Driving control device for vehicle

• US 20050043867A1
• Filed: 08/20/2004
• Published: 02/24/2005
• Est. Priority Date: 08/21/2003
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Kudo, Shinya
• Granted Patent: US 7,177,760 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• 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 2201/087 using active steering actuation
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• 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: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention

Abstract

In the event that the differential value of the target node deviation is equal to or greater than a deviation threshold, and the absolute value of the steering torque is equal to or greater than a steering torque threshold, the system outputs signals to a brake control device such that deceleration of the vehicle is made with a predetermined deceleration, and outputs signals to an electric power steering control device so as to cancel automatic steering, whereby the system enters a normal power steering mode, and the automatic driving mode is canceled. Thus, abnormal situations are precisely detected during automatic driving, giving consideration to the control error and the intent of the user, thereby enabling driving control matching the intent of the user.

Claims

1. A driving control device for a vehicle comprising:

planning-route setting means for setting a planning route along which the vehicle is to be driven;

vehicle-position computing means for computing the position of the vehicle;

vehicle-direction estimating means for estimating the direction of the vehicle; and

driving control means for controlling automatic driving of the vehicle based upon the vehicle position, the vehicle direction, and the planning route,

wherein the driving control means stops driving control of the vehicle in the event that the differential value of the distance between the future position of the vehicle ahead of the current position of the vehicle and the planning route exceeds a predetermined threshold, and the steering torque exceeds a predetermined value.

2. The driving control device for the vehicle according to claim 1, wherein the driving control means stops driving control of the vehicle by performing at least one of deceleration of the vehicle and canceling of an automatic steering mode in the event that the differential value of the distance between the future position of the vehicle ahead of the current position of the vehicle and the planning route exceeds the predetermined threshold, and the steering torque exceeds the predetermined value.

3. The driving control device for the vehicle according to claim 1, wherein the driving control means determines whether or not the differential value of the distance between the future position of the vehicle ahead of the current position of the vehicle and the planning route exceeds the predetermined threshold by comparing the differential value of the distance with a threshold determined corresponding to the radius of curvature of the planning route.

4. The driving control device for the vehicle according to claim 2, wherein the driving control means determines whether or not the differential value of the distance between the future position of the vehicle ahead of the current position of the vehicle and the planning route exceeds the predetermined threshold by comparing the differential value of the distance with the threshold determined corresponding to the radius of curvature of the planning route.

5. The driving control device for the vehicle according to claim 1, wherein the predetermined threshold for being compared with the steering torque in a determination step is determined corresponding to the vehicle speed.

6. The driving control device for the vehicle according to claim 2, wherein the predetermined threshold for being compared with the steering torque in the determination step is determined corresponding to the vehicle speed.

7. The driving control device for the vehicle according to claim 3, wherein the predetermined threshold for being compared with the steering torque in the determination step is determined corresponding to the vehicle speed.

8. The driving control device for the vehicle according to claim 4, wherein the predetermined threshold for being compared with the steering torque in the determination step is determined corresponding to the vehicle speed.

9. The driving control device for the vehicle according to claim 1, wherein the vehicle-position computing means computes the position of the vehicle based upon information from satellites orbiting the Earth.

10. The driving control device for the vehicle according to claim 2, wherein the vehicle-position computing means computes the position of the vehicle based upon information from satellites orbiting the Earth.

11. The driving control device for the vehicle according to claim 3, wherein the vehicle-position computing means computes the position of the vehicle based upon information from satellites orbiting the Earth.

12. The driving control device for the vehicle according to claim 4, wherein the vehicle-position computing means computes the position of the vehicle based upon information from satellites orbiting the Earth.

13. The driving control device for the vehicle according to claim 1, wherein the vehicle-direction estimating means estimates the direction of the vehicle based upon change in the vehicle position over time.

14. The driving control device for the vehicle according to claim 2, wherein the vehicle-direction estimating means estimates the direction of the vehicle based upon change in the vehicle position over time.

15. The driving control device for the vehicle according to claim 3, wherein the vehicle-direction estimating means estimates the direction of the vehicle based upon change in the vehicle position over time.

16. The driving control device for the vehicle according to claim 4, wherein the vehicle-direction estimating means estimates the direction of the vehicle based upon change in the vehicle position over time.

17. The driving control device for the vehicle according to claim 8, wherein the vehicle-position computing means computes the position of the vehicle based upon information from satellites orbiting the Earth.

18. The driving control device for the vehicle according to claim 17, wherein the vehicle-direction estimating means estimates the direction of the vehicle based upon change in the vehicle position over time.

19. A vehicle containing the driving control device according to claim 1.