Lane keep control apparatus and method for automotive vehicle
First Claim
1. A lane keep control apparatus for an automotive vehicle, comprising:
- a travel state detecting section that detects a travel state of the vehicle;
a divergence tendency determining section that determines whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting section;
a driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting section, the driving force controlled variable calculating section comprising a driving force controlled variable correcting section that corrects the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
a driving force controlling section that controls a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating section.
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Accused Products
Abstract
In lane keep control apparatus and method for an automotive vehicle, such a determination is made as to whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to a detected travel state of the vehicle, a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided is calculated in accordance with the detected travel state, the driving force controlled variable of each road wheel is corrected in such a manner that the yaw moment developed in a direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane.
57 Citations
20 Claims
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1. A lane keep control apparatus for an automotive vehicle, comprising:
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a travel state detecting section that detects a travel state of the vehicle;
a divergence tendency determining section that determines whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting section;
a driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting section, the driving force controlled variable calculating section comprising a driving force controlled variable correcting section that corrects the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
a driving force controlling section that controls a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating section. - View Dependent Claims (2, 3)
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4. A lane keep control apparatus for an automotive vehicle, comprising:
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a travel state detecting section that detects a travel state of the vehicle;
a divergence tendency determining section that determines whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting section;
a driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting section, the driving force controlled variable calculating section comprising a driving force controlled variable correcting section that corrects the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
a driving force controlling section that controls a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating section, wherein the driving force controlled variable correcting section corrects the driving force controlled variable in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with an elapse of time from a time at which the control executed to avoid the divergence of the vehicle from the traffic lane is started. - View Dependent Claims (5, 6, 7, 8)
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9. A lane keep control apparatus for an automotive vehicle, comprising:
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a travel state detecting section that detects a travel state of the vehicle;
a divergence tendency determining section that determines whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting section;
a driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting section, the driving force controlled variable calculating section comprising a driving force controlled variable correcting section that corrects the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
a driving force controlling section that controls a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating section, wherein the driving force controlled variable correcting section corrects the driving force controlled variable of each road wheel of the vehicle in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a frequency of the control executed to avoid the divergence of the vehicle from the traffic lane. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A lane keep control apparatus for an automotive vehicle, comprising:
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a travel state detecting section that detects a travel state of the vehicle;
a divergence tendency determining section that determines whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting section;
a driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting section, the driving force controlled variable calculating section comprising a driving force controlled variable correcting section that corrects the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
a driving force controlling section that controls a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating section, wherein the driving force controlled variable correcting section corrects the driving force controlled variable in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with an elapse of time from a time at which the control executed to avoid the divergence of the vehicle from the traffic lane is started, wherein the driving force controlled variable calculating section calculates a target yaw moment from a difference between a future estimated lateral displacement of the vehicle with respect to the traffic lane estimated from the travel state of the vehicle detected by the travel state detecting section and a lateral displacement limit value and calculates the driving force controlled variable of each road wheel on the basis of the calculated target yaw moment, wherein the driving force controlled variable calculating section comprises;
a future estimated lateral displacement value calculating section that calculates the future estimated lateral displacement value (XS) as follows;
XS=Tt×
V×
(φ
+Tt×
V×
β
)+X, wherein Tt denotes a headway time for calculating a forward gazing distance (Tt×
V), V denotes a traveling velocity of the vehicle, φ
denotes a yaw angle of the vehicle to the traffic lane, β
denotes a radius of curvature of the traffic lane, and X denotes a lateral displacement of the vehicle from a center of the traffic lane; and
lateral displacement limit value calculating section that calculates a lateral displacement limit value Xc from a lateral displacement limit value initial value Xc0 which is a subtraction result of a half of a width L of the traffic lane from a half of a width L0 of the vehicle and a proportional coefficient Kt which is decreased as a continuation time Tcc of the control executed to avoid the divergence of the vehicle from the traffic lane is increased and wherein the divergence tendency determining section determines that the divergence of the vehicle from the traffic lane occurs when an absolute value of the future estimated lateral displacement value |XS| is equal to or larger than the lateral displacement limit value Xc.
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18. A lane keep control apparatus for an automotive vehicle, comprising:
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a travel state detecting section that detects a travel state of the vehicle;
a divergence tendency determining section that determines whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting section;
a driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting section, the driving force controlled variable calculating section comprising a driving force controlled variable correcting section that corrects the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
a driving force controlling section that controls a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating section, wherein the driving force controlled variable correcting section corrects the driving force controlled variable in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with an elapse of time from a time at which the control executed to avoid the divergence of the vehicle from the traffic lane is started, wherein the driving force controlled variable calculating section calculates a target yaw moment from a difference between a future estimated lateral displacement of the vehicle with respect to the traffic lane estimated from the travel state of the vehicle detected by the travel state detecting section and a lateral displacement limit value and calculates the driving force controlled variable of each road wheel on the basis of the calculated target yaw moment, wherein the driving force controlled variable calculating section comprises;
a future estimated lateral displacement value calculating section that calculates the future estimated lateral displacement value (XS) as follows;
XS=Tt×
V×
(φ
+Tt×
V×
β
)+X, wherein Tt denotes a headway time for calculating a forward gazing distance (Tt×
V), V denotes a traveling velocity of the vehicle, φ
denotes a yaw angle of the vehicle to the traffic lane, β
denotes a radius of curvature of the traffic lane, and X denotes a lateral displacement of the vehicle from a center of the traffic lane; and
lateral displacement limit value calculating section that calculates a lateral displacement limit value Xc from a lateral displacement limit value initial value Xc0 which is a subtraction result of a half of a width L of the traffic lane from a half of a width L0 of the vehicle and a proportional coefficient Kt which is decreased as a continuation time Tcc of the control executed to avoid the divergence of the vehicle from the traffic lane is increased and wherein the divergence tendency determining section determines that the divergence of the vehicle from the traffic lane occurs when an absolute value of the future estimated lateral displacement value |XS| is equal to or larger than the lateral displacement limit value Xc, wherein the driving force controlled variable correcting section further comprises;
a target yaw moment calculating section that calculates a target yaw moment Ms as follows;
Ms=−
K1×
K2×
(XS−
Xc), wherein K1 denotes a first proportional coefficient determined according to a vehicular specification and K2 denotes a second proportional coefficient set in accordance with the travel velocity V of the vehicle, when the divergence determining section determines that the tendency of the divergence of the vehicle from the traffic lane occurs; and
a target brake fluid pressure calculating section that calculates a target brake fluid pressure Psi for each road wheel according to a magnitude |Ms| of the target yaw moment.
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19. A lane keep control method for an automotive vehicle, comprising:
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detecting a travel state of the vehicle;
determining whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the detected travel state;
calculating a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the detected travel state;
correcting the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
controlling a driving force of each road wheel in accordance with the corrected driving force controlled variable.
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20. A lane keep control apparatus for an automotive vehicle, comprising:
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travel state detecting means for detecting a travel state of the vehicle;
divergence tendency determining means for determining whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to the travel state detected by the travel state detecting means;
driving force controlled variable calculating means for calculating a driving force controlled variable for each road wheel to develop a yaw moment in such a direction in which the divergence of the vehicle from the traffic lane is avoided in accordance with the travel state detected by the travel state detecting means, the driving force controlled variable calculating means comprising driving force controlled variable correcting means for correcting the driving force controlled variable of each road wheel in such a manner that the yaw moment developed in the direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane; and
driving force controlling means for controlling a driving force of each road wheel in accordance with the driving force controlled variable calculated by the driving force controlled variable calculating means.
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Specification