Sughrue Mion, PLLC
Lane departure prevention apparatus
A lane departure prevention apparatus (17) has: a departure preventing device (172) for control a braking apparatus (122) to perform a departure prevention operation by applying yaw moment (Mtgt) to a vehicle (1), wherein the yaw moment is generated by a difference of the braking forces between right wheels (121FR, 121RR) and left wheels (121FL, 121RL)1; and a controlling device (173) for controlling the departure prevention device so that the braking force applied to driving wheels (121RL, 121RR) becomes smaller and the braking force applied to non-driving wheels (121FL, 121FR) becomes larger when the departure prevention operation is performed and a differential apparatus (132) limits a differential rotation, compared to a case where the departure prevention operation is performed and the differential apparatus does not limit the differential rotation.
TOYOTA JIDOSHA KABUSHIKI KAISHA
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B60W B60W B60W B60W B60T B60W B60T B60W B60T B60W B60W B60W B60W B60W
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Masayuki Hironori Ryo Akira
Ikeda Ito Inomata Nagae