US 12,606,244 B2Granted

Drive assist device

AssigneeToyota Jidosha Kabushiki Kaisha

InventorToshiro Ogawa

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Abstract

The steering angle is controlled according to a steering angle profile. The steering angle profile is composed of a first steering angle profile that causes the vehicle toward the lane departure direction to be directed toward the lane departure avoidance direction, and a second steering angle profile that is continuous with the first steering angle profile, and the rate of change of the steering angle at the initial steering time in the first steering angle profile, the rate of change of the steering angle and the steering angle at the end of steering in the first steering angle profile, the rate of change of the steering angle and the steering angle at the initial steering time in the second steering angle profile, and the rate of change of the steering angle and the steering angle at the end of steering in the second steering angle profile are set to zero.

Claims8

Dependent claims

A drive assist device comprising a steering device configured to perform steering assist for a steering angle of a vehicle, sensors configured to detect a lateral position of the vehicle, a lateral speed of the vehicle, and a lateral acceleration of the vehicle, and a processor, wherein:

the processor is configured to perform steering assist for controlling the steering angle to follow a steering angle profile indicating a temporal change pattern of a steering angle for avoiding a lane departure;
the steering angle profile includes a first steering angle profile and a second steering angle profile that is continuous with the first steering angle profile and causes a change of the steering angle to a side opposite to the first steering angle profile;
and
a rate of change of a steering angle at an initial time of steering in the first steering angle profile, a steering angle at an end of the steering in the first steering angle profile and a rate of change of the steering angle, a steering angle at an initial time of steering in the second steering angle profile and a rate of change of the steering angle, and a steering angle at an end of the steering in the second steering angle profile and a rate of change of the steering angle are set to zero.

1 more element

Dependencies are inferred from the claim text.