Lane-keep control system for vehicle
First Claim
1. A lane-keep control system for a host-vehicle, comprising:
- a control unit configured, to detect a traveling condition of the host-vehicle, to determine that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition, to calculate a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when there is the tendency of the lane deviation, to detect a steering state quantity indicative of a quantity of state of a steering wheel, to correct the driving/braking force controlled variable on the basis of the steering state quantity, and to control a driving/braking force of each wheel according to the driving/braking force controlled variable.
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Accused Products
Abstract
A lane-keep control system for a host-vehicle is arranged to detect a traveling condition of the host-vehicle, to detect a tendency of a lane deviation of the host-vehicle on the basis of the traveling condition, to calculate a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when the tendency of the lane deviation is detected, to control a driving/braking force according to the driving/braking force controlled variable, to detect a steering state quantity indicative of a quantity of state of a steering wheel, and to correct the driving/braking force controlled variable on the basis of the steering state quantity.
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Citations
11 Claims
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1. A lane-keep control system for a host-vehicle, comprising:
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a control unit configured, to detect a traveling condition of the host-vehicle, to determine that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition, to calculate a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when there is the tendency of the lane deviation, to detect a steering state quantity indicative of a quantity of state of a steering wheel, to correct the driving/braking force controlled variable on the basis of the steering state quantity, and to control a driving/braking force of each wheel according to the driving/braking force controlled variable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A lane-keep control system of a host-vehicle comprising:
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a traveling condition detecting device that detects a traveling condition of the host-vehicle, the traveling condition including a state of a steering wheel;
a brake hydraulic pressure control circuit that independently controls a hydraulic pressure of each wheel cylinder of the host-vehicle to generate a desired braking force of the host-vehicle;
a driving torque control unit that controls a driving torque applied to driving wheels of the host-vehicle; and
a driving/braking force control unit coupled to the traveling condition detecting device, the brake hydraulic control circuit and the driving torque control unit, the driving/braking force control unit being arranged, to determine that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition, to calculate a target yawing moment reference value on the basis of the traveling condition when there is the tendency of the lane deviation, to calculate a target yawing moment by correcting the target yawing moment reference value according to a rate of change of the state of the steering wheel with respect to time, to calculate a target brake hydraulic pressure according to the traveling condition and the target yawing moment, to calculate a target driving force according to the traveling condition and the target brake hydraulic pressure, and to output a first drive signal indicative of the target brake hydraulic pressure to the brake hydraulic pressure control circuit and a second drive signal indicative of the target driving force to the driving force control unit.
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10. A method of executing a lane-keep control of a host-vehicle, comprising:
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detecting a traveling condition of the host-vehicle;
determining that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition;
calculating a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when there is the tendency of the lane deviation;
detecting a steering state quantity indicative of a quantity of state of a steering wheel;
correcting the driving/braking force controlled variable on the basis of the steering state quantity; and
controlling a driving/braking force of each wheel according to the driving/braking force controlled variable.
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11. A lane-keep control system for a host-vehicle, comprising:
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traveling condition detecting means for detecting a traveling condition of the host-vehicle;
deviation determining means for determining that there is a tendency of a lane deviation that the host-vehicle is deviating from a traveling lane, on the basis of the traveling condition;
driving/braking force control quantity calculating means for calculating a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when there is the tendency of the lane deviation;
driving/braking force controlling means for controlling a driving/braking force of each wheel according to the driving/braking force controlled variable; and
steering condition quantity detecting means for detecting a steering state quantity indicative of a quantity of state of a steering wheel;
wherein the driving/braking control quantity calculating means comprises driving/braking force controlled-variable correcting means for correcting the driving/braking force controlled variable on the basis of the steering state quantity.
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Specification