Vehicle running stability control apparatus

• US 6,488,109 B1
• Filed: 07/19/2000
• Issued: 12/03/2002
• Est. Priority Date: 08/09/1999
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Igaki, Munenaga, Nonaka, Masakatsu
• Primary Examiner(s): Rice, Kenneth R.
• Assistant Examiner(s): BUCHANAN, CHRISTOPHER R
• Application Number:
  US09/619,632
• Time in Patent Office: 867 Days
• Field of Search: 180/271, 180/274, 180/275, 180/169
• US Class Current: 180/169
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• 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: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects

Abstract

A vehicle stability control apparatus including a vehicle running stability control device for controlling an automotive vehicle for stable running of the vehicle, and a braking device for applying a brake to the vehicle, wherein a hazard detecting device or detecting a hazardous condition of the vehicle such as a collision of the vehicle with an obstacle and a deviation of the vehicle from the nominal running path, and an automatic brake application device is operable to activate the braking device, when the hazardous condition is detected at least during an operation of the vehicle running stability control device.

Claims

1. A vehicle stability control apparatus comprising a vehicle running stability control device for controlling an automotive vehicle for stable running of the vehicle, and a braking device including a plurality of brakes for braking respective wheels of the vehicle, said vehicle running stability control device activating the braking device to provide turning stability control through a differential application of braking force to at least one of the wheels, said apparatus further comprising:

a hazard detecting device for detecting a hazardous condition of the vehicle, the hazardous condition being determined when the turning stability control is insufficient to avoid an undesirable event due to a motion of the vehicle; and

an automatic brake application device operable to activate said braking device when said hazard detecting device to brake said vehicle has detected said hazardous condition of the vehicle at least during an operation of said vehicle running stability control device, the manner of activation of said braking device by said automatic brake application device being different from a manner of activation of said braking device by said turning stability control device.

2. A vehicle stability control apparatus according to claim 1, wherein said hazard detecting device comprises an obstacle detecting device for detecting an obstacle in front of the vehicle as seen in a running direction of the vehicle, said automatic brake application device being operable to activate said braking device, when an output of said obstacle detecting device at least during an operation of said vehicle running stability control device indicates that there is a risk of a collision of the vehicle with said obstacle.

3. A vehicle stability control apparatus according to claim 2, wherein said automatic brake application device is operated during an operation of the vehicle running stability control device, when the output of said obstacle detecting device indicates that there is said risk of the collision of the vehicle with said obstacle.

4. A vehicle stability control apparatus according to claim 1, wherein said hazard detecting device includes a vehicle-deviation determining device for determining whether there is a risk of a deviation of the vehicle from a nominal running path of the vehicle, said automatic brake application device being operable to activate said braking device, when an output of said vehicle-deviation determining device at least during an operation of said vehicle running stability control device indicates that there is said risk of the deviation of the vehicle from said nominal running path.

5. A vehicle stability control apparatus according to claim 4, wherein said automatic brake application device is operated during an operation of said vehicle running stability control device, when the output of said vehicle-deviation determining device indicates that there is said risk of the deviation of the vehicle from said nominal running path.

6. A vehicle stability control apparatus according to claim 4, wherein said vehicle-deviation determining device includes a lane detecting device for detecting a lane-defining line which defines a traffic lane on which the vehicle is running, said vehicle-deviation determining device determining that there is a risk of the deviation of the vehicle from said nominal running path, when an angle between said lane-defining line detected by said lane detecting device and a longitudinal direction of the vehicle is larger than a predetermined upper limit.

7. A vehicle stability control device according to claim 6, wherein said vehicle-deviation determining device further includes a running-path estimating device for estimating an actual running path of the vehicle, on the basis of a yaw rate of the vehicle.

8. A vehicle stability control device according to claim 6, wherein said vehicle-deviation determining device includes an image obtaining device for obtaining image data representative of an image of a scene in front of the vehicle as seen in a longitudinal direction of the vehicle, and an image-data processing device for processing said image data to determine a lane-defining line which defines a traffic lane on which the vehicle is running.

9. A vehicle stability control device according to claim 1, further comprising running stability control terminating device for terminating the operation of said vehicle running stability control device when said braking device is activated by said automatic brake application device.

10. A vehicle stability control apparatus according to claim 1, wherein said automatic brake application device controls said braking device to brake all of a plurality of wheels of the vehicle such that a total braking force generated by said all of said plurality of wheels is equal to a predetermined maxim value.

11. A vehicle-collision preventing apparatus for preventing a collision of an automotive vehicle with an obstacle, said automotive vehicle having a running stability control device for effecting turning stability control of the vehicle, said vehicle-collision preventing apparatus comprising:

a braking device for applying a brake to the vehicle;

a running-path estimating device for estimating a running path of the vehicle;

an obstacle detecting device for detecting an obstacle existing in front of the vehicle and in said running path of the vehicle estimated by said running-path estimating device;

a vehicle speed detecting device for detecting a running speed of the vehicle;

a vehicle-collision determining device for determining, on the basis of said running speed detected by said vehicle speed detecting device, whether there is a risk of a collision of the vehicle with said obstacle detected by said obstacle detecting device on an assumption that the vehicle is braked at a predetermined reference deceleration value;

an automatic brake application device operable to activate said braking device to brake said vehicle at a deceleration value whose absolute value is larger than that of said reference deceleration value, when said vehicle-collision determining device has determined there is said risk of the collision of the vehicle with said obstacle; and

a running stability control terminating device for terminating a turning stability control of the vehicle by said braking device through a differential application of braking force to at least one of wheels of the vehicle when said braking device is activated by said automatic brake application device during said turning stability control.

12. A vehicle-collision preventing apparatus according to claim 11, wherein said running-path estimating device, said vehicle speed detecting device and said vehicle-collision determining device are kept operated even after an operation of said braking device is initiated by said automatic brake application device, said vehicle-collision determining device including deceleration increasing means for increasing the absolute value of the deceleration value to be established by the operation of the braking device under the control of said automatic brake application device, as long as said vehicle-collision determining device keeps determining that there is said risk of the collision of the vehicle with said obstacle.

13. A vehicle-deviation preventing apparatus for preventing a deviation of an operator-controlled automotive vehicle from a nominal running path of the vehicle, said automotive vehicle having a running stability control device for effecting turning stability control of the vehicle, said vehicle-deviation preventing apparatus comprising:

a braking device for applying a brake to the vehicle;

a running-path detecting device for detecting a nominal running path of the vehicle;

a vehicle-deviation determining device for determining whether there is a risk of a deviation of the vehicle from the detected nominal running path;

an automatic brake application vehicle operable to activate said braking device to brake said vehicle when said vehicle-deviation determining device has determined that there is a risk of the vehicle deviation from said detected nominal running path; and

running stability control terminating device for terminating a turning stability control of the vehicle by said braking device through a differential application of braking force to at least one of wheels of the vehicle, when said braking device is activated by said automatic brake application device during said turning stability control.

14. A vehicle-deviation preventing apparatus according to claim 13, further comprising an alarm indicator device operable when said vehicle-deviation determining means has determined that there is said risk of the deviation of the vehicle, to warn an operator of the vehicle that there is said risk.

15. A vehicle-deviation preventing apparatus according to claim 13, further comprising an operator-controlled member, and an automatic-brake-application inhibiting device for inhibiting an operation of said automatic brake application device when said operator-controlled member is operated.

16. A vehicle-deviation preventing apparatus according to claim 13, further comprising:

an alarm indicator device operable when said vehicle-deviation determining device has determined that there is said risk of the deviation of the vehicle, to warn an operator of the vehicle that there is said risk;

an operator-controlled member; and

an automatic-brake-application inhibiting device for inhibiting an operation of said automatic brake application device when said operator-controlled member is operated,

and wherein said automatic brake application device activates said braking device when a predetermined time has passed without an operation of said operator-controlled member after said alarm indicator device is operated.