Patent ID: 11897540
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A vehicle traveling support apparatus comprising:
a sensor for recognizing a lane marker on a traveling lane in which an own vehicle is traveling; and
an electronic control unit configured to perform a lane keeping control to control a steering angle of said own vehicle so as to have said own vehicle travel along a target traveling line set based on at least any one of a left lane marker and a right lane marker recognized by said sensor, said left lane marker being on a left side with respect to said own vehicle, said right lane marker being on a right side with respect to said own vehicle,
wherein,
when performing said lane keeping control, said electronic control unit is configured to:
execute at least any one of:
(i) a process to control said steering angle so as to match a magnitude of said steering angle with a steering angle guard value when said magnitude of said steering angle exceeds said steering angle guard value; and
(ii) a process to control said steering angle so as to match a magnitude of a steering angle speed which is an amount of change per unit time of said steering angle with a steering angle speed guard value when said magnitude of said steering angle speed exceeds said steering angle speed guard value; and

set, when a recognition state of said lane marker by said sensor is a one side lane marker recognizable state which is a state where said sensor can recognize only one of said left lane marker and said right lane marker, a change amount of said steering angle and/or a change amount of said steering angle speed to a value which is smaller than when said recognition state of said lane marker is a both lane markers recognizable state which is a state where said sensor can recognize both said left lane marker and said right lane marker.