Motion control system for vehicle

• US 6,567,748 B2
• Filed: 03/02/2001
• Issued: 05/20/2003
• Est. Priority Date: 03/03/2000
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Matsuno, Koji
• Primary Examiner(s): Zanelli, Michael J.
• Assistant Examiner(s): Gibson, Eric M
• Application Number:
  US09/796,682
• Publication Number:
  US 20010020217A1
• Time in Patent Office: 809 Days
• Field of Search: 701/301, 701/117, 180/274, 180/275, 180/280, 340/903, 340/435, 340/436, 348/118
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18109 Braking

Abstract

A motion control system controls a vehicle so as to avoid contacting an obstacle in front of the vehicle by applying a braking force or a turning force to the vehicle. In particular, the turning force is applied to the vehicle to avoid the obstacle by turning the vehicle when the system judges that the vehicle can not avoid contact with the obstacle with deceleration presently applied. The turning force is calculated by comparing a first turning force necessary to make a turn to avoid the obstacle with a second turning force presently applied to the vehicle. The system generates the turning force presently applied to the vehicle. The system generates the turning force by controlling at least one of a braking force of a selected wheel, a front wheel steering mechanism and a rear wheel steering mechanism.

Claims

1. A motion control system for a vehicle having an obstacle recognition device for detecting an obstacle in front of the vehicle and obtaining information of the obstacle, and a running condition detecting device for detecting running conditions of the vehicle, comprising:

braking distance judgment means judging, when a deceleration is applied to said vehicle, whether or not said vehicle can finish said deceleration without contacting said obstacle based on said information of said obstacle and said running conditions;

first parameter calculating means for calculating a first parameter necessary to generate a turning force that will cause the vehicle to make a lateral avoidance motion based on said information of the obstacle and said running conditions;

second parameter calculating means for calculating a second parameter representing a presently generated turning force in said vehicle based on said running conditions;

target establishing means for when it is judged that said vehicle can not finish said deceleration without contacting said obstacle, establishing a target parameter by comparing said first parameter with said second parameter; and

vehicle behavior control means for generating said lateral avoidance motion of said vehicle at least in accordance with said target parameter.

2. The motion control system according to claim 1, wherein

said first parameter is either a yaw rate or a lateral acceleration.

3. The motion control system according to claim 1, wherein

said second parameter is either a yaw rate or a lateral acceleration.

4. The motion control system according to claim 1, wherein

said vehicle behavior control means is at least one of an automatic brake control means for braking a selected wheel to generate a turning force, a rear wheel steering control means for automatically steering a rear wheel and a front wheel steering control means for automatically steering a front wheel.

5. A vehicle motion control system for avoiding an obstacle in front of a vehicle, said system comprising:

an obstacle recognition device for detecting and obtaining obstacle information representative of an obstacle in front of the vehicle;

a running condition detector for detecting running conditions of the vehicle;

a braking distance judging device for judging whether the vehicle can finish a deceleration without contacting the obstacle during deceleration of the vehicle based on said obstacle information and said running conditions;

a first yaw rate calculator for calculating a first yaw rate to be applied to the vehicle based on said obstacle information and said running conditions;

a second yaw rate calculator for calculating a second yaw rate which is a present yaw rate of the vehicle based on said running conditions;

a target yaw rate calculator for calculating a target yaw rate by comparing said first yaw rate with said second yaw rate; and

a vehicle behavior controller for generating a turning force of the said vehicle necessary to avoid the obstacle by turning motion in accordance with at least said target yaw rate.

6. The motion control system according to claim 5, wherein said target yaw rate calculator calculates said target yaw rate by selecting a larger of said first yaw rate and said second yaw rate.

7. The motion control system according to claim 5, wherein

said vehicle behavior controller generates turning force by braking a selected wheel.

8. The motion control system according to claim 5, wherein

said vehicle behavior controller generates turning force by automatically steering at least one of a front wheel and a rear wheel.

9. A vehicle motion control system for avoiding an obstacle ahead of a vehicle, said system comprising:

an obstacle recognition device for detecting an obstacle and for obtaining obstacle information representative of the obstacle;

a running condition detector for detecting running conditions of the vehicle;

a braking distance judging device for judging whether the vehicle can complete a deceleration without contacting the obstacle during deceleration of the vehicle based on said obstacle information and said running conditions;

a first yaw rate calculator for calculating a first yaw rate needed to move the vehicle in a lateral direction to avoid the obstacle based on said obstacle information and said running conditions;

a second yaw rate calculator for calculating a current yaw rate of the vehicle as a second yaw rate based on said running conditions;

a target yaw rate calculator for calculating a target yaw rate by comparing said first yaw rate with said second yaw rate; and

a vehicle behavior controller for generating a lateral movement of the vehicle to avoid the obstacle in accordance with at least said target yaw rate.

10. The motion control system according to claim 9, wherein

said target yaw rate calculator calculates said target yaw rate by selecting a larger of said first yaw rate and said second yaw rate.

11. The motion control system according to claim 9, wherein

said vehicle behavior controller generates said lateral movement of the vehicle by turning force generated by braking a selected wheel.

12. The motion control system according to claim 9, wherein

said vehicle behavior controller generates said lateral movement of the vehicle by turning force generated by automatically steering at least one of front wheels and rear wheels of the vehicle.

13. A motion control system of a vehicle for avoiding an obstacle ahead of the vehicle, said system comprising:

an obstacle recognition device for detecting an obstacle and for obtaining obstacle information representative of the obstacle;

a running condition detector for detecting running conditions of the vehicle;

a braking distance judging device for judging whether the vehicle can complete a deceleration without contacting the obstacle during deceleration of the vehicle based on said obstacle information and said running conditions;

a first lateral acceleration calculator for calculating a first lateral acceleration needed to move the vehicle in a lateral direction to avoid the obstacle based on said obstacle information and said running conditions;

a second lateral acceleration calculator for calculating a current lateral acceleration of the vehicle as a second lateral acceleration based on said running conditions;

a target lateral acceleration calculator for calculating a target lateral acceleration by comparing said first lateral acceleration with said second lateral acceleration; and

a vehicle behavior controller for generating a lateral movement of the vehicle to avoid the obstacle in accordance with at least said target lateral acceleration.

14. The motion control system according to claim 13, wherein

said target lateral acceleration calculator calculates said target lateral acceleration by selecting a larger of said first lateral acceleration and said second lateral acceleration.

15. The motion control system according to claim 13, wherein

said vehicle behavior controller generates a lateral movement of the vehicle by turning force generated by braking a selected wheel.

16. The motion control system according to claim 13, wherein

said vehicle behavior controller generates a lateral movement of the vehicle by turning force generated by automatically steering at least one of front wheels and rear wheels of the vehicle.