LANE DEPARTURE PREVENTION CONTROL SYSTEM FOR VEHICLE

• US 20160075334A1
• Filed: 09/16/2015
• Published: 03/17/2016
• Est. Priority Date: 09/17/2014
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Terazawa, Takeshi
• Granted Patent: US 9,610,976 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel

Abstract

A lane departure prevention control system for a vehicle includes: a lane detector that detects a lane on which the vehicle travels; a disturbance information detector that detects information on disturbance applied to the vehicle; a correction module that corrects position information of a departure determination line used for determining whether the vehicle departs from the lane, based on at least the information on the disturbance applied to the vehicle; a departure predictor that makes a prediction of departure from the lane, based on position information on the departure determination line and a travelling state, the position information being corrected by the correction module; a target turn amount calculator that calculates a target turn amount to be applied to the vehicle, required for preventing departure from the lane based on the prediction of the departure from the lane; and a target turn amount generator that generates the target turn amount.

Claims

1. A lane departure prevention control system for a vehicle comprising:

a lane detector that detects a lane on which the vehicle travels;

a disturbance information detector that detects information on disturbance applied to the vehicle;

a correction module that corrects position information of a departure determination line used for determining whether the vehicle departs from the lane, based on at least the information on the disturbance applied to the vehicle;

a departure predictor that makes a prediction of departure from the lane, based on position information on the departure determination line and a travelling state, the position information being corrected by the correction module;

a target turn amount calculator that calculates a target turn amount to be applied to the vehicle, required for preventing departure from the lane based on the prediction of the departure from the lane; and

a target turn amount generator that generates the target turn amount to the vehicle.

2. The lane departure prevention control system for a vehicle according to claim 1, wherein

the information on the disturbance detected by the disturbance information detector is a cant angle of the lane, and

when there is a possibility that the vehicle may depart from the lane in an upward direction of the cant, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a road of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane in a downward direction of the cant, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase.

3. The lane departure prevention control system for a vehicle according to claim 1, wherein

the correction module corrects the position information on the departure determination line from which the vehicle departs, based on at least the information on the disturbance applied to the vehicle and a width of the vehicle, and

when there is a possibility that the vehicle may depart from a lane having a larger lane width than a preset value, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase, and when there is a possibility that the vehicle may depart from a lane having a smaller lane width than the preset value, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a road of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to decrease.

4. The lane departure prevention control system for a vehicle according to claim 2, wherein

the correction module corrects the position information on the departure determination line from which the vehicle departs, based on at least the information on the disturbance applied to the vehicle and a width of the vehicle, and

when there is a possibility that the vehicle may depart from a lane having a larger lane width than a preset value, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase, and when there is a possibility that the vehicle may depart from a lane having a smaller lane width than the preset value, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a road of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to decrease.

5. The lane departure prevention control system for a vehicle according to claim 1, wherein

the correction module corrects the position information on the departure determination line from which the vehicle departs, based on at least the information on the disturbance applied to the vehicle and a shape of the lane, and

when there is a possibility that the vehicle may depart from the lane toward an inner side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a road of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane toward an outer side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase.

6. The lane departure prevention control system for a vehicle according to claim 2, wherein

the correction module corrects the position information on the departure determination line from which the vehicle departs, based on at least the information on the disturbance applied to the vehicle and a shape of the lane, and

when there is a possibility that the vehicle may depart from the lane toward an inner side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a road of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane toward an outer side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase.

7. The lane departure prevention control system for a vehicle according to claim 3, wherein

the correction module corrects the position information on the departure determination line from which the vehicle departs, based on at least the information on the disturbance applied to the vehicle and a shape of the lane, and

when there is a possibility that the vehicle may depart from the lane toward an inner side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a road of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane toward an outer side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase.

8. The lane departure prevention control system for a vehicle according to claim 4, wherein

the correction module corrects the position information on the departure determination line from which the vehicle departs, based on at least the information on the disturbance applied to the vehicle and a shape of the lane, and

when there is a possibility that the vehicle may depart from the lane toward an inner side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a road of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane toward an outer side of a curve of the lane, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase.

9. The lane departure prevention control system for a vehicle according to claim 1, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.

10. The lane departure prevention control system for a vehicle according to claim 2, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.

11. The lane departure prevention control system for a vehicle according to claim 3, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.

12. The lane departure prevention control system for a vehicle according to claim 4, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.

13. The lane departure prevention control system for a vehicle according to claim 5, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.

14. The lane departure prevention control system for a vehicle according to claim 6, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.

15. The lane departure prevention control system for a vehicle according to claim 7, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.

16. The lane departure prevention control system for a vehicle according to claim 8, wherein

the departure predictor calculates an expected lane departure time in which the vehicle is expected to depart from the lane, and the target turn amount calculator calculates the target turn amount, based on the expected lane departure time and a yaw angle of the vehicle in relation to the lane.