

A lane departure suppression device comprising:
a target information acquisition device configured to acquire information about a target in a vicinity of a vehicle; and
a control unit configured to, when a determination is made that there is a risk that the vehicle departs from a lane based on the information about the target acquired by the target information acquisition device, execute yaw moment application control of applying a yaw moment for suppressing the departure of the vehicle from the lane to the vehicle,
wherein the control unit is configured to, when a determination is made that the vehicle travels on a road without a center line and that there is a risk that the vehicle departs from the lane in an off-road direction, reduce the yaw moment as compared with when a determination is made that the vehicle travels on a road with a center line and that there is a risk that the vehicle departs from the lane in the off-road direction.

### Claim 2 (depends on 1)

The lane departure suppression device according to claim 1, wherein the control unit is configured to, when a determination is made that the target information acquisition device acquires solely information about a lane marking on a side having a risk of the departure of the vehicle as lane markings of the road within a predetermined range from the vehicle, determine that the road is the road without the center line.

### Claim 3 (depends on 1)

The lane departure suppression device according to claim 1, wherein the control unit is configured to, when a determination is made that the target information acquisition device acquires information about lane markings on both sides of the vehicle as lane markings of the road within a predetermined range from the vehicle and that an interval between the lane markings on both sides is equal to or greater than a reference interval, determine that the road is the road without the center line.

### Claim 4 (depends on 1)

The lane departure suppression device according to claim 1, wherein the control unit is configured to, after a predetermined time has elapsed from start of the yaw moment application control, gradually reduce the yaw moment to be applied to the vehicle.

### Claim 5

A lane departure suppression method comprising:
determining whether or not there is a risk that a vehicle departs from a lane based on information about a target in a vicinity of the vehicle, the information being acquired by a target information acquisition device;
executing, when a determination is made that there is a risk that the vehicle departs from the lane, yaw moment application control of applying a yaw moment for suppressing the departure of the vehicle from the lane to the vehicle;
determining whether or not the vehicle is traveling on a road without a center line; and
reducing, when a determination is made that the vehicle travels on the road without the center line and that there is a risk that the vehicle departs from the lane in an off-road direction, the yaw moment as compared with when a determination is made that the vehicle travels on a road with a center line and that there is a risk that the vehicle departs from the lane in the off-road direction.