Steering assist control apparatus and steering assist control method
First Claim
1. A steering assist control apparatus comprising:
- an electronic control unit (ECU) programmed to;
recognize a lane using a pickup image, the lane being a lane along which an own vehicle runs, the pickup image being a pickup image of a forward sight of the own vehicle in a travelling direction of the own vehicle;
give a manipulated variable to a steering system of the own vehicle such that the own vehicle runs along the lane recognized by the ECU, the manipulated variable being a manipulated variable by which steering of the own vehicle is controlled;
detect at least any one of (i) an abnormality in recognition of the lane made and a manner of the abnormality in the recognition and (ii) a control abnormality and a manner of the control abnormality; and
decrease the manipulated variable with time, when at least any one of the abnormality in recognition of the lane and the control abnormality is detected,wherein the manipulated variable is decreased at a manipulated variable decrease rate corresponding to at least any one of the manner of the abnormality in recognition and the manner of the control abnormality,wherein, the ECU is further programmed to detect a first abnormality manner, a second abnormality manner and a third abnormality manner, as the detected manner of the abnormality in recognition of the lane, and to decrease the manipulated variable at a manipulated variable decrease rate which varies in accordance with the detected manner or the abnormality in recognition of the lane.
2 Assignments
0 Petitions
Accused Products
Abstract
In a steering assist control apparatus including a steering assist control unit that controls the steering of an own vehicle by a manipulated variable allowing the own vehicle to run along a lane recognized by a lane recognition unit, and a control stop unit that decrease the manipulated variable with time when an abnormality detection unit detects a recognition abnormality in the lane recognition unit, the control stop unit decreases the manipulated variable at a manipulated variable decrease rate corresponding to a manner of the recognition abnormality. Thereby, at the time of the occurrence of the abnormality, it is possible to more adequately decrease the manipulated variable for the steering assist control, corresponding to the manner of the abnormality.
9 Citations
7 Claims
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1. A steering assist control apparatus comprising:
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an electronic control unit (ECU) programmed to; recognize a lane using a pickup image, the lane being a lane along which an own vehicle runs, the pickup image being a pickup image of a forward sight of the own vehicle in a travelling direction of the own vehicle; give a manipulated variable to a steering system of the own vehicle such that the own vehicle runs along the lane recognized by the ECU, the manipulated variable being a manipulated variable by which steering of the own vehicle is controlled; detect at least any one of (i) an abnormality in recognition of the lane made and a manner of the abnormality in the recognition and (ii) a control abnormality and a manner of the control abnormality; and decrease the manipulated variable with time, when at least any one of the abnormality in recognition of the lane and the control abnormality is detected, wherein the manipulated variable is decreased at a manipulated variable decrease rate corresponding to at least any one of the manner of the abnormality in recognition and the manner of the control abnormality, wherein, the ECU is further programmed to detect a first abnormality manner, a second abnormality manner and a third abnormality manner, as the detected manner of the abnormality in recognition of the lane, and to decrease the manipulated variable at a manipulated variable decrease rate which varies in accordance with the detected manner or the abnormality in recognition of the lane. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A steering assist control method comprising:
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recognizing a lane using a pickup image, the lane being a lane along which an own vehicle runs, the pickup image being a pickup image of a forward sight of the own vehicle in a travelling direction of the own vehicle; detecting at least any one of (i) an abnormality in recognition of the lane and a manner of the abnormality in recognition, wherein the detected manner of the abnormality in recognition of the lane includes a first abnormality manner, a second abnormality manner and a third abnormality manner, and (ii) a control abnormality in a steering assist control unit that gives a manipulated variable to a steering system of the own vehicle such that the own vehicle runs along the lane recognized and a manner of the control abnormality; calculating a manipulated variable by which the own vehicle runs along the recognized lane; decreasing the manipulated variable at a manipulated variable decrease rate which varies in accordance with the detected manner of the abnormality in recognition of the lane; and performing steering assist control based on the manipulated variable decreased at the decrease rate.
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Specification