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    • 9. 发明授权
    • Vehicle control apparatus and vehicle control method
    • 车辆控制装置和车辆控制方法
    • US08521416B2
    • 2013-08-27
    • US13043984
    • 2011-03-09
    • Yuki NakadaToshiya OosawaAkira Takahashi
    • Yuki NakadaToshiya OosawaAkira Takahashi
    • F41G9/00G06F17/10G06G7/78
    • B60W30/12B60T2201/08B60T2201/083B60T2201/087B62D15/025
    • A vehicle control apparatus includes a first section that recognizes a lane boundary line of a lane in which a vehicle is traveling. A second section recognizes a present position of a predetermined reference point of the vehicle. A third section calculates a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position. A fourth calculates an imaginary lane boundary line, wherein the imaginary lane boundary line is tangent to the lane boundary line at a point close to the predicted position. A fifth section performs a control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line. A sixth section selectively permits and suppresses the control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.
    • 车辆控制装置包括识别车辆行驶的车道的车道边界线的第一部分。 第二部分识别车辆的预定参考点的当前位置。 第三部分计算参考点的预测位置,其中预测位置是在当前位置之前的预定间隔。 第四计算虚拟车道边界线,其中虚拟车道边界线在靠近预测位置的点处与车道边界线相切。 第五部分通过根据车辆与车道边界线之间的位置关系控制车辆来执行防止车辆偏离车道的控制。 第六部分根据虚拟车道边界线,当前位置和预测位置之间的位置关系选择性地允许和抑制控制。