Lane Departure Prevention Device and Vehicle Provided with Same

A lane departure prevention device, including:

• departing amount estimation means that estimates a departing amount of a vehicle departing from a lane after a predetermined time;
• departure prevention control means that calculates, on a basis of an output from the departing amount estimation means, a command value to an actuator that is activated to avoid deviation from the lane;
• and
• steering torque detection means that detects a steering torque,
• wherein the lane departure prevention device comprises:
• steering torque variation detection means that detects a variation in output from the steering torque detection means:
• command value variation detection means that detects a variation in the command value to the actuator;
• driver's intention determination means that determines that, when a difference between an output from the steering torque variation detection means and the command value variation detection means is a threshold or more, a driver's operational intention is present;
• and
• actuator activation limiting means that limits the command value on a basis of an output from the driver's intention determination means.

A lane departure prevention device, including:

• departing amount estimation means that estimates a departing amount of a vehicle departing from a lane after a predetermined time;
• departure prevention control means that calculates, on a basis of an output from the departing amount estimation means, a command value to an actuator that is activated to avoid deviation from the lane;
• and
• steering torque detection means that detects a steering torque,
• wherein the lane departure prevention device comprises:
• steering torque variation detection means that detects a variation in output from the steering torque detection means:
• control amount distribution means that distributes the command value to a brake control unit and a steering control unit;
• command value variation detection means that detects a variation in the command value on a basis of an output from the departure prevention control means and a distribution ratio by the control amount distribution means;
• driver's intention determination means that determines that, when a difference between an output from the steering torque variation detection means and the command value variation detection means is a threshold or more, a driver's operational intention is present;
• and actuator activation limiting means that limits the command value on a basis of an output from the driver's intention determination means.

A lane departure prevention device, including:

• departing amount estimation means that estimates a departing amount of a vehicle departing from a lane after a predetermined time;
• departure prevention control means that calculates, on a basis of an output from the departing amount estimation means, a command value to an actuator that is activated to avoid deviation from the lane;
• and
• steering torque detection means that detects a steering torque, wherein the lane departure prevention device comprises:
• steering torque variation detection means that detects a variation in output from the steering torque detection means:
• reaction force control amount calculation means that calculates a reaction force to be applied to a steering wheel from the command value;
• command value variation detection means that detects a variation in output from the reaction force control amount calculation means;
• driver's intention determination means that determines that, when a difference between an output from the steering torque variation detection means and the command value variation detection means is a threshold or more, a driver's operational intention is present;
• and
• actuator activation limiting means that limits the command value on a basis of an output from the driver's intention determination means.