Lane keep control apparatus and method for automotive vehicle

• US 6,973,380 B2
• Filed: 10/30/2003
• Issued: 12/06/2005
• Est. Priority Date: 11/26/2002
• Status: Expired due to Fees

• Current Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Matsumoto, Shinji, Tange, Satoshi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US10/695,799
• Publication Number:
  US 20040102884A1
• Time in Patent Office: 768 Days
• Field of Search: 701/70, 701/96, 701/301, 340/435, 340/436, 340/903
• US Class Current: 701/70
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

In lane keep control apparatus and method for an automotive vehicle, a behavior of the vehicle is controlled in such a manner that a yaw moment is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the traveling state of the vehicle when determining that the vehicle has a tendency of the deviation of the vehicle from the traffic lane and lane markers are detected, each lane marker representing one side of the traffic lane, and the behavior of the vehicle is controlled on the basis of the detected lane marker at one side of the traffic lane when a detection state of the lane markers is transferred from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.

Claims

1. A lane keep control apparatus for an automotive vehicle, comprising:

a traffic lane detecting section that detects a traffic lane on which the vehicle is running;

a traveling state detecting section that detects a traveling state of the vehicle;

a deviation determining section that determines whether the vehicle has a tendency to be deviated from the traffic lane according to the traffic lane detected by the traffic lane detecting section and the traveling state of the vehicle detected by the traveling state detecting section; and

a vehicular behavior controlling section that controls a behavior of the vehicle in such a manner that a yaw moment of the vehicle is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the traveling state detected by the traveling state detecting section when the deviation determining section determines that the vehicle has a tendency of the deviation of the vehicle from the traffic lane, the traffic lane detecting section including a lane marker detecting section that detects lane markers, each lane marker representing one side of the traffic lane, and the vehicular behavior controlling section controlling the behavior of the vehicle on the basis of the detected lane marker at one side of the traffic lane when the lane marker detecting section transfers a detection state from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.

2. A lane keep control apparatus for an automotive vehicle, as claimed in claim 1, further comprising a lane marker certainty detecting section that detects a certainty of the traffic lane of the vehicle detected by the lane marker detecting section and wherein the vehicular behavior controlling section controls the behavior of the vehicle on the basis of a certainty of the lane marker detected by the lane marker certainty detecting section when the lane marker detecting section transfers the detection state from the state in which both of the lane markers at both sides of the traffic lane are detected to the state in which the lane marker only at one side of the traffic lane is detected.

3. A lane keep control apparatus for an automotive vehicle, as claimed in claim 2, wherein the lane marker certainty detecting section detects the certainty of the lane marker on the basis of a continuation time for which the lane marker is detected by the lane marker detecting section.

4. A lane keep control apparatus for an automotive vehicle, as claimed in claim 2, wherein the lane marker detecting section detects the lane marker at a plurality of different regions on a photographed image and specifies a representative position of the lane marker at each of the regions and wherein the lane marker certainty detecting section detects the certainty of the lane marker on the basis of the number of specified representative positions of the lane marker on the respective regions detected by the lane marker detecting section.

5. A lane keep control apparatus for an automotive vehicle, as claimed in claim 1, wherein the vehicular behavior controlling section reduces a control output smaller than the control output at a time at which both of the lane markers located at both sides of the traffic lane are detected, when the lane marker detecting section transfers the detection state from the state in which both of the lane markers at both sides of the traffic lane are detected to the state in which the lane marker only at one side of the traffic lane is detected.

6. A lane keep control apparatus for an automotive vehicle, as claimed in claim 5, wherein the vehicular behavior controlling section reduces a controlled output by modifying a control gain.

7. A lane keep control apparatus for an automotive vehicle, as claimed in claim 5, wherein the vehicular behavior controlling section reduces a controlled output by modifying a control threshold value (Xc).

8. A lane keep control apparatus for an automotive vehicle, as claimed in claim 1, wherein the vehicular behavior controlling section includes a braking/driving force controlled variable calculating section that calculates a driving force controlled variable for each road wheel of the vehicle to develop the yaw moment in a direction avoiding the deviation of the vehicle from the traffic lane and braking/driving force controlling section that controls the driving force applied to each road wheel in accordance with the driving force controlled variable calculated by the braking/driving force controlled variable calculating section.

9. A lane keep control apparatus for an automotive vehicle, as claimed in claim 2, wherein the lane marker detecting section comprising a lane marker detection area setting section that sets a lane marker detection area on the basis of a steering angle δ

of the vehicle and the lane marker detecting section detects the lane markers at both sides of the traffic lane on the basis of the lane marker detection area.

10. A lane keep control apparatus for an automotive vehicle, as claimed in claim 9, wherein the traffic lane detecting section detects the traffic lane on which the vehicle is traveling using the lane markers at both sides in the lane marker detection area.

11. A lane keep control apparatus for an automotive vehicle, as claimed in claim 2, further comprising:

a one-side lane marker presence determining section that determines whether the lane marker only at one side of the traffic lane is detected when both-side lane markers are not detected and wherein the lane marker certainty detecting section comprises a both-side lane marker presence determining section that determines whether, at a previous process of a vehicular behavior control, the lane markers at both sides of the traffic lane have been detected when the one-side lane marker determining section determines that the lane marker only at one side of the traffic lane is detected.

12. A lane keep control apparatus for an automotive vehicle, as claimed in claim 11, wherein, when the both-side lane marker presence determining section determines that, at the previous process of the vehicular behavior control, the lane markers at both sides of the traffic lane have been detected, the vehicular behavior controlling section comprises:

a future lateral displacement calculating section that calculates a future estimated lateral displacement XS in accordance with a yaw angle φ

of the vehicle with respect to the traffic lane, a lateral displacement X from a center of the traffic lane, a curvature β

of the traffic lane, and a vehicular velocity V of the vehicle and wherein the deviation determining section determines whether the vehicle has the tendency of the deviation of the vehicle from the traffic lane according to whether an absolute value of the future estimated lateral displacement |XS| is equal to or greater than a predetermined lateral displacement limit value Xc.

13. A lane keep control apparatus for an automotive vehicle, as claimed in claim 12, wherein the vehicular behavior controlling section comprises a target yaw moment calculating section that calculates a target yaw moment Ms using a proportional coefficient K₁ determined according to vehicle specifications, another proportional coefficient K₂ set in accordance with a vehicular velocity V, calculated lateral displacement XS, and the predetermined lateral displacement limit value Xc when the deviation determining section determines that the vehicle has the tendency of the deviation of the vehicle from the lane.

14. A lane keep control apparatus for an automotive vehicle, as claimed in claim 13, wherein the vehicular behavior controlling section comprises a target yaw moment magnitude dependent braking force calculating section that calculates a front left-and-right wheel braking liquid pressure difference Δ

P_SF to be zeroed and a rear left-and-right wheel braking fluid pressure difference Δ

P_SR to be given as follows;

Δ

P_SR=2×

K_bR×

|Ms|/T, wherein K_bR denotes a predetermined conversion coefficient to convert a braking force into a braking fluid pressure and T denotes a tread of the vehicle, when the magnitude of the target yaw moment |Ms| is smaller than a predetermined yaw moment M_s0 and calculates the front left-and-right wheel braking liquid pressure difference Δ

P_SF to be given as follows;

Δ

P_SF=2×

K_bF×

(|Ms|−

M_s0)/T, and the rear left-and-right wheel braking fluid pressure difference Δ

P_SR to be given as follows;

Δ

P_SR=2×

K_bR×

(|M_s0|)/T.

15. A lane keep control apparatus for an automotive vehicle, as claimed in claim 14, wherein, when the target yaw moment Ms is a negative value, a target braking liquid fluid pressure for each wheel cylinder of front left and right road wheels and rear left and right road wheels P_sFL, P_sFR, P_sRL, and P_sRR are as follows:

P_sFL=Pm, P_sFR=Pm+Δ

P_SF, P_SEL=Pm, and P_SRR=Pm+Δ

P_SR, wherein Pm denotes a master wheel cylinder fluid pressure.

16. A lane keep control apparatus for an automotive vehicle, as claimed in claim 14, wherein, when the target yaw moment Ms is a positive value, a target braking liquid fluid pressure for each wheel cylinder of front left and right road wheels and rear left and right road wheels P_sFL, P_sFR, P_sRL, and P_sRR are as follows:

P_sFL=Pm+Δ

P_SF, P_sFR=Pm, P_SEL=Pm+Δ

P_SR, and P_SRR=Pm, wherein Pm denotes a master wheel cylinder pressure.

17. A lane keep control apparatus for an automotive vehicle, as claimed in claim 16, wherein the vehicular behavior controlling section calculates and outputs a target drive torque Trq_DS depending upon the determination of the deviation determining section that the vehicle has the tendency to be deviated from the traffic lane and according to the front and rear left-and-right fluid pressure differences Δ

P_SF and Δ

P_SR and wherein the target drive torque is outputted to a drive controller.

18. A lane keep control apparatus for an automotive vehicle, as claimed in claim 11, wherein the lane marker detecting section comprises a lane marker counter that increments whenever the both-side lane markers are detected in the lane marker detection area and wherein, when a count value of the lane marker counter (CNT) is equal to or larger than a preset value CNT₀, the vehicular behavior controlling section controls the behavior of the vehicle in such a manner that the yaw moment is developed in the direction to avoid the deviation of the vehicle from the traffic lane.

19. A lane keep control apparatus for an automotive vehicle, comprising:

traffic lane detecting means for detecting a traffic lane on which the vehicle is running;

traveling state detecting means for detecting a traveling state of the vehicle;

deviation determining means for determining whether the vehicle has a tendency to be deviated from the traffic lane according to the traffic lane detected by the traffic lane detecting means and the traveling state of the vehicle detected by the traveling state detecting means; and

vehicular behavior controlling means for controlling a behavior of the vehicle in such a manner that a yaw moment of the vehicle is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the traveling state detected by the traveling state detecting means when the deviation determining means determines that the vehicle has a tendency of the deviation of the vehicle from the traffic lane, the traffic lane detecting means including lane marker detecting means for detecting lane markers, each lane marker representing one side of the traffic lane, and the vehicular behavior controlling means controlling the behavior of the vehicle on the basis of the detected lane marker at one side of the traffic lane when the lane marker detecting section transfers a detection state from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.

20. A lane keep control method for an automotive vehicle, comprising:

detecting a traffic lane on which the vehicle is running;

detecting a traveling state of the vehicle;

determining whether the vehicle has a tendency to be deviated from the traffic lane according to the detected traffic lane and the detected traveling state of the vehicle; and

controlling a behavior of the vehicle in such a manner that a yaw moment of the vehicle is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the detected traveling state when determining that the vehicle has a tendency of the deviation of the vehicle from the traffic lane, during the traffic lane detection, detecting lane markers, each lane marker representing one side of the traffic lane, and controlling the behavior of the vehicle on the basis of the detected lane marker at one side of the traffic lane, when a detection state is transferred from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.