Vehicle controlling apparatus and method

• US 6,567,749 B2
• Filed: 04/22/2002
• Issued: 05/20/2003
• Est. Priority Date: 04/20/2001
• Status: Expired due to Term

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Matsuura, Munenori
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US10/126,650
• Publication Number:
  US 20020156580A1
• Time in Patent Office: 393 Days
• Field of Search: 701/301, 340/903, 340/904, 340/435, 340/436, 180/271, 342/455
• US Class Current: 701/301
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2800/226 automatically, based on stopping at a preset or target point position
• CPC Class Codes: B60G 2800/242 Obstacle avoidance manoeuvre
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 2370/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2370/21 using cameras
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• 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 8/17558 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 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

An obstacle existing ahead of a vehicle is recognized to detect information on the obstacle. Information on travelling conditions of the vehicle is detected. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. It is determined whether the vehicle can avoid collision with the obstacle only by a driver'"'"'s braking operation based on at least the information on the obstacle and the vehicle. The vehicle enters into an evasive driving mode in accordance with a driver'"'"'s steering operation when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver'"'"'s braking operation. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. A preliminary information is given to the driver to indicate that the vehicle will enter into the evasive driving mode. The driver is then informed that the vehicle has entered into the evasive driving mode.

Claims

1. A vehicle controlling apparatus installed in a vehicle comprising:

an obstacle recognizer to recognize an obstacle existing ahead of the vehicle for detecting information on the obstacle;

a vehicle information detector to detect information on travelling conditions of the vehicle;

a vehicle controller to change steering performance of the vehicle for controlling behaviors of the vehicle;

an evasive-driving determiner to determine whether the vehicle can avoid collision with the obstacle only by a driver'"'"'s braking operation based on at least the information on the obstacle and the vehicle;

an evasive-driving controller to control the vehicle controller to enter into an evasive driving mode in accordance with a driver'"'"'s steering operation and the vehicle behaviors when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver'"'"'s braking operation and also control the vehicle controller to change a control operation of the vehicle controller in the evasive driving mode in accordance with the driver'"'"'s steering operation and the vehicle behaviors;

a preliminary informer to give a preliminary information to the driver to indicate that the vehicle controller will enter into the evasive driving mode; and

a final informer to inform the driver that the vehicle controller has entered into the evasive driving mode.

2. The apparatus according to claim 1, wherein the evasive-driving determiner compares a first distance between the vehicle and the obstacle and a reference distance that is longer than a second distance that is enough for the vehicle to avoid collision with the obstacle only by the driver'"'"'s braking operation, based on the information on the obstacle and the vehicle, the preliminary informer giving the preliminary information to the driver if the first distance is equal to or shorter than the reference distance.

3. The apparatus according to claim 1, wherein the evasive-driving controller controls the vehicle controller to achieve high steering performance compared to normal driving in a first mode of the evasive driving mode or achieve high stability compared to the normal driving in a second mode of the evasive driving mode.

4. The apparatus according to claim 3, wherein the evasive-driving controller switches the vehicle controller from the first to the second mode when a steering direction of the vehicle has been changed in the first mode.

5. The apparatus according to claim 1, wherein the evasive-driving controller releases the vehicle from the evasive driving mode when it is determined that a degree of the driver'"'"'s steering operation has been low for a specific period or longer and/or a deviation of an actual yaw rate from a target yaw rate has been within a predetermined range for a specific period or longer.

6. The apparatus according to claim 1 further comprising an estimator to estimate conditions of a road on which the vehicle is travelling, the evasive-driving determiner determines whether the vehicle can avoid collision with the obstacle only by the driver'"'"'s braking operation based on the information on the obstacle and the vehicle and the estimated road conditions.

7. The apparatus according to claim 1 wherein the vehicle includes at least a braking force controller to apply a braking force to at least one of front, rear, right and left wheels of the vehicle selected based on the travelling conditions of the vehicle, a rear-wheel steering controller to steer at least one of the rear wheels of the vehicle in accordance with the travelling conditions of the vehicle, a front-rear torque-split controller to control torque split to the front and rear wheels or a right-left torque-split controller to control torque split to the right and left wheels.

8. A vehicle controlling method comprising the steps of:

recognizing an obstacle existing ahead of a vehicle to detect information on the obstacle;

detecting information on travelling conditions of the vehicle;

changing steering performance of the vehicle for controlling behaviors of the vehicle;

determining whether the vehicle can avoid collision with the obstacle only by a driver'"'"'s braking operation based on at least the information on the obstacle and the vehicle;

entering into an evasive driving mode in accordance with a driver'"'"'s steering operation and the vehicle behaviors when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver'"'"'s braking operation;

changing the steering performance of the vehicle in the evasive driving mode in accordance with the driver'"'"'s steering operation and the vehicle behaviors;

giving a preliminary information to the driver to indicate that the vehicle will enter into the evasive driving mode; and

informing the driver that the vehicle has entered into the evasive driving mode.

9. The apparatus according to claim 8, wherein the collision avoiding determining step includes the step of comparing a first distance between the vehicle and the obstacle and a reference distance that is longer than a second distance that is enough for the vehicle to avoid collision with the obstacle only by the driver'"'"'s braking operation, based on the information on the obstacle and the vehicle, and the preliminary-information giving step includes the step of giving the preliminary information to the driver if the first distance is equal to or shorter than the reference distance.

10. The method according to claim 8 further comprising the step of controlling the vehicle to achieve high steering performance compared to normal driving in a first mode of the evasive driving mode or achieve high stability compared to the normal driving in a second mode of the evasive driving mode.

11. The method according to claim 10 further comprising the step of switching the first mode to the second mode when a steering direction of the vehicle has been changed in the first mode.

12. The method according to claim 8, wherein the releasing step includes the step of releasing the vehicle from the evasive driving mode when it is determined that a degree of the driver'"'"'s steering operation has been low for a specific period or longer and/or a deviation of an actual yaw rate from a target yaw rate has been within a predetermined range for a specific period or longer.

13. The method according to claim 8 further comprising the step of estimating conditions of a road on which the vehicle is travelling, for determination of whether the vehicle can avoid collision with the obstacle only by the driver'"'"'s braking operation based on the information on the obstacle and the vehicle and the estimated road conditions.

14. The method according to claim 8 wherein the steering performance-changing step includes at least the step of applying a braking force to at least one of front, rear, right and left wheels of the vehicle selected based on the travelling conditions of the vehicle, steering at least one of the rear wheels of the vehicle in accordance with the travelling conditions of the vehicle, controlling torque split to the front and rear wheels or controlling torque split to the right and left wheels.