Navigation control system with adaptive characteristics

• US 5,483,453 A
• Filed: 04/20/1993
• Issued: 01/09/1996
• Est. Priority Date: 04/20/1992
• Status: Expired due to Term

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Butsuen, Tetsuro, Masuda, Naotsugu, Yamamoto, Yasunori, Uemura, Hiroki, Yoshioka, Tohru, Adachi, Tomohiko, Doi, Ayumu, Okuda, Kenichi
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): Walker, Tyrone V.
• Application Number:
  US08/050,560
• Time in Patent Office: 994 Days
• Field of Search: 364/424.02, 364/443, 364/447, 364/460, 364/461, 318/587, 180/167, 180/168, 180/169, 180/179, 367/909
• US Class Current: 701/23
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

When the vehicle has deviated or is deviating from a lane on which the vehicle has been or is running, the deviation of the vehicle from the lane can be suppressed, for example, by allowing the steering wheel to be operatively rotated prior to an intention of the operator. The timing of suppressing the deviation of the vehicle can be altered in accordance with conditions including, for example, the existence of a lane in the direction of deviation of the vehicle on which another vehicle is running in the same direction, the existence of an obstacle in the direction of deviation of the vehicle, the existence of an adjacent lane in the direction of deviation of the vehicle on which another vehicle is running in the opposite direction, a state of the lane on which the vehicle is running, such as a curved lane or a straight lane, a direction of deviation is outside or inside the curved lane or a lane width, a vehicle speed, a steering angle of a steering wheel, an extent of vision, and so on.

Claims

1. A navigation control system for an automotive vehicle running on a road, comprising:

deviation detecting means for detecting that the vehicle has deviated or is going to deviate from a lane of the road;

deviation suppressing means for suppressing the vehicle from deviating from the lane;

detection means for detecting a predetermined condition affecting deviation of the vehicle from the lane; and

control means for computing a control amount for suppressing the deviation of the vehicle based on a result of detection by said deviation detecting means, for determining a urgency rating for said deviation suppressing based on said detected predetermined condition and said control amount, and for controlling said deviation suppressing means on the basis of a result of the computing the control amount, said deviation suppressing means being controlled by altering a time for operating said deviation suppressing means in accordance with said urgency rating for said deviation suppressing.

2. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is set as a position of the vehicle on the lane on which the vehicle is currently running.

3. A navigation control system for an automotive vehicle as claimed in claim 2, wherein said predetermined condition is set as a position of the lane in a transverse direction of the road on which the vehicle is currently running.

4. A navigation control system for an automotive vehicle as claimed in claim 1, wherein:

said predetermined condition is set as to whether a road on which the vehicle is running has another lane on which another vehicle is running in the same direction as the vehicle, in addition to the lane on which the vehicle is currently running; and

said control means is set to operate said deviation suppressing means at a timing earlier when the road has such another lane than when the road has no such another lane.

5. A navigation control system for an automotive vehicle as claimed in claim 1, wherein

said predetermined condition is set as a transverse position of the vehicle on the lane and as a direction in which the vehicle is deviating from the lane;

and

said control means is set to alter the timing of operating said deviation suppressing means in accordance with the transverse position of the vehicle and the direction of deviation of the vehicle.

6. A navigation control system for an automotive vehicle as claimed in claim 1, wherein

said predetermined condition is set as to whether an adjacent lane existing in the direction of deviation of the vehicle from the lane is a lane on which another vehicle is running in the same direction or in the opposite direction;

and

said control means is set to operate said deviation suppressing means at a timing earlier when the adjacent lane is for another vehicle running in the opposite direction than when the adjacent lane is for another vehicle running in the same direction.

7. A navigation control system for an automotive vehicle as claimed in claim 1, wherein

said predetermined condition is set as to whether there is a road shoulder existing in the direction of deviation of the vehicle from the lane or there is a lane on which another vehicle is running in the same direction;

and

said control means is set to operate said deviation suppressing means at a timing earlier when there is such a road shoulder than when there is the adjacent lane for another vehicle running in the same direction.

8. A navigation control system for an automotive vehicle as claimed in claim 1, wherein

said predetermined condition is set as to whether there is an obstacle in a direction in which the vehicle is deviating from the lane;

and

said control means is set to operate said deviation suppressing means at a timing earlier when there is such an obstacle than when there no such an obstacle.

9. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is set as to whether there is a vehicle running behind.

10. A navigation control system for an automotive vehicle as claimed in claim 9, wherein

said predetermined condition is further set as to whether there is a lane in a direction in which the vehicle is deviating from the lane, said lane being for another vehicle running in the same direction;

and

said control means is set to operate said deviation suppressing means at a timing earlier when there is such a lane and there is the vehicle running behind than when there no such a vehicle running on such a lane.

11. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is set as to whether the lane on which the vehicle is currently running is curved or straight.

12. A navigation control system for an automotive vehicle as claimed in claim 11, wherein said control means is set to operate said deviation suppressing means at a timing earlier when the current lane is curved than when the current lane is straight.

13. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is set as to whether the vehicle is deviating from the curved lane towards its outside or towards its inside.

14. A navigation control system for an automotive vehicle as claimed in claim 13, wherein said control means is set to operate said deviation suppressing means at a timing earlier when the vehicle is deviating from the curved lane towards its outside than when the vehicle is deviating from the curved lane towards its inside.

15. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is set as a lane width of the lane.

16. A navigation control system for an automotive vehicle as claimed in claim 15, wherein said control means is set to operate said deviation suppressing means at a timing earlier when the lane width is wider than when the lane width is narrower.

17. A navigation control system for an automotive vehicle as claimed in claim 1, wherein

said predetermined condition is a likelihood for the vehicle to deviate from the lane;

and

said control means operates said deviation suppressing means at a time which is earlier when the likelihood for the vehicle to deviate from the lane is higher.

18. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is a vehicle speed of the vehicle.

19. A navigation control system for an automotive vehicle as claimed in claim 18, wherein said control means is set to operate said deviation suppressing means at a time earlier than when the vehicle speed is higher than when the vehicle speed is lower.

20. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is set as a steering angle of the vehicle.

21. A navigation control system for an automotive vehicle as claimed in claim 20, wherein said control means is set to operate said deviation suppressing means at a time earlier than when the steering angle is larger than when the vehicle speed is smaller.

22. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said predetermined condition is a degree of stability of navigation of the vehicle.

23. A navigation control system for an automotive vehicle as claimed in claim 22, wherein said control means is set to operate said deviation suppressing means at a time earlier when the degree of stability of navigation of the vehicle is higher than when the degree of stability of navigation of the vehicle is lower.

24. A navigation control system for an automotive vehicle as claimed in claim 23, wherein said stability of navigation of the vehicle is detected based on at least one of an acceleration or a deceleration in a longitudinal direction of the vehicle, an amount of an operation of an accelerator, an amount of an operation of a brake, an angle at which the vehicle is slipping in a transverse direction of the lane on which the vehicle is running, a yaw rate acting upon a body of the vehicle, a velocity at which a steering wheel is operatively rotated, a body weight of the body of the vehicle, a road surface friction coefficient, and a degree of roughness on a surface of the lane on which the vehicle is running.

25. A navigation control system for an automotive vehicle as claimed in claim 1, wherein

said predetermined condition comprises an approach of the vehicle running in the lane to a second vehicle such that an impact between the vehicles is imminent;

and

said control means is set to operate said deviation suppressing means at an earlier time when the vehicle is approaching closer to another vehicle, than when the vehicle is farther from another vehicle.

26. A navigation control system for an automotive vehicle as claimed in claim 1, wherein

said predetermined condition is a range of vision;

and

said control means is set to operate said deviation suppressing means at a time earlier when the range of vision is better than when the range of vision is poorer.

27. A navigation control system for an automotive vehicle as claimed in claim 26, wherein said control means is set to operate said deviation suppressing means at a timing earlier when the vehicle is running at a night time than when the vehicle is running during a day time.

28. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said detection means comprises at least a camera or a radar, each being loaded on the vehicle.

29. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said deviation suppressing means comprises a steering actuator for operating a steering wheel prior to an intention of an operator.

30. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said deviation suppressing means comprises an alarm producing an alarm sound to an operator.

31. A navigation control system for an automotive vehicle as claimed in claim 1, wherein said deviation suppressing means includes means for operating when the vehicle is deviating from the lane by going beyond a predetermined threshold value preset for a left-hand or right-hand boundary line of the lane on which the vehicle is currently running.

32. A navigation control system for an automotive vehicle as claimed in claim 31, wherein:

a transversely estimated position of the vehicle in a transverse direction of the lane in a predetermined period of time is estimated on the basis of a transversely moving velocity of the vehicle and a predetermined computation coefficient; and

said deviation suppressing means is so arranged as to be operated when the transversely estimated position of the vehicle has gone beyond a position corresponding to said threshold value or when the transversely estimated position of the vehicle is about to go beyond the position corresponding to said threshold value.

33. A navigation control system for an automotive vehicle as claimed in claim 31, wherein the timing of operating said deviation suppressing means is altered by said control means by changing the position corresponding to said threshold value.

34. A navigation control system for an automotive vehicle as claimed in claim 31, wherein the position corresponding to said threshold value is set as a position of the left-hand or right-hand boundary line of the lane on which the vehicle is currently running or as a position located inside by a predetermined distance in a transverse direction of the lane.

35. A navigation control system for an automotive vehicle as claimed in claim 31, wherein the timing of operating said deviation suppressing means is altered by said control means by changing a decision reference value to determine that the transversely estimated position of the vehicle has gone beyond a position corresponding to said threshold value or that the transversely estimated position of the vehicle is about to go beyond the position corresponding to said threshold value.

36. A navigation control system for an automotive vehicle as claimed in claim 32, wherein said control means is so adapted as to alter the timing of operating said deviation suppressing means by changing the computation coefficient.

37. A navigation control system for an automotive vehicle, which is running on a lane of road, comprising:

means for determining adjacent or opposite road lane conditions on the road different than the lane on which the vehicle is running;

means for setting predetermined control parameters for automatic vehicle steering control based on said adjacent or Opposite road lane conditions determined by said determining means, said control parameters varying with said adjacent or opposite road lane conditions;

means for detecting a predetermined state affecting deviation of the vehicle from the lane and comparing said predetermined State with said control parameters; and

deviation suppressing means for suppressing the vehicle'"'"'s deviation from the lane when the predetermined state affecting deviation exceeds a threshold associated with said predetermined state.