DRIVING SUPPORT APPARATUS AND DRIVING SUPPORT METHOD

• US 20130226409A1
• Filed: 09/28/2011
• Published: 08/29/2013
• Est. Priority Date: 10/01/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Akiyama, Tomonori, Igarashi, Shinji, Yoshihama, Yuki
• Granted Patent: US 9,505,401 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/085 using several actuators; Coordination of the lane keeping system with other control systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• 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 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/12 Lane keeping
• 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
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

Disclosed is a driving support apparatus for setting a traveling lane in which a vehicle can travel on the basis of a road marking to indicate a lane boundary or a traveling-prohibited region and performing support by combining steering of the vehicle and deceleration of the vehicle so that the vehicle is allowed to travel in the traveling lane if the vehicle is to be departed from the traveling lane, wherein the steering of the vehicle and the deceleration of the vehicle, which are to be performed when the support is performed so that the vehicle is allowed to travel in the traveling lane, are individually controlled depending on a difference ΔY between a target yaw rate Ytrg and an actual yaw rate Yrea if the actual yaw rate Yrea is smaller than the target yaw rate Ytrg in order not to allow the vehicle to exceed the traveling lane.

Claims

1. A driving support apparatus for setting a traveling lane in which a vehicle can travel on the basis of a road marking to indicate a lane boundary or a traveling-prohibited region and performing support by combining steering of the vehicle and deceleration of the vehicle so that the vehicle is allowed to travel in the traveling lane if the vehicle is to be departed from the traveling lane, wherein:

the steering of the vehicle and the deceleration of the vehicle, which are to be performed when the support is performed so that the vehicle is allowed to travel in the traveling lane, are individually controlled by selecting any one of execution of only the steering of the vehicle without performing the deceleration of the vehicle, simultaneous execution of the steering of the vehicle and the deceleration of the vehicle, and execution of the steering of the vehicle after previously decelerating the vehicle, depending on a difference between a target value and an actual value if the actual value is smaller than the target value of a parameter which indicates lateral movement in order to avoid departure of the vehicle from the traveling lane or depending on a yaw angle between the vehicle and a boundary of the traveling lane.

3. The driving support apparatus according to claim 1, wherein:

only the steering of the vehicle is performed without performing the deceleration of the vehicle when the support is performed so that the vehicle is allowed to travel in the traveling lane if the difference between the target value and the actual value is smaller than a first threshold value if the actual value is smaller than the target value of the parameter which indicates the lateral movement in order not to allow the vehicle to exceed the traveling lane;

the steering of the vehicle and the deceleration of the vehicle are performed simultaneously if the difference is not less than the first threshold value and smaller than a second threshold value if the actual value is smaller than the target value of the parameter which indicates the lateral movement in order not to allow the vehicle to exceed the traveling lane;

or

the steering of the vehicle is performed after previously decelerating the vehicle if the difference is not less than the second threshold value if the actual value is smaller than the target value of the parameter which indicates the lateral movement in order not to allow the vehicle to exceed the traveling lane.

4. The driving support apparatus according to claim 1, wherein:

only the steering of the vehicle is performed without performing the deceleration of the vehicle when the support is performed so that the vehicle is allowed to travel in the traveling lane if the yaw angle between the vehicle and the boundary of the traveling lane is smaller than a third threshold value;

the steering of the vehicle and the deceleration of the vehicle are performed simultaneously if the yaw angle between the vehicle and the boundary of the traveling lane is not less than the third threshold value and smaller than a fourth threshold value;

or

the steering of the vehicle is performed after previously decelerating the vehicle if the yaw angle between the vehicle and the boundary of the traveling lane is not less than the fourth threshold value.

2. (canceled)

5. A driving support method comprising:

a step of setting a traveling lane in which a vehicle can travel on the basis of a road marking to indicate a lane boundary or a traveling-prohibited region;

a step of performing support by combining steering of the vehicle and deceleration of the vehicle so that the vehicle is allowed to travel in the traveling lane if the vehicle is to be departed from the traveling lane; and

a step of individually controlling the steering of the vehicle and the deceleration of the vehicle which are to be performed when the support is performed so that the vehicle is allowed to travel in the traveling lane, by selecting any one of execution of only the steering of the vehicle without performing the deceleration of the vehicle, simultaneous execution of the steering of the vehicle and the deceleration of the vehicle, and execution of the steering of the vehicle after previously decelerating the vehicle, depending on a difference between a target value and an actual value if the actual value is smaller than the target value of a parameter which indicates lateral movement in order to avoid departure of the vehicle from the traveling lane or depending on a yaw angle between the vehicle and a boundary of the traveling lane.