Lane-keep control system for vehicle

• US 20030097206A1
• Filed: 11/06/2002
• Published: 05/22/2003
• Est. Priority Date: 11/20/2001
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Matsumoto, Shinji, Tange, Satoshi
• Granted Patent: US 6,732,021 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• CPC Class Codes: B60T 8/17557 specially adapted for lane departure prevention road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

A lane-keep control system for a host vehicle is arranged to execute a lane-keep control of controlling the host vehicle toward a deviation-preventing direction of preventing the lane deviation according to a vehicle traveling condition when there is a tendency of the lane deviation and to limit the lane-keep control when a determination as to the tendency of the lane deviation is made under a condition that the host vehicle is traveling a lane-deviation area deviated from a traveling lane.

Claims

1. A lane-keep control system for a host vehicle, comprising:

a control unit configured,

to detect a traveling condition of the host vehicle,

to determine whether there is a tendency of a lane deviation indicative that the host vehicle is deviating from a traveling lane, according to the traveling condition,

to execute a lane-keep control for controlling the host vehicle toward a deviation-preventing direction of preventing the lane deviation according to the traveling condition when there is the tendency of the lane deviation,

to limit the lane-keep control when the lane-keep control is executed according to the determination as to the tendency of the lane deviation and when the determination as to the tendency of the lane deviation is made according to the traveling condition under a condition that the host vehicle is traveling a lane-deviation area deviated from the traveling lane.

2. The lane-keep control system as claimed in claim 1, wherein to limit the lane-keep control includes to limit a start of the lane-keep control.

3. The lane-keep control system as claimed in claim 1, wherein to limit the lane-keep control includes to correct a controlled variable of the lane-keep control at a start of the lane-keep control.

4. The lane-keep control system as claimed in claim 1, further comprising a control start switch for manually starting the lane-keep control, wherein the control unit is configured to limit a start of the lane-keep control when the control start switch is turned on, when the lane-keep control is executed according to the determination as to the tendency of the lane deviation, and when the determination as to the tendency of the lane deviation is made according to the traveling condition under the condition that the host vehicle is traveling the lane-deviation area.

5. The lane-keep control system as claimed in claim 1, further comprising a control start switch for manually starting the lane-keep control, wherein the control unit is configured to correct a controlled variable of the lane-keep control at a start of the lane-keep control when the control start switch is turned on, when the lane-keep control is executed according to the determination as to the tendency of the lane deviation and when the determination as to the tendency of the lane deviation is made according to the traveling condition under the condition that the host vehicle deviates from the traveling lane.

6. The lane-keep control system as claimed in claim 1, further comprising a control start switch for manually starting the lane-keep control, wherein the control unit is configured to prohibit a start of the lane-keep control when the control start switch is turned on under a condition that the host vehicle deviates from the traveling lane.

7. The lane-keep control system as claimed in claim 1, further comprising a control start switch for manually starting the lane-keep control, wherein the control unit is configured to prohibit a start of the lane-keep control when the control start switch is turned on under a condition that the host vehicle deviates from the traveling lane and when a deviation quantity of the host vehicle relative to the traveling lane is greater than or equal to a predetermined quantity.

8. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to determine the lane deviation of the host vehicle on the basis of a lateral displacement of the host vehicle relative to the traveling lane, to start the lane-keep control when the host vehicle deviates from the traveling lane and when the lateral displacement is continuously varied, and to limit starting the lane-keep control when a deviation state of the host vehicle is discontinuously changed from a lane-keep state to a deviated state.

9. The lane-keep control system as claimed in claim 8, wherein the control unit is configured to determine that the lateral displacement is continuously varied on the basis of a history of the lateral displacement.

10. The lane-keep control system as claimed in claim 5, wherein the control unit is configured to decrease the controlled variable of the lane-keep control when the control start switch is turned on under a condition that the control unit determines that the host vehicle deviates from the traveling lane, to increase the decreased controlled variable to a predetermined value according to elapsed time.

11. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to determine the deviation condition of the host vehicle on the basis of a lateral displacement of the host vehicle with respect to a center of the traveling lane, to start the lane-keep control when the host vehicle deviates from the traveling lane as a result that the lateral displacement is continuously varied, to decrease the controlled variable of the lane-keep control when a deviation state of the host vehicle is discontinuously changed from a lane-keep state to a deviated state, and to increase the decreased controlled variable to a predetermined value according to elapsed time.

12. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to estimate an estimated lateral displacement indicative of a future lateral displacement of the host vehicle on the basis of at least a vehicle speed of the host vehicle, a yaw angle of the host vehicle relative to the traveling lane, a lateral displacement of the host vehicle relative to the traveling lane, and a curvature of a road ahead of the host vehicle, to estimate a deviating direction of the host vehicle and the tendency of the lane deviation from the estimated lateral displacement, and to determine that the host vehicle is in a deviated state when the estimated lateral displacement is greater than or equal to a limit lateral displacement.

13. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to execute the lane-keep control by calculating driving/braking controlled variables for left and right wheels so as to generate a yawing moment of the host vehicle directed to a direction of preventing the lane deviation according to the vehicle traveling condition and by controlling a distribution of a driving/braking force to the left and right wheels according to the respective driving/braking controlled variables.

14. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to estimate an estimated lateral displacement indicative of a future lateral displacement of the host vehicle relative to the traveling lane on the basis of at least a vehicle speed of the host vehicle, a yaw angle of the host vehicle relative to the traveling lane, a lateral displacement of the host vehicle relative to the traveling lane, and a curvature of a road ahead of the host vehicle, to calculate a target yawing moment to be generated by the host vehicle according to a difference between the estimated lateral displacement and a limit lateral displacement, and to control a driving/braking force to be generated at each wheel according to the target yawing moment.

15. The lane-keep control system as claimed in claim 13, wherein the control unit is configured to command a brake hydraulic pressure control circuit to generate a braking force of each wheel regardless a driver'"'"'s braking intervention.

16. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to output a steering command for generating a steering torque directed toward a direction of preventing the lane deviation to a steering system.

17. A method of executing a lane-keep control for controlling a host vehicle toward a deviation-preventing direction of preventing a lane deviation, the method comprising:

detecting a traveling condition of the host vehicle;

determining whether there is a tendency of the lane deviation that the host vehicle is deviating from a traveling lane according to the traveling condition;

executing the lane-keep control according to the traveling condition when there is the tendency of the lane deviation; and

limiting the lane-keep control when the lane-keep control is executed according to the determination as to the tendency of the lane deviation and when the determination as to the tendency of the lane deviation is made according to the traveling condition under a condition that the host vehicle is traveling a lane-deviation area deviated from the traveling lane.

18. A lane-keep control system for a host vehicle, comprising:

traveling-condition detecting means for detecting a traveling condition of the host vehicle;

lane-deviation determining means for determining whether there is a tendency of a lane deviation that the host vehicle is deviating from a traveling lane according to the traveling condition;

lane-keep control means for executing a lane-keep control of controlling the host vehicle toward a deviation-preventing direction of preventing the lane deviation according to the traveling condition when there is the tendency of the lane deviation; and

control limiting means for limiting the lane-keep control when the lane-keep control is executed according to the determination as to the tendency of the lane deviation and when the determination as to the tendency of the lane deviation is made according to the traveling condition under a condition that the host vehicle is traveling a lane-deviation area deviated from the traveling lane.