VEHICLE TRAVEL TRACK CONTROL DEVICE
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Accused Products
Abstract
A vehicle travel track control device which includes a forward image capture device which captures an image ahead of a vehicle, and side image capture devices which capture an image on the left side and/or the right side of the vehicle. When it is possible to properly execute a travel track control on the basis of captured forward image information ahead of the vehicle, the travel track control is executed on the basis of the captured forward image information sent from the forward image capture device, and when it is not possible to properly execute a travel track control on the basis of the captured forward image information, the travel track control is executed on the basis of at least captured side image information sent from the side image capture devices.
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Citations
29 Claims
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1-18. -18. (canceled)
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19. :
- A vehicle travel track control device comprising an image capture means which captures image around a vehicle and can vary at least one of capturing direction and capturing range, and a calculation/control unit which calculates a target steered angle of steered wheels on the basis of the captured image information sent from said image capture means and controls steered angle of steered wheels on the basis of said target steered angle to control the vehicle to travel along a lane, wherein
in a situation where a target steered angle of steered wheels cannot properly be calculated on the basis of the captured forward image information ahead of the vehicle, said calculation/control unit makes said image capture means capture side image on a side of the vehicle, estimates lateral differences of the vehicle relative to the lane at front and rear reference positions spaced apart from each other longitudinally of the vehicle on the basis of the captured side image information, estimates yaw angle of the vehicle relative to the lane on the basis of the lateral differences of the vehicle relative to the lane at the front and rear reference positions, calculates a target lateral difference of the vehicle relative to the lane on the basis of the lateral differences of the vehicle and the yaw angle of the vehicle, and calculates a target steered angle of the steered wheels on the basis of at least the lateral differences of the vehicle and the target lateral difference of the vehicle. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
- A vehicle travel track control device comprising an image capture means which captures image around a vehicle and can vary at least one of capturing direction and capturing range, and a calculation/control unit which calculates a target steered angle of steered wheels on the basis of the captured image information sent from said image capture means and controls steered angle of steered wheels on the basis of said target steered angle to control the vehicle to travel along a lane, wherein
Specification