Lane Departure Prevention Device and Vehicle Provided with Same

• US 20120239255A1
• Filed: 12/03/2010
• Published: 09/20/2012
• Est. Priority Date: 12/04/2009
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Sugawara, Toshiharu, Kojima, Takao
• Granted Patent: US 8,682,533 B2
• Time in Patent Office: Days
• US Class Current: 701/42
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/086 using driver related features
• CPC Class Codes: B60T 8/17557 specially adapted for lane departure prevention road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/087 where the control system corrects or modifies a request from the driver
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

A lane departure prevention device includes departure prevention control means that performs control to prevent deviation from a lane based on a result of detection means such as sensors and a camera, driver'"'"'s intention determination means that determines driver'"'"'s steering intention and actuator activation limiting means that limits activation of an actuator based on the driver'"'"'s steering intention from the driver'"'"'s intention determination means. The driver'"'"'s intention determination means calculates a variation ΔTh in the steering torque detected and a variation ΔTs in the control command value to a steering actuator, and determines that, when |ΔTh|−|ΔTs| is a threshold or more, driver'"'"'s operational intention is present and limits the activation of the departure prevention control. This can avoid the interruption of departure prevention control in response to activation of an actuator for lane departure avoidance that a driver does not intend because of erroneous detection that a driver intends as such.

Claims

1. A lane departure prevention device including steering torque detection means to detect a steering torque, comprising:

steering torque variation detection means that detects a variation in output from the steering torque detection means;

command value variation detection means that detects a variation in command value to an actuator that is activated to avoid deviation from a lane of a vehicle;

driver'"'"'s intention determination means that determines, when a difference between an output from the steering torque variation detection means and the command value variation detection means is a threshold or more, that a driver'"'"'s operational intention is present; and

actuator activation limiting means that limits the command value on a basis of an output from the driver'"'"'s intention determination means.

7. The lane departure prevention device according to claim 1, further comprising a counter, wherein

the driver'"'"'s intention determination means determines, with the counter, time duration where a state of a difference between an output from the steering torque variation detection means and the command value variation detection means being a threshold or more, so as to determine presence or not of driver'"'"'s operational intention.

8. The lane departure prevention device according to claim 7, wherein,

following an operation of a turn signal, the counter is initialized.

9. A vehicle comprising the lane departure prevention device according to claim 1.

2. A lane departure prevention device, including:

departing amount estimation means that estimates a departing amount of a vehicle departing from a lane after a predetermined time;

departure prevention control means that calculates, on a basis of an output from the departing amount estimation means, a command value to an actuator that is activated to avoid deviation from the lane; and

steering torque detection means that detects a steering torque,

wherein the lane departure prevention device comprises;

steering torque variation detection means that detects a variation in output from the steering torque detection means;

command value variation detection means that detects a variation in the command value to the actuator;

driver'"'"'s intention determination means that determines that, when a difference between an output from the steering torque variation detection means and the command value variation detection means is a threshold or more, a driver'"'"'s operational intention is present; and

actuator activation limiting means that limits the command value on a basis of an output from the driver'"'"'s intention determination means.

3. The lane departure prevention device according to claim 2, further comprising control amount distribution means that distributes the command value to a brake control unit and a steering control unit.

4. The lane departure prevention device according to claim 3, wherein the command value variation detection means detects a variation of the command value to the steering control unit.

5. A lane departure prevention device, including:

departing amount estimation means that estimates a departing amount of a vehicle departing from a lane after a predetermined time;

departure prevention control means that calculates, on a basis of an output from the departing amount estimation means, a command value to an actuator that is activated to avoid deviation from the lane; and

steering torque detection means that detects a steering torque,

wherein the lane departure prevention device comprises;

steering torque variation detection means that detects a variation in output from the steering torque detection means;

control amount distribution means that distributes the command value to a brake control unit and a steering control unit;

command value variation detection means that detects a variation in the command value on a basis of an output from the departure prevention control means and a distribution ratio by the control amount distribution means;

driver'"'"'s intention determination means that determines that, when a difference between an output from the steering torque variation detection means and the command value variation detection means is a threshold or more, a driver'"'"'s operational intention is present;

and actuator activation limiting means that limits the command value on a basis of an output from the driver'"'"'s intention determination means.

6. A lane departure prevention device, including:

departing amount estimation means that estimates a departing amount of a vehicle departing from a lane after a predetermined time;

departure prevention control means that calculates, on a basis of an output from the departing amount estimation means, a command value to an actuator that is activated to avoid deviation from the lane; and

steering torque detection means that detects a steering torque, wherein the lane departure prevention device comprises;

steering torque variation detection means that detects a variation in output from the steering torque detection means;

reaction force control amount calculation means that calculates a reaction force to be applied to a steering wheel from the command value;

command value variation detection means that detects a variation in output from the reaction force control amount calculation means;

driver'"'"'s intention determination means that determines that, when a difference between an output from the steering torque variation detection means and the command value variation detection means is a threshold or more, a driver'"'"'s operational intention is present; and

actuator activation limiting means that limits the command value on a basis of an output from the driver'"'"'s intention determination means.