Vehicle controlling apparatus and method

• US 6,675,096 B2
• Filed: 04/22/2002
• Issued: 01/06/2004
• Est. Priority Date: 04/20/2001
• Status: Expired due to Term

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Matsuura, Munenori
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US10/126,651
• Publication Number:
  US 20020156581A1
• Time in Patent Office: 624 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 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2400/822 Road friction coefficient determination affecting wheel traction
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60G 2600/044 Alarm means
• CPC Class Codes: B60G 2800/019 Inclination due to load distribution or road gradient
• CPC Class Codes: B60G 2800/242 Obstacle avoidance manoeuvre
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/704 predicting unorthodox driving conditions for safe or optimal driving
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60G 2800/952 Electronic driving torque distribution
• CPC Class Codes: B60G 2800/96 ASC - Assisted or power Steering control
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2260/022 Rear-wheel steering; Four-wheel steering
• 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: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2050/143 : Alarm means
• CPC Class Codes: B60W 2420/403 : Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2510/20 : Steering systems
• CPC Class Codes: B60W 2520/105 : Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 : Lateral acceleration
• CPC Class Codes: B60W 2520/14 : Yaw
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 2552/15 : Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2554/00 : Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 : Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2555/00 : Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2710/105 : Output torque
• CPC Class Codes: B60W 2710/207 : Steering angle of wheels
• CPC Class Codes: B60W 2720/30 : Wheel torque
• CPC Class Codes: B60W 2720/403 : between front and rear axle
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/064 : Degree of grip
• 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. It is determined whether the vehicle has been maneuvered for avoiding collision with the obstacle. The vehicle is released from the evasive driving mode when it is determined that the vehicle has not been maneuvered for avoiding collision with the obstacle even though the vehicle has reached the obstacle in 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 traveling 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; and

an evasive-driving condition determiner to determine whether the vehicle has been maneuvered for avoiding collision with the obstacle,

wherein the evasive-driving controller releases the vehicle from the evasive driving mode when it is determined that the vehicle has not been maneuvered for avoiding collision with the obstacle even though the vehicle has reached the obstacle in the evasive driving mode.

2. 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.

3. The apparatus according to claim 2, 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.

4. 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.

5. The apparatus according to claim 1, wherein the evasive-driving condition determiner determines whether the vehicle has been maneuvered for avoiding collision with the obstacle in accordance with a lateral motion of the vehicle while reaching the obstacle based on the information on the obstacle and the vehicle.

6. The apparatus according to claim 1 further comprising an estimator to estimate conditions of a road on which the vehicle is traveling, 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 controller 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 traveling 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 traveling 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 traveling 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;

determining whether the vehicle has been maneuvered for avoiding collision with the obstacle; and

releasing the vehicle from the evasive driving mode when it is determined that the vehicle has not been maneuvered for avoiding collision with the obstacle even though the vehicle has reached the obstacle in the evasive driving mode.

9. 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.

10. The method according to claim 8 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.

11. 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.

12. The method according to claim 8, wherein the vehicle maneuver determining step includes the step of determining whether the vehicle has been maneuvered for avoiding collision with the obstacle in accordance with a lateral motion of the vehicle while reaching the obstacle based on the information on the obstacle and the vehicle.

13. The method according to claim 8 further comprising the step of estimating conditions of a road on which the vehicle is traveling, 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 traveling conditions of the vehicle, steering at least one of the rear wheels of the vehicle in accordance with the traveling conditions of the vehicle, controlling torque split to the front and rear wheels or controlling torque split to the right and left wheels.

15. A vehicle 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 traveling conditions of the vehicle;

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

an evasive-driving 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 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; and

an evasive-driving condition determiner to determine whether the vehicle has been maneuvered for avoiding collision with the obstacle,

wherein the evasive-driving controller releases the vehicle from the evasive driving mode when the vehicle has entered into the evasive driving mode due to erroneous obstacle information.

16. The vehicle controlling apparatus according to claim 15, wherein the evasive-driving condition determiner determines whether obstacle information is erroneous in accordance with a lateral motion of the vehicle while reaching the obstacle based on the information on the obstacle and the vehicle.