Driving Support Device
First Claim
1. A driving support device comprising:
- a detection unit for detecting a driving state of a vehicle, a position of a lane marker, and positions and types of obstacles around said vehicle;
a calculation unit for calculating, based on said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from said lane marker and a collision with said surrounding obstacles; and
a distribution unit for distributing, based on at least one of said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, said target moment to a first actuator for controlling a driving/braking force and a second actuator for controlling a steering.
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Accused Products
Abstract
A conventional brake control can generate only a small yaw moment compared with a steering control, so that reliable avoidance of obstacles cannot be obtained. With a steering control, the driver gets behind the wheel every time when crossing a lane and has an uncomfortable feeling. To solve these problems, a traveling aid device comprises: a detection unit for detecting the traveling state of a vehicle, the position of a lane marker, and the positions and types of obstacles around the vehicle; a calculation unit for calculating, based on the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from the lane marker and a collision with the surrounding obstacles; and a distribution unit for distributing, based on at least one of the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, the target moment to a first actuator for controlling the driving/braking force and a second actuator for controlling the steering.
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Citations
20 Claims
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1. A driving support device comprising:
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a detection unit for detecting a driving state of a vehicle, a position of a lane marker, and positions and types of obstacles around said vehicle; a calculation unit for calculating, based on said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from said lane marker and a collision with said surrounding obstacles; and a distribution unit for distributing, based on at least one of said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, said target moment to a first actuator for controlling a driving/braking force and a second actuator for controlling a steering. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification