Lane-keep control system for vehicle

• US 6,792,345 B2
• Filed: 11/21/2002
• Issued: 09/14/2004
• Est. Priority Date: 12/26/2001
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Matsumoto, Shinji, Tange, Satoshi, Yoshizawa, Hiroyuki
• Primary Examiner(s): Nguyen, Tan Q.
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US10/300,775
• Publication Number:
  US 20030120414A1
• Time in Patent Office: 663 Days
• Field of Search: 701/70, 701/210, 701/211, 701/213, 701/300, 701/301, 701/96, 701/79, 701/200, 701/93, 701/41, 303/125, 303/132, 303/167, 342/70, 342/71, 340/435, 340/903, 340/436, 340/437
• US Class Current: 701/96
• 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 2201/081 using distance control
• CPC Class Codes: B60T 2201/087 using active steering actuation
• 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: B60W 2050/0022 Gains, weighting coefficients or weighting functions
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A lane-keep control system is installed in a host vehicle equipped with an inter-vehicle distance control system. The lane-keep control system is arranged to decrease a threshold to be compared with the vehicle traveling condition for determining the tendency of the lane deviation when the inter-vehicle distance is being executed, so that the deviation avoidance control during execution of the inter-vehicle distance control is started earlier than the deviation avoidance control during inexecution of the inter-vehicle distance is started.

Claims

1. A lane-keep control system for a host vehicle, comprising:

a control unit configured, to detect an inter-vehicle distance between the host vehicle and an object ahead of the host vehicle,

to execute an inter-vehicle distance control for bringing the inter-vehicle distance closer to a target inter-vehicle distance according to a driver'"'"'s demand,

to detect a traveling condition of the host vehicle,

to determine whether there is a tendency of a lane deviation indicative that the host vehicle is deviating from a traveling lane, according to the traveling condition,

to execute a deviation avoidance control for controlling the host vehicle toward a deviation-avoiding direction of avoiding the lane deviation according to the traveling condition when there is the tendency of the lane deviation,

to determine that the inter-vehicle distance control is being executed,

to advance a start timing of the deviation avoidance control when the inter-vehicle distance control is being executed.

2. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to decrease a threshold to be compared with the vehicle traveling condition for determining the tendency of the lane deviation when the inter-vehicle distance control is being executed, so that the deviation avoidance control start timing is advanced during execution of the inter-vehicle distance control when compared to the start timing of the deviation avoidance control when the inter-vehicle distance control is not being executed.

3. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to change a first start timing, at which the deviation avoidance control during execution of the inter-vehicle distance control is started, to a timing earlier than a second start timing, at which the deviation avoidance control is started when the inter-vehicle distance control is not being executed, the first and second start timings being determined on the basis of the determination as to the tendency of the lane deviation.

4. The lane-keep control system as claimed in claim 3, further comprising a target distance selecting device for manually selecting one of target inter-vehicle distance set values, the control unit being further configured to set the first start timing according to the selected one of the target inter-vehicle distance set values.

5. The lane-keep control system as claimed in claim 1, further comprising a driving/braking force control system which is commanded by the control unit to vary driving/braking force of each wheel for the deviation avoidance control, the control unit being configured to calculate a driving/braking force controlled variable of each of right and left wheels of the host vehicle so that the host vehicle generates a yawing moment for avoiding the lane deviation according to the traveling condition of the host vehicle when there is the tendency that the host vehicle deviates from the traveling lane and to adjust a distribution of the driving/braking force to each wheel according to the driving/braking force through the driving/braking force control system.

6. The lane-keep control system as claimed in claim 1, further comprising a deviation avoidance control starting switch through which the deviation avoidance control is manually started and an inter-vehicle distance control starting switch through which the inter-vehicle distance control is manually started, the deviation avoidance control starting switch being automatically turned on when the inter-vehicle distance control switch is turned on.

7. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to estimate a future lateral displacement of the host vehicle relative to a center of a traveling lane on the basis of at least a vehicle speed, a vehicle yaw rate relative to the traveling lane, a lateral displacement, and a curvature of the traveling lane ahead of the host vehicle, the control unit being further configured to determine that the host vehicle is in a lane deviation condition when the lateral displacement estimated value is greater than or equal to a lateral displacement limit value.

8. The lane-keep control system as claimed in claim 1, wherein the control unit is configured to estimate a future lateral displacement of the host vehicle relative to a center of a traveling lane on the basis of at least a vehicle speed, a vehicle yaw rate relative to the traveling lane, a lateral displacement, and a curvature of the traveling lane ahead of the host vehicle, to calculate a target yawing moment to be generated by the host vehicle according to a difference between the estimated future lateral displacement and a lateral displacement limit value, and to control a driving/braking force to be generated at right and left wheels according to the target yawing moment.

9. The lane-keep control system as claimed in claim 8, wherein the control unit is capable of controlling a braking force of each wheel regardless of a steering operation by a driver of the host vehicle.

10. The lane-keep control system as claimed in claim 1, wherein the control unit is further configured to output a steering torque command to a steering device of the host vehicle so as to generate a steering torque directed in a deviation avoiding direction when there is the tendency that the host vehicle deviates from the traveling lane.

11. The lane-keep control system as claimed in claim 1, further comprising an inter-vehicle distance detector which detects the inter-vehicle distance and outputs a signal indicative of the inter-vehicle distance to the control unit, and a traveling condition detector which detects the traveling condition and outputs a signal indicative of the traveling condition to the control unit.

12. A lane-keep control system for a host vehicle, comprising:

a control unit configured,

to detect an inter-vehicle distance between the host vehicle and an object ahead of the host vehicle,

to execute an inter-vehicle distance control for bringing the inter-vehicle distance closer to a target inter-vehicle distance,

to detect a traveling condition of the host vehicle,

to determine whether there is a tendency of a lane deviation indicative that the host vehicle is deviating from a traveling lane, according to the traveling condition,

to execute a deviation avoidance control for controlling the host vehicle toward a deviation-avoiding direction of avoiding the lane deviation according to the traveling condition when there is the tendency of the lane deviation,

to limit execution of the deviation avoidance control according to a determination value corresponding to the inter-vehicle distance detected.

13. The lane-keep control system as claimed in claim 12, further comprising a target distance selecting device for manually selecting one of target inter-vehicle distance set values, the determination value being changed according to the selected one of the target inter-vehicle distance set values.

14. A method of controlling a traveling condition of a host vehicle, the method comprising:

detecting an inter-vehicle distance between the host vehicle and an object ahead of the host vehicle;

executing an inter-vehicle distance control for bringing the inter-vehicle distance closer to a target inter-vehicle distance;

detecting a traveling condition of the host vehicle;

determining whether there is a tendency of a lane deviation indicative that the host vehicle is deviating from a traveling lane, according to the traveling condition;

executing a deviation avoidance control for controlling the host vehicle toward a deviation-avoiding direction of avoiding the lane deviation according to the traveling condition when there is the tendency of the lane deviation;

determining that the inter-vehicle distance control is being executed; and

advancing a start of the deviation avoidance control when the inter-vehicle distance control is being executed.

15. A lane-keep control system for a host vehicle, comprising:

inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and an object ahead of the host vehicle;

inter-vehicle distance control means for executing an inter-vehicle distance control so as to bringing the inter-vehicle distance closer to a target inter-vehicle distance;

traveling-condition detecting means for detecting a traveling condition of the host vehicle;

lane-deviation determining means for determining whether there is a tendency of a lane deviation that the host vehicle is deviating from a traveling lane according to the traveling condition;

deviation-avoidance control means for executing a deviation avoidance control of controlling the host vehicle toward a deviation-avoiding direction of avoiding the lane deviation according to the traveling condition when there is the tendency of the lane deviation;

distance control operation detecting means for detecting that the inter-vehicle distance control means is in operative state; and

control start-timing changing means for changing a first start timing, at which the deviation avoidance control during execution of the inter-vehicle distance control is started, to a timing earlier than a second start timing at which the deviation avoidance control is started under a condition that the inter-vehicle distance control is not executed, the first and second start timings being determined on the basis of a determination result of the lane-deviation determining means.