VEHICLE TRAVELING CONTROL APPARATUS

• US 20170225686A1
• Filed: 12/16/2016
• Published: 08/10/2017
• Est. Priority Date: 02/04/2016
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: OYAMA, Hajime, TAKASO, Yasushi
• Granted Patent: US 10,131,355 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/00 Steering not otherwise provided for
• 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 15/026 combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 : Controlling the brakes
• CPC Class Codes: G01S 2013/9319 : Controlling the accelerator
• CPC Class Codes: G01S 2013/932 : using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 : Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9323 : Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 : Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/9325 : for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G05D 1/0212 : with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0287 : involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G06V 20/588 : Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/0962 : having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/096708 : where the received information might be used to generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle traveling control apparatus includes an obtaining unit, a detector, and a controller. The obtaining unit obtains traveling environment information. The traveling environment information includes at least lane line information of a lane along which an own vehicle travels and preceding vehicle information. The detector detects traveling information of the own vehicle. The controller performs a steering control on a basis of the traveling environment information and the traveling information. When the obtaining unit obtains only the lane line information and when the obtaining unit obtains both the lane line information and the preceding vehicle information, the controller performs the steering control on a basis of the lane line information.

Claims

1. A vehicle traveling control apparatus comprising:

a traveling environment information obtaining unit that obtains traveling environment information, the traveling environment information including at least lane line information of a lane along which an own vehicle travels and preceding vehicle information;

a traveling information detector that detects traveling information of the own vehicle; and

a controller that performs a steering control on a basis of the traveling environment information and the traveling information, the controller performing the steering control on a basis of the lane line information, when the traveling environment information obtaining unit obtains only the lane line information and when the traveling environment information obtaining unit obtains both the lane line information and the preceding vehicle information.

2. The vehicle traveling control apparatus according to claim 1, wherein the controller performs a steering control that allows the own vehicle to follow the preceding vehicle, when the traveling environment information obtaining unit fails to obtain the lane line information as a result of an inter-vehicle distance between the own vehicle and a preceding vehicle being smaller than a predetermined distance.

3. The vehicle traveling control apparatus according to claim 2, wherein the controller performs a control that allows the inter-vehicle distance between the own vehicle and the preceding vehicle to be expanded to a distance at which the lane line information is obtainable, when the traveling environment information obtaining unit detects both a branch road of the lane ahead of the own vehicle and an intention of the preceding vehicle of changing the lanes toward the branch road, the preceding vehicle being followed by the own vehicle.

4. The vehicle traveling control apparatus according to claim 3, wherein the controller determines whether an advancing route of the preceding vehicle that advances toward the branch road coincides with a target course of the own vehicle, and performs the steering control that allows the own vehicle to follow the preceding vehicle on a condition that the advancing route of the preceding vehicle coincides with the target course of the own vehicle, when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle of changing the lanes toward the branch road, the preceding vehicle being followed by the own vehicle.

5. The vehicle traveling control apparatus according to claim 3, wherein the controller performs, depending on a traveling state of the own vehicle, the steering control on a basis of a status of obtaining the lane line information after completion of the lane change performed by the preceding vehicle, when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle of changing the lanes toward the branch road, the preceding vehicle being followed by the own vehicle.

6. The vehicle traveling control apparatus according to claim 4, wherein the controller performs, depending on a traveling state of the own vehicle, the steering control on a basis of a status of obtaining the lane line information after completion of the lane change performed by the preceding vehicle, when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle of changing the lanes toward the branch road, the preceding vehicle being followed by the own vehicle.

7. The vehicle traveling control apparatus according to claim 5, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller prevents the own vehicle from starting, on a condition that the own vehicle is stopped,

the controller allows the own vehicle to start while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller prevents the own vehicle from starting, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit does not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.

8. The vehicle traveling control apparatus according to claim 6, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller prevents the own vehicle from starting, on a condition that the own vehicle is stopped,

the controller allows the own vehicle to start while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller prevents the own vehicle from starting, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit does not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.

9. The vehicle traveling control apparatus according to claim 5, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller prevents the own vehicle from accelerating, on a condition that the own vehicle is accelerating,

the controller allows the own vehicle to accelerate while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller prevents the own vehicle from accelerating to allow performing a constant speed traveling, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit does not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.

10. The vehicle traveling control apparatus according to claim 6, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller prevents the own vehicle from accelerating, on a condition that the own vehicle is accelerating,

the controller allows the own vehicle to accelerate while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller prevents the own vehicle from accelerating to allow performing a constant speed traveling, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit does not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.

11. The vehicle traveling control apparatus according to claim 5, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller allows the own vehicle to decelerate, on a condition that the own vehicle performs a constant speed traveling,

the controller allows the own vehicle to accelerate while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller allows the own vehicle to perform the constant speed traveling, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit does not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.

12. The vehicle traveling control apparatus according to claim 6, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller allows the own vehicle to decelerate, on a condition that the own vehicle performs a constant speed traveling,

the controller allows the own vehicle to accelerate while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller allows the own vehicle to perform the constant speed traveling, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit does not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.

13. The vehicle traveling control apparatus according to claim 5, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller allows the own vehicle to keep decelerating, on a condition that the own vehicle is decelerating,

the controller allows the own vehicle to accelerate while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller allows the own vehicle to perform a constant speed traveling, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit dost not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.

14. The vehicle traveling control apparatus according to claim 6, wherein,

when the traveling environment information obtaining unit detects both the branch road of the lane ahead of the own vehicle and the intention of the preceding vehicle, followed by the own vehicle, of changing the lanes toward the branch road,

the controller allows the own vehicle to keep decelerating, on a condition that the own vehicle is decelerating,

the controller allows the own vehicle to accelerate while performing the steering control on the basis of the lane line information, on a condition that the traveling environment information obtaining unit obtains the lane line information after the completion of the lane change performed by the preceding vehicle, and

the controller allows the own vehicle to perform a constant speed traveling, and stops the steering control upon occurrence of one or both of a lapse of a predetermined time and a driving operation performed by a driver, on a condition that the traveling environment information obtaining unit dost not obtain the lane line information after the completion of the lane change performed by the preceding vehicle.