Patent ID: 8655549
Filing Date: 2014-02-18
Classification: B60T,B60W

Abstract:
1. A vehicle driving control apparatus comprising: a lane detecting device configured to detect a lane marker of a lane in which a host vehicle equipped with the vehicle control apparatus is traveling; a future position estimating device configured to estimate a future transverse position of the host vehicle after a prescribed amount of time; and a vehicle control device configured to execute a vehicle control with respect to the host vehicle such that a yaw moment oriented toward a middle of the lane in which the host vehicle is traveling is imparted to the host vehicle when the vehicle control device determines that the future transverse position of the host vehicle estimated by the future position estimating device is located laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference, the vehicle control device being further configured to reduce a frequency at which the vehicle control intervenes in influencing lateral movement of the vehicle during occurrence of a decline in a degree at which the lane detecting device is able to recognize the lane marker during the travelling of the host vehicle by suppressing an impartation of the yaw moment by the vehicle control device over a period of time in relation to the traveling of the host vehicle and the decline in the degree at which the lane detecting device is able to recognize the lane marker during the traveling.