Driving support apparatus for vehicle and driving support method
AssigneeToyota Jidosha Kabushiki Kaisha
InventorMasaaki YAMAOKA
Life of this patent
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Abstract
A driving support apparatus has a controller that performs a lane keeping assist that controls a vehicle such that the lateral position of the vehicle is a target lateral position in a running lane, recognizes a lane change operation by the driver for a lane change of the vehicle from the running lane to an adjacent lane, and, when it is determined that steering torque in a lane change direction by the driver has changed from a predetermined threshold or more to less than the predetermined threshold after the lane change operation is recognized and before it is determined that a previously set lane change operation termination condition has been met, sets the lateral position of the vehicle at the time of the determination as the target lateral position.
Claims7
A driving support apparatus for a vehicle comprising a controller,
- the controller configured to perform a lane keeping assist that controls a vehicle such that a position of the vehicle in a width direction of a lane along which the vehicle is running corresponds to a target lateral position in the lane and that reflects steering by a driver of the vehicle in running of the vehicle,
- the controller recognizing a lane change operation by the driver, the lane change operation being an operation by which the vehicle makes a lane change from the lane along which the vehicle is running, to an adjacent lane,
- the controller being configured such that, when it is determined that a steering torque in a lane change direction given by the driver has changed from a predetermined threshold or more to less than the predetermined threshold, the lateral position of the vehicle at the time of the determination is set as the target lateral position, the determination being made, during execution of the lane keeping assist, after the lane change operation is recognized and before it is determined that a previously set lane change operation termination condition indicating that a lane change operation of the driver is terminated has been met.
A driving support method for a vehicle comprising:
- performing a lane keeping assist that controls a vehicle such that a position of the vehicle in a width direction of a lane along which the vehicle is running corresponds to a target lateral position in the lane and that reflects steering by a driver of the vehicle in running of the vehicle;
- recognizing a lane change operation by the driver, the lane change operation being an operation by which the vehicle makes a lane change from the lane along which the vehicle is running, to an adjacent lane;
- and
- setting a lateral position of the vehicle as the target lateral position, when it is determined that steering torque of the steering in a lane change direction given by the driver has changed from a predetermined threshold or more to less than the predetermined threshold, the lateral position of the vehicle being the lateral position of the vehicle at the time of the determination, the determination being made, during execution of the lane keeping assist, after the lane change operation is recognized and before it is determined that a previously set lane change operation termination condition indicating that a lane change operation of the driver is terminated has been met.
Dependencies are inferred from the claim text.