VEHICLE DRIVING CONTROL APPARATUS AND VEHICLE DRIVING CONTROL METHOD
First Claim
1. A vehicle driving control apparatus comprising:
- a lane detecting device configured to detect a lane marker of a lane in which a host vehicle equipped with the vehicle control apparatus is traveling;
a future position estimating device configured to estimate a future transverse position of the host vehicle after a prescribed amount of time; and
a vehicle control device configured to execute a vehicle control with respect to the host vehicle such that a yaw moment oriented toward a middle of the lane in which the host vehicle is traveling is imparted to the host vehicle when the vehicle control device determines that the future transverse position of the host vehicle estimated by the future position estimating device is located laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference,the vehicle control device being further configured to suppress an impartation of the yaw moment by the vehicle control device when a recognition degree at which the lane detecting device detects the lane marker is lower than a prescribed value.
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Abstract
A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.
77 Citations
14 Claims
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1. A vehicle driving control apparatus comprising:
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a lane detecting device configured to detect a lane marker of a lane in which a host vehicle equipped with the vehicle control apparatus is traveling; a future position estimating device configured to estimate a future transverse position of the host vehicle after a prescribed amount of time; and a vehicle control device configured to execute a vehicle control with respect to the host vehicle such that a yaw moment oriented toward a middle of the lane in which the host vehicle is traveling is imparted to the host vehicle when the vehicle control device determines that the future transverse position of the host vehicle estimated by the future position estimating device is located laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference, the vehicle control device being further configured to suppress an impartation of the yaw moment by the vehicle control device when a recognition degree at which the lane detecting device detects the lane marker is lower than a prescribed value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vehicle driving control method comprising:
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detecting an obstacle laterally of a host vehicle employing the vehicle driving control method; estimating a future transverse position of the host vehicle after a prescribed amount of time based on a steering input performed by a driver; controlling a yaw moment imparted on the host vehicle with the yaw moment being oriented toward a middle of a lane in which the host vehicle is traveling upon determining that the future transverse position of the host vehicle is positioned farther in a lateral direction toward the obstacle than a prescribed widthwise lane position that is determined in advance using a lane marker located on a side of the vehicle closer to the obstacle as a reference; and suppressing control of the yaw moment imparted on the host vehicle when the lane marker on the side of the lane closer to the obstacle cannot be detected or when a recognition degree of the lane marker on the side of the vehicle closer to the obstacle is lower than a prescribed value.
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14. A vehicle driving control method comprising:
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estimating a future transverse position of a host vehicle employing the vehicle driving control method after a prescribed amount of time; executing vehicle control to impart a yaw moment on the host vehicle with the yaw moment being oriented toward a middle of a lane in which the host vehicle is traveling upon determining that the future transverse position of the host vehicle is positioned farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using a lane marker as a reference; and suppressing the vehicle control when the lane marker cannot be detected or when a recognition degree of the lane marker is lower than a prescribed value.
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Specification