Sughrue Mion, PLLC
Lane departure prevention apparatus
A lane departure prevention apparatus (17) has: a controlling device (172) configured to control a braking device (122) so that prevention yaw moment for preventing a vehicle from departing from a driving lane; and determining device (173) configured to determine whether or not slip ratio of a front wheel is larger than a first threshold value (KSfr) and whether or not slip ratio of a rear wheel is larger than a second threshold value (KSrr), the controlling device is configured to control the braking device so that the braking force applied from the braking device becomes smaller than the braking force for applying the prevention yaw moment, if it is determined that the slip ratio of the front wheel is larger than the first threshold value and/or the slip ratio of the rear wheel is larger than the second threshold value.
TOYOTA JIDOSHA KABUSHIKI KAISHA ROBERT BOSCH GMBH
B B B B B B B B
B62D B60W B60W B60T B60T B60W B60W B60T
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Masayuki Akira Kumiko Hironori Tomoyuki Toshifumi Ryo
Ikeda Nagae Kondo Ito Doi Sugisawa Inomata