In-lane running support system, automobile and in-lane running support method

An automobile;

• comprising:
• a vehicle body,
• plural wheels mounted on the vehicle body,
• a steering input device configured to input steering operations by a driver;
• a steering input detector configured to detect the steering operations inputted via said steering input device;
• a reaction force device configured to change a condition of the steering input device between a normal operation mode that provides a normal reaction force to the driver via said steering input device, and a hapthic operation mode that performs a notification operation to the driver via said steering input device;
• a turning output device, which is in a state mechanically disconnected from said steering input device, configured to turn steerable wheels;
• a turning output controller configured to control turning of the steerable wheels by said turning output device corresponding to the steering operations detected by said steering input detector;
• a running state detecting device configured to acquire information of a running state of the automobile with respect to a lane;
• and
• an in-lane running support device configured to control said turning output device and said reaction force device based on the information of the running state such that the automobile runs in the lane,
• wherein said in-lane running support device has a first control mode that controls the turning output device and causes the reaction force device to operate in the normal operation mode, and has a second control mode that controls the turning output device and causes the reaction force device to operate in the haptic operation mode.

An in-lane running support system for a vehicle;

• comprising:
• a steering input means for inputting steering operations by a driver;
• a steering input detection means for detecting the steering operations inputted via said steering input means;
• a reaction force means for changing a condition of the steering input means between a normal operation mode that provides a normal reaction force to the driver via said steering input device, and a hapthic operation mode that performs a notification operation to the driver via said steering input device;
• a turning output means, which is in a state mechanically disconnected from said steering input means, for turning steerable wheels;
• a turning output control means for controlling turning of the steerable wheels by said turning output means corresponding to the steering operations detected by said steering input detection means;
• a running state detection means for acquiring information of a running state of the vehicle with respect to a lane;
• and
• an in-lane running support means for controlling said turning output means and said reaction force means based on the information of the running state such that the vehicle runs in the lane,
• wherein said in-lane running support means has a first control mode that controls the turning output means and causes the reaction force means to operate in the normal operation mode, and has a second control mode that controls the turning output means and causes the reaction force means to operate in the haptic operation mode.

An in-lane running support method for a vehicle;

• comprising:
• detecting information of a running state of the vehicle with respect to a lane;
• and
• controlling a turning control of steerable wheels such that the vehicle runs in the lane and reaction force of a steering input device based on the information of the running state,
• wherein said controlling step has a first control mode that controls the steerable wheels and provides a normal reaction force to the driver via the steering input device, and has a second control mode that controls the steerable wheels and performs a notification operation via the steering input device.

A computer readable storage medium, having stored data for in-lane running support control for a vehicle;

• comprising:
• instructions for detecting information of a running state of the vehicle with respect to a lane;
• and
• instructions for controlling a turning control of steerable wheels such that the vehicle runs in the lane and reaction force of a steering input device based on the information of the running state,
• wherein said controlling instructions has a first control mode that controls the steerable wheels and provides a normal reaction force to the driver via the steering input device, and has a second control mode that controls the steerable wheels and performs a notification operation via the steering input device.