LANE DEVIATION PREVENTION DEVICE AND METHOD
First Claim
1. A lane departure prevention controller for a vehicle, comprising:
- a lane departure tendency determining device configured to determine a departure tendency of the vehicle to depart from a travel lane;
a yaw moment computing device configured to compute a reference yaw moment based on the departure tendency;
a yaw moment correction device configured to compute a target yaw moment based on at least the reference yaw moment; and
a controller configured to apply the target yaw moment to the vehicle;
wherein when the reference yaw moment computed by the yaw moment computing device is lower than a prescribed threshold, the yaw moment correction device is further configured to gradually increase the target yaw moment over time until the target yaw moment is greater than the prescribed threshold.
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Accused Products
Abstract
Disclosed herein are embodiments of controllers and methods of control to enable prevention of departure of vehicle even when the degree of the tendency of the vehicle to depart from the travel lane is low. One such controller comprises a lane departure tendency determining device configured to determine a departure tendency of the vehicle to depart from a travel lane, a yaw moment computing device configured to compute a reference yaw moment based on the departure tendency, a yaw moment correction device configured to compute a target yaw moment based on at least the reference yaw moment and a controller configured to apply the target yaw moment to the vehicle. When the reference yaw moment is lower than a prescribed threshold, the yaw moment correction device gradually increases the target yaw moment over time until the target yaw moment is greater than the prescribed threshold.
47 Citations
18 Claims
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1. A lane departure prevention controller for a vehicle, comprising:
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a lane departure tendency determining device configured to determine a departure tendency of the vehicle to depart from a travel lane; a yaw moment computing device configured to compute a reference yaw moment based on the departure tendency; a yaw moment correction device configured to compute a target yaw moment based on at least the reference yaw moment; and a controller configured to apply the target yaw moment to the vehicle; wherein when the reference yaw moment computed by the yaw moment computing device is lower than a prescribed threshold, the yaw moment correction device is further configured to gradually increase the target yaw moment over time until the target yaw moment is greater than the prescribed threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of preventing departure of a vehicle from a travel lane comprising:
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determining the departure tendency of the vehicle to depart from the travel lane; calculating a reference yaw moment based on the degree of the departure tendency; calculating a target yaw moment based on at least the reference yaw moment, wherein the target yaw moment is gradually increased over time when the reference yaw moment is lower than a prescribed threshold, until the target yaw moment exceeds the prescribed threshold irrespective of the departure tendency; and applying the target yaw moment to the vehicle. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A lane departure prevention controller for a vehicle, comprising:
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means for determining a departure tendency of the vehicle to depart from a travel lane; means for computing a reference yaw moment based on the departure tendency of the vehicle; means for computing a target yaw moment based on at least the reference yaw moment; and means for applying the target yaw moment to the vehicle, wherein when the reference yaw moment is lower than a prescribed threshold, the means for computing the target yaw moment is configured to gradually increase the target yaw moment over time until the target yaw moment is greater than the prescribed threshold. - View Dependent Claims (17, 18)
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Specification