VEHICLE DRIVING SUPPORT SYSTEM AND VEHICLE DRIVING SUPPORT METHOD
First Claim
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1. A driving support device for a vehicle traveling on a road with travel lanes, comprising:
- a side obstacle detection device for detecting a presence of an obstacle on a side of the vehicle;
a future position predictor that predicts a future position of the vehicle after a prescribed time starting from when the obstacle is detected by the side obstacle detection device; and
a controller configured to perform the following control;
set a control start position that is a prescribed lateral position in a lane width direction;
selectively apply a yaw moment to the vehicle in a direction to prevent the vehicle from approaching the obstacle if the future position of the vehicle is closer to the obstacle in the lane width direction than the control start position; and
when the obstacle is detected by the side obstacle detection device in a detection cycle subsequent to a detection cycle in which no obstacle is detected, suppress application of the yaw moment to the vehicle if a current lateral position of the vehicle is closer to the obstacle than a prescribed lateral position set between a center of the travel lane and the control start position.
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Abstract
When an obstacle is sensed on a side of a vehicle, the future position of the vehicle after a prescribed time is predicted. When the predicted vehicle future position reaches a prescribed lateral position in the lane width direction, a decision to start a control is made, and the vehicle is controlled in a direction to prevent it from coming too close to the obstacle. If a state occurs in which the obstacle is sensed after not being sensed (i.e., it is first sensed), a decision to start the control is suppressed.
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Citations
16 Claims
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1. A driving support device for a vehicle traveling on a road with travel lanes, comprising:
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a side obstacle detection device for detecting a presence of an obstacle on a side of the vehicle; a future position predictor that predicts a future position of the vehicle after a prescribed time starting from when the obstacle is detected by the side obstacle detection device; and a controller configured to perform the following control; set a control start position that is a prescribed lateral position in a lane width direction; selectively apply a yaw moment to the vehicle in a direction to prevent the vehicle from approaching the obstacle if the future position of the vehicle is closer to the obstacle in the lane width direction than the control start position; and when the obstacle is detected by the side obstacle detection device in a detection cycle subsequent to a detection cycle in which no obstacle is detected, suppress application of the yaw moment to the vehicle if a current lateral position of the vehicle is closer to the obstacle than a prescribed lateral position set between a center of the travel lane and the control start position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A driving support device for a vehicle traveling on a road with travel lanes, comprising:
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a side obstacle sensing means for sensing an obstacle on a side of the vehicle; future position prediction means for predicting a future position of a vehicle after a prescribed time starting from when the obstacle is detected; means for setting a control start position that is a prescribed lateral position in a lane width direction; means for comparing the future position of the vehicle to the control start position; means for selectively applying a yaw moment to the vehicle in a direction to prevent the vehicle from approaching the obstacle if the future position of the vehicle is closed to the obstacle in the lane width direction than the control start position; and means, when the obstacle is sensed by the side obstacle sensing means in a detection cycle subsequent to a detection cycle in which no obstacle is detected, for suppressing application of the yaw moment to the vehicle if a current lateral travel position of the vehicle is closer to the obstacle than a prescribed lateral position set between a center position of a travel lane in which the vehicle is traveling and the control start position.
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11. A driving support method for a vehicle traveling on a road with travel lanes, comprising:
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sensing an obstacle on one side of the vehicle, predicting a future position of the vehicle after a prescribed time starting from when the obstacle is detected; setting a control start position that is a prescribed lateral position in a lane width direction; comparing the future position of the vehicle to the control start position; selectively applying a yaw moment to the vehicle in a direction to prevent the vehicle from approaching the obstacle if the future position of the vehicle is closer to the obstacle in the lane width direction than the control start position; and when the obstacle is sensed in a detection cycle subsequent to a detection cycle in which no obstacle is detected, suppressing application of the yaw moment to the vehicle if a current lateral travel position of the vehicle is closer to the obstacle in the lane width direction than a prescribed lateral position set between a center position of a travel lane in which the vehicle is traveling and the control start position. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification