An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a path tracking controller configured to detect lane boundaries and a path curvature for the traffic lane from the image, determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.

An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a path tracking controller configured to detect lane boundaries and a path curvature for the traffic lane from the image, determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.

A lane departure avoidance device includes a control unit that executes a lane departure prevention control by at least one of automatically turning a turning wheel and issuing an alarm, when it is determined that there is a possibility that a vehicle crosses a lane border and a driver has no intention of performing a lane departure, and that suspends executing the lane departure prevention control, when it is determined that there is a possibility that the vehicle crosses the lane border and the driver intentions to perform the lane departure. The control unit continues to suspend executing the lane departure prevention control, when it is determined that there is another lane border on a side that the vehicle approaches and that a distance from the vehicle to the other lane border is a reference distance or more, in a situation where executing the lane departure prevention control is suspended.

A lane departure avoidance device includes a control unit that executes a lane departure prevention control by at least one of automatically turning a turning wheel and issuing an alarm, when it is determined that there is a possibility that a vehicle crosses a lane border and a driver has no intention of performing a lane departure, and that suspends executing the lane departure prevention control, when it is determined that there is a possibility that the vehicle crosses the lane border and the driver intentions to perform the lane departure. The control unit continues to suspend executing the lane departure prevention control, when it is determined that there is another lane border on a side that the vehicle approaches and that a distance from the vehicle to the other lane border is a reference distance or more, in a situation where executing the lane departure prevention control is suspended.

An object is to provide technology capable of appropriately recognizing a travel path. A travel path recognition apparatus includes a travel path recognizer. The travel path recognizer calculates a traveling distance traveled by a vehicle from acquisition time of lane marking information to current time based on a vehicle speed of vehicle behavior. Then, the travel path recognizer determines whether or not the lane marking information is information within a usable period in which the lane marking information is usable to recognize the travel path based on a predetermined lane marking acquirable distance and the traveling distance. The predetermined lane marking acquirable distance is a distance in front of a position of the vehicle, and is a distance in which a lane marking of the lane marking information is acquirable.

An object is to provide technology capable of appropriately recognizing a travel path. A travel path recognition apparatus includes a travel path recognizer. The travel path recognizer calculates a traveling distance traveled by a vehicle from acquisition time of lane marking information to current time based on a vehicle speed of vehicle behavior. Then, the travel path recognizer determines whether or not the lane marking information is information within a usable period in which the lane marking information is usable to recognize the travel path based on a predetermined lane marking acquirable distance and the traveling distance. The predetermined lane marking acquirable distance is a distance in front of a position of the vehicle, and is a distance in which a lane marking of the lane marking information is acquirable.

A vehicle control method includes: controlling a vehicle based on a lane position obtained from map information; detecting a lane boundary around the vehicle using a sensor mounted on the vehicle; and determining that the map information deviates from an actual state when a predetermined condition is met. The predetermined condition is met when a state in which a first distance is equal to or less than a first threshold continues for a first time or more or when a state in which a second distance is equal to or more than a second threshold continues for a second time or more. The first distance is a distance between a travel position of the vehicle and the detected lane boundary. The second distance is a distance between a lane boundary obtained from the map information and the detected lane boundary.

A vehicle control method includes: controlling a vehicle based on a lane position obtained from map information; detecting a lane boundary around the vehicle using a sensor mounted on the vehicle; and determining that the map information deviates from an actual state when a predetermined condition is met. The predetermined condition is met when a state in which a first distance is equal to or less than a first threshold continues for a first time or more or when a state in which a second distance is equal to or more than a second threshold continues for a second time or more. The first distance is a distance between a travel position of the vehicle and the detected lane boundary. The second distance is a distance between a lane boundary obtained from the map information and the detected lane boundary.

A method used for deriving a control variable for lateral guidance of a motor vehicle by means of images of at least one camera of the motor vehicle, wherein the at least one camera captures images of a roadway. A more precise and/or resource-saving derivation of the control variable, and thus lateral guidance, of the motor vehicle is achieved by projecting a traffic lane to be followed as well as a travel trajectory of the motor vehicle onto the images, and by a control variable for lateral guidance of the motor vehicle being derived by comparing the traffic lane projected onto the images with the travel trajectory projected onto the images. A motor vehicle in which the method is performed is also described.

A method used for deriving a control variable for lateral guidance of a motor vehicle by means of images of at least one camera of the motor vehicle, wherein the at least one camera captures images of a roadway. A more precise and/or resource-saving derivation of the control variable, and thus lateral guidance, of the motor vehicle is achieved by projecting a traffic lane to be followed as well as a travel trajectory of the motor vehicle onto the images, and by a control variable for lateral guidance of the motor vehicle being derived by comparing the traffic lane projected onto the images with the travel trajectory projected onto the images. A motor vehicle in which the method is performed is also described.