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This paper describes the Nissan ASV-2, an experimental advanced safety vehicle, and the technologies • • incorporated in this vehicle. The Nissan ASV-2 was developed during the second phase (FY 1996–2000) of the Advanced Safety Vehicle (ASV) program promoted by the Ministry of Land, Infrastructure and Transport. Newly developed technologies are incorporated into the vehicle specifically for reducing the number of traffic accidents overall. Overviews are given of the major individual systems that have been developed as Nissan ASV technologies, and several systems that are distinctive features of the ASV-2 are discussed in detail.

Various driver assistance systems have been developed for maintaining a vehicle in its lane. For example, systems that apply force to the steering gear to help the driver keep the vehicle in the center of its lane are becoming popular. On the other hand, direct yaw-moment control systems have been developed for use in stabilizing the vehicle in extremer conditions where loss of control is detected. This paper deals with a system for aiding drivers in recovering from lane departure and maintaining the vehicle in its lane by utilizing direct yaw-moment control. The system uses a CCD camera to recognize lane makers and detects lane departures based on the positional relationship between the vehicle and the lane. When a lane departure is detected, the system applies force to the wheels to generate a yaw moment in the vehicle, so that it turns towards the original lane.