LANE DEPARTURE PREVENTION DEVICE AND LANE DEPARTURE PREVENTION SYSTEM A lane departure prevention device mounted on a vehicle (1) including a braking device configured to apply a braking force to wheels includes: a vehicle control unit (172) configured to control the braking device such that a yawing moment in a direction of avoiding a departure of the vehicle (1) from a traveling lane of the vehicle (1) is applied when the vehicle (1) is predicted to depart from the traveling lane in which the vehicle (1) is currently traveling; and a calculation unit configured (173) to calculate an index value related to a variation in yaw rates of the vehicle (1) that is traveling, wherein the vehicle control unit (172) is configured to control the braking device such that the braking force becomes smaller when the index value is equal to or greater than a predetermined threshold value than when the index value is smaller than the predetermined threshold value. 121FL 142 141 121FR 122FL 122FR ACTUATOR 113RR 122RL 113FL 121 RL 161 172 121RR LDA VEHICLE DISPLAY ------ CONTROL - -- SPEED 151 UNIT SENSOR SPEAKER 173 WHEEL 152 DATA -- SPEED vf ACQUISITION SENSOR BAD ROAD UNIT 162 DETERMINA- . YAW RATE 153 155 TION UNIT SENSOR CAMERA-------------------------------- ACCELERATION 1 ECU SENSOR 54
Lane departure prevention device and lane departure prevention system
2019-02-28
Patent
Electronic Resource
English