Automotive lane deviation avoidance system
First Claim
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1. An automotive lane deviation avoidance system comprising:
- a control unit that executes a host vehicle'"'"'s lane deviation control that a change in vehicle dynamic behavior occurs in a direction that avoids a host vehicle from deviating from a driving lane when there is an increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and
the control unit comprising;
(i) a lane-deviation decision section that determines the presence or absence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and
(ii) a lane-deviation avoidance section that prevents the host vehicle from deviating from the driving lane by correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane, the lane-deviation avoidance section calculating a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane and additionally compensating for the host vehicle'"'"'s course correction value based on a throttle opening of the host vehicle.
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Abstract
In an automotive lane deviation avoidance system that prevents a host vehicle from deviating from its driving lane by correcting the host vehicle'"'"'s course in a direction that avoids the host vehicle'"'"'s lane deviation in the presence of a possibility of the host vehicle'"'"'s lane deviation, the system calculates a desired yawing moment needed to avoid the host vehicle'"'"'s lane deviation from the driving lane. The system compensates for the desired yawing moment by a correction factor or a gain, which is determined based on a throttle opening of the host vehicle.
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Citations
22 Claims
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1. An automotive lane deviation avoidance system comprising:
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a control unit that executes a host vehicle'"'"'s lane deviation control that a change in vehicle dynamic behavior occurs in a direction that avoids a host vehicle from deviating from a driving lane when there is an increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and the control unit comprising; (i) a lane-deviation decision section that determines the presence or absence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and (ii) a lane-deviation avoidance section that prevents the host vehicle from deviating from the driving lane by correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane, the lane-deviation avoidance section calculating a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane and additionally compensating for the host vehicle'"'"'s course correction value based on a throttle opening of the host vehicle. - View Dependent Claims (6, 22)
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2. An automotive lane deviation avoidance system comprising:
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a control unit that executes a host vehicle'"'"'s lane deviation control that a change in vehicle dynamic behavior occurs in a direction that avoids a host vehicle from deviating from a driving lane when there is an increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and the control unit comprising; (i) a lane-deviation decision section that determines the presence or absence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; (ii) a lane-deviation avoidance section that prevents the host vehicle from deviating from the driving lane by correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and (iii) a throttle opening detection section that detects a throttle opening; the lane-deviation avoidance section comprising; (a) a host vehicle'"'"'s course correction value calculation section that calculates a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane; (b) a host vehicle'"'"'s course correction value compensation section that compensates for the host vehicle'"'"'s course correction value based on the throttle opening; and (c) a host vehicle'"'"'s course correction section that corrects the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation, depending on the host vehicle'"'"'s course correction value compensated for based on the throttle opening. - View Dependent Claims (3, 4, 5, 7, 8, 9, 10)
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11. An automotive lane deviation avoidance system comprising:
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a control unit that executes a host vehicle'"'"'s lane deviation control that a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is an increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and the control unit comprising; (i) a lane-deviation decision means for determining the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and (ii) a lane-deviation avoidance means for preventing the host vehicle from deviating from the driving lane by correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane, and for calculating a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane, and for compensating for the host vehicle'"'"'s course correction value based on a throttle opening of the host vehicle.
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12. An automotive lane deviation avoidance system comprising:
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a control unit that executes a host vehicle'"'"'s lane deviation control that a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is an increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and the control unit comprising; (i) a lane-deviation decision means for determining the presence or absence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; (ii) a lane-deviation avoidance means for preventing the host vehicle from deviating from the driving lane by correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane; and (iii) a throttle opening detection means for detecting a throttle opening; the lane-deviation avoidance means comprising; (a) a host vehicle'"'"'s course correction value calculation means for calculating a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane; (b) a host vehicle'"'"'s course correction value compensation means for compensating for the host vehicle'"'"'s course correction value based on the throttle opening; and (c) a host vehicle'"'"'s course correction means for correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation, depending on the host vehicle'"'"'s course correction value compensated for based on the throttle opening.
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13. A method of avoiding an adaptive cruise control system equipped vehicle from deviating from a driving lane, the method comprising:
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determining the presence or absence of a driver'"'"'s intention for lane changing; determining the presence or absence of an increased tendency of a host vehicle'"'"'s lane deviation from a driving lane without the driver'"'"'s intention for lane changing; calculating a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane; compensating for the host vehicle'"'"'s course correction value based on a throttle opening of the host vehicle; and avoiding the host vehicle'"'"'s lane deviation from the driving lane by correcting the host vehicle'"'"'s course by the host vehicle'"'"'s course correction value compensated for based on the throttle opening in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane without the driver'"'"'s intention for lane changing. - View Dependent Claims (14, 15, 16, 17)
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18. A method of avoiding an adaptive cruise control system equipped vehicle from deviating from a driving lane, the adaptive cruise control system equipped vehicle employing a braking-force and driving-force control system that produces a yawing moment, acting in a direction that avoids a host vehicle from deviating from the driving lane when there is an increased tendency of the host vehicle'"'"'s lane deviation from the driving lane, by controlling at least one of a braking force and a driving force applied to each of road wheels of the host vehicle, the method comprising:
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determining the presence or absence of a driver'"'"'s intention for lane changing; determining the presence or absence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane without the driver'"'"'s intention for lane changing; calculating a desired yawing moment needed to avoid the host vehicle'"'"'s lane deviation from the driving lane; compensating for the desired yawing moment based on a throttle opening of the host vehicle to derive a final desired yawing moment decreasingly compensated for by a throttle-opening dependent gain; and avoiding the host vehicle'"'"'s lane deviation from the driving lane by correcting the host vehicle'"'"'s course by the final desired yawing moment in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane without the driver'"'"'s intention for lane changing.
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19. A method of avoiding an adaptive cruise control system equipped vehicle from deviating from a driving lane, the adaptive cruise control system equipped vehicle employing a steering control system that produces a steering torque, acting in a direction that avoids a host vehicle from deviating from the driving lane when there is an increased tendency of the host vehicle'"'"'s lane deviation from the driving lane, by controlling the steering torque applied to a steering system, the method comprising:
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determining the presence or absence of a driver'"'"'s intention for lane changing; determining the presence or absence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane without the driver'"'"'s intention for lane changing; calculating a desired steering torque needed to avoid the host vehicle'"'"'s lane deviation from the driving lane; compensating for the desired steering torque based on a throttle opening of the host vehicle to derive a final desired steering torque decreasingly compensated for by a throttle-opening dependent gain; and avoiding the host vehicle'"'"'s lane deviation from the driving lane by correcting the host vehicle'"'"'s course by the final desired steering torque in the presence of the increased tendency of the host vehicle'"'"'s lane deviation from the driving lane without the driver'"'"'s intention for lane changing.
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20. An automotive lane deviation avoidance system comprising:
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a control unit that executes a host vehicle'"'"'s lane deviation control that a change in vehicle dynamic behavior occurs in a direction that avoids a host vehicle from deviating from a driving lane when a lateral deviation of the host vehicle from a central axis of the driving lane exceeds a predetermined threshold value; and the control unit comprising; (i) a lane-deviation decision section that determines whether the host vehicle'"'"'s lateral deviation from the central axis of the driving lane exceeds the predetermined threshold value; (ii) a lane-deviation avoidance section that prevents the host vehicle from deviating from the driving lane by correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation when the host vehicle'"'"'s lateral deviation from the central axis of the driving lane exceeds the predetermined threshold value; and (iii) a throttle opening detection section that detects a throttle opening; the lane-deviation avoidance section comprising; (a) a host vehicle'"'"'s course correction value calculation section that calculates a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane; (b) a host vehicle'"'"'s course correction value compensation section that compensates for the host vehicle'"'"'s course correction value based on the throttle opening; and (c) a host vehicle'"'"'s course correction section that corrects the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation, depending on the host vehicle'"'"'s course correction value compensated for based on the throttle opening.
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21. An automotive vehicle employing a lane deviation avoidance (LDA) system comprising:
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a control unit that executes a host vehicle'"'"'s lane deviation control that a change in vehicle dynamic behavior occurs in a direction that avoids a host vehicle from deviating from a driving lane when a lateral deviation of the host vehicle from a central axis at the driving lane exceeds a predetermined threshold value; and the control unit comprising; (i) a lane-deviation decision section that determines whether the host vehicle'"'"'s lateral deviation from the central axis of the driving lane exceeds the predetermined threshold value; (ii) an LDA section that prevents the host vehicle from deviating from the driving lane by correcting the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation when the host vehicle'"'"'s lateral deviation from the central axis of the driving lane exceeds the predetermined threshold value; and (iii) a throttle opening detection section that detects a throttle opening; the LDA section comprising; (a) a host vehicle'"'"'s course correction value calculation section that calculates a host vehicle'"'"'s course correction value needed to avoid the host vehicle'"'"'s lane deviation from the driving lane; (b) a host vehicle'"'"'s course correction value compensation section that compensates for the host vehicle'"'"'s course correction value based on the throttle opening; and (c) a host vehicle'"'"'s course correction section that corrects the host vehicle'"'"'s course in the direction that avoids the host vehicle'"'"'s lane deviation, depending on the host vehicle'"'"'s course correction value compensated for based on the throttle opening.
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Specification