Patent ID: 11919567
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 10:
11. An automatic steering control apparatus configured to perform an automatic steering control that causes a vehicle to travel along a target traveling path, the automatic steering control apparatus comprising:
a lane line detector configured to detect right and left lane lines that define a lane along which the vehicle travels;
a shape data detector configured to detect shape data, the shape data having a corresponding relationship with a road shape of the lane and excluding the right and the left lane lines;
a traveling processor configured to execute a traveling control that controls a traveling state of the vehicle;
a steering angle processor configured to control a steering angle of the vehicle on a basis of a command signal from the traveling processor; and
a traveling state detector configured to detect a vehicle speed of the vehicle as data on the traveling state of the vehicle, wherein
the traveling processor is configured to, in a case where both the right and the left lane lines are detected by the lane line detector, execute a first lane-line control, the first lane-line control being the automatic steering control to be executed on a basis of both the right and the left lane lines,
the traveling processor is configured to, in a case where only one of the right and the left lane lines is detected by the lane line detector as a detected lane line, execute a determining process that compares data on the detected lane line and the shape data and that determines whether to execute a second lane-line control, the second lane-line control being the automatic steering control to be executed on a basis of only the one of the right and the left lane lines,
the automatic steering control comprises a lane keep control that keeps the vehicle within the lane,
the traveling processor is configured to calculate, in a case where the first lane-line control is executed, the steering angle on a basis of a curvature of each of the right and left lane lines and the vehicle speed, and
the traveling processor is configured to discontinue the first lane-line control and execute the second lane-line control, in a case where a difference between the curvatures of the respective right and left lane lines is equal to or greater than a first threshold and the steering angle is equal to or greater than a second threshold.