A lane deviation prevention control device for a vehicle includes an exterior information detector and a lane deviation prevention control start determiner. The lane deviation prevention control start determiner determines to start a lane deviation prevention control even when an own vehicle has already deviated from an own lane on which the own vehicle is traveling, on the condition that the exterior information detector detects an approaching vehicle that is approaching the own vehicle, on an adjacent lane on deviation side on which deviation is taking place, and that a lateral position of the own vehicle is equal to or smaller than a control start threshold.

A method of assisting a driver of a vehicle, the method includes obtaining a location of a road boundary relative to the vehicle using a sensor, selecting, via a controller, a parameter to assist a driver of the vehicle when approaching the location of the road boundary based on a condition, determining, via the controller, based on the location of the road boundary whether the vehicle will be a predetermined distance from the road boundary, and providing a feedback operation to assist the driver in avoiding the road boundary based on the selected parameter.

A lane-maintaining control device detects a lane width (H1) of a traveling lane (21) through a camera (4) and performs lane-maintaining control without a deviation from the lane width (H1). When detecting, through the camera (4), that the traveling lane (21) gradually increases (H2>H1 where the increasing lane width is (H2)), the lane-maintaining control device continues the lane-maintaining control on a condition that a turn signal is not operated.

A method for compensating a road line includes deriving a length of a left road line and a length of a right road line, recognized by a sensor, and determining a left road line level and a right road line level based on the length of the left road line and the length of the right road line; correcting the left road line level and the right road line level based on a change in the lengths of the left road line and the right road line or a change in curvatures of the left road line and the right road line; calculating a correction coefficient based on the corrected left road line level and the corrected right road line level; and correcting, by the correction coefficient, information about a road line with a lower level of the corrected left road line level and the corrected right road line level.

A driving support apparatus is provided with: a first controller programmed to perform a first control, which is to make a speed of a vehicle not to exceed a predetermined speed; a second controller programmed to perform a second control, which is a driving support control that is different from the first control; a preventer configured to prevent the second control on the basis of an operation of an accelerator by an occupant of the vehicle; and a prevention reducer configured to control the preventer to hardly prevent the second control if the first control is performed, in comparison with when the first control is not performed.

A lane-maintaining control device detects a lane width (H1) of a traveling lane (21) through a camera (4) and performs lane-maintaining control without a deviation from the lane width (H1). When detecting, through the camera (4), that the traveling lane (21) gradually increases (H2>H1 where the increasing lane width is (H2)), the lane-maintaining control device continues the lane-maintaining control on a condition that a turn signal is not operated.

A drive assist apparatus, including a lane-keeping assist apparatus configured to apply an auxiliary steering torque to a steering mechanism mounted on a vehicle so that the vehicle runs at a predetermined position between lane lines, an operating member configured to be operated by an operator of the vehicle to output an activation signal for activating the lane-keeping assist apparatus, a determining unit configured to determine whether operation of the lane-keeping assist apparatus is necessary, and an outputting unit configured to output at least one of a notify signal for prompting the operator to operate the operating member and the activation signal, when the operating member is inoperative and it is determined that operation of the lane-keeping assist apparatus is necessary by the determining unit.

The present invention extends to methods, systems, and computer program products for distinguishing roadway surface lane markings for a vehicle to follow. Automated driving or driving assist vehicles utilize sensors to help the vehicle navigate on roadways or in parking areas. The sensors can utilize, for example, the painted surface markings to help guide the vehicle on its path. When ambiguity is detected between roadway surface markings, decision making algorithms identify a set of roadway surface markings for a vehicle to abide by. The sensors can also identify the location and trajectory of neighboring vehicles to increase confidence with respect to an identified set of roadway surface markings.

A computer in a vehicle is programmed to instruct a steering system of the vehicle to perform a lateral steering action depending on whether a steering-wheel angle is greater than a threshold angle, and to determine and apply an amount of torque to a steering wheel based on comparing the steering-wheel angle to the threshold angle.

A method of assisting a driver of a vehicle, the method includes obtaining a location of a road boundary relative to the vehicle using a sensor, selecting, via a controller, a parameter to assist a driver of the vehicle when approaching the location of the road boundary based on a condition, determining, via the controller, based on the location of the road boundary whether the vehicle will be a predetermined distance from the road boundary, and providing a feedback operation to assist the driver in avoiding the road boundary based on the selected parameter.