Lane keep control apparatus and method for automotive vehicle
First Claim
1. A lane keep control apparatus for an automotive vehicle, comprising:
- a traveling state detecting section that detects a traveling state of the vehicle;
a deviation determining section that determines whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the traveling state detected by the traveling state detecting section;
a deviation preventive controlling section that executes a deviation avoidance control for the vehicle in a direction to avoid the deviation according to the traveling state detected by the traveling state detecting section;
a steering angle detecting section that detects steering angles before and after a start of the deviation avoidance control executed by the deviation preventive controlling section; and
a deviation avoidance controlled variable correcting section that corrects a controlled variable of the deviation avoidance control executed by the deviation preventive controlling section on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control detected by the steering angle detecting section when the deviation determining section determines that the vehicle has the tendency of the deviation.
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Accused Products
Abstract
In lane keep control apparatus and method for an automotive vehicle, a traveling state of the vehicle is detected, a determination is made on whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the detected traveling state, a deviation avoidance control is executed for the vehicle in a direction to avoid the deviation according to the traveling state, steering angles before and after a start of the deviation avoidance control are detected, and a controlled variable of the deviation avoidance control is detected on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control when a determination is made that the vehicle has the tendency of the deviation.
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Citations
20 Claims
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1. A lane keep control apparatus for an automotive vehicle, comprising:
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a traveling state detecting section that detects a traveling state of the vehicle;
a deviation determining section that determines whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the traveling state detected by the traveling state detecting section;
a deviation preventive controlling section that executes a deviation avoidance control for the vehicle in a direction to avoid the deviation according to the traveling state detected by the traveling state detecting section;
a steering angle detecting section that detects steering angles before and after a start of the deviation avoidance control executed by the deviation preventive controlling section; and
a deviation avoidance controlled variable correcting section that corrects a controlled variable of the deviation avoidance control executed by the deviation preventive controlling section on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control detected by the steering angle detecting section when the deviation determining section determines that the vehicle has the tendency of the deviation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A lane keep control apparatus for an automotive vehicle, comprising:
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traveling state detecting means for detecting a traveling state of the vehicle;
deviation determining means for determining whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the traveling state detected by the traveling state detecting means;
deviation preventive controlling means for executing a deviation avoidance control for the vehicle in a direction to avoid the deviation according to the traveling state detected by the traveling state detecting means;
steering angle detecting means for detecting a steering angles before and after a start of the deviation avoidance control executed by the deviation preventive controlling means; and
a deviation avoidance controlled variable correcting means for correcting a controlled variable of the deviation avoidance control executed by the deviation preventive controlling means on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control detected by the steering angle detecting means when the deviation determining means determines that the vehicle has the tendency of the deviation.
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20. A lane keep control method for an automotive vehicle, comprising:
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detecting a traveling state of the vehicle;
determining whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the detected traveling state;
executing a deviation avoidance control for the vehicle in a direction to avoid the deviation according to the traveling state;
detecting steering angles before, and after a start of the deviation avoidance control; and
correcting a controlled variable of the deviation avoidance control on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control when determining that the vehicle has the tendency of the deviation.
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Specification