Automotive lane deviation avoidance system

• US 6,993,425 B2
• Filed: 02/28/2003
• Issued: 01/31/2006
• Est. Priority Date: 04/11/2002
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Matsumoto, Shinji, Tange, Satoshi, Yoshizawa, Hiroyuki, Naito, Genpei
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US10/375,475
• Publication Number:
  US 20030195667A1
• Time in Patent Office: 1,068 Days
• Field of Search: 701/96, 701/70, 701/72, 701/75, 701/301, 701/302, 303/139, 303/140, 340/435, 340/436, 340/903
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• 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 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2510/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 : Lateral distance
• CPC Class Codes: B60W 2554/802 : Longitudinal distance
• CPC Class Codes: B60W 2554/804 : Relative longitudinal speed
• CPC Class Codes: B60W 2720/14 : Yaw
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• 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: G01S 2013/932 : using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 : Velocity regulation, e.g. cruise control

Abstract

A lane deviation avoidance system for an adaptive cruise control system equipped vehicle includes an electronic control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane. The control unit puts a priority on the lane deviation avoidance control by limiting a driving force acting on the host vehicle, when there is the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

Claims

1. An automotive lane deviation avoidance system comprising:

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

the control unit putting a priority on the lane deviation avoidance control rather than driving force control by limiting a driving force acting on the host vehicle, when there is the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

2. An automotive lane deviation avoidance system comprising:

a driving torque controller that controls a driving force acting on the host vehicle; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation section that estimates the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control section that executes the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

(iii) a driving force limit section that limits a value of a controlled variable of the driving force controlled by the driving torque controller for avoiding a mutual interference between lane deviation avoidance control and driving force control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

3. The automotive lane deviation avoidance system as claimed in claim 2, which further comprises:

a vehicle-to-vehicle distance detector that detects a vehicle-to-vehicle distance between a preceding vehicle relative to the host vehicle;

wherein the control unit comprises;

(iv) a vehicle-to-vehicle distance controlled variable calculation section that calculates a value of a controlled variable of either of a braking force and a driving force applied to the host vehicle based on the vehicle-to-vehicle distance; and

(v) a vehicle-to-vehicle distance control section that executes a vehicle-to-vehicle distance control in which the vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is controlled responsively to the value of the controlled variable of either of the braking force and the driving force.

4. An automotive lane deviation avoidance system comprising:

a driving torque controller that controls a driving force acting on the host vehicle;

a vehicle-to-vehicle distance detector that detects a vehicle-to-vehicle distance between a preceding vehicle relative to the host vehicle; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation section that estimates the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control section that executes the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

(iii) a driving force limit section that limits a value of a controlled variable of the driving force controlled by the driving torque controller in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(iv) a vehicle-to-vehicle distance controlled variable calculation section that calculates a value of a controlled variable of either of a braking force and a driving force applied to the host vehicle based on the vehicle-to-vehicle distance; and

(v) a vehicle-to-vehicle distance control section that executes a vehicle-to-vehicle distance control in which the vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is controlled responsively to the value of the controlled variable of either of the braking force and the driving force;

wherein the driving force limit section selects either of a suspending mode in which the vehicle-to-vehicle distance control is suspended and a canceling mode in which the vehicle-to-vehicle distance control is canceled, in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

5. An automotive lane deviation avoidance system comprising:

a driving torque controller that controls a driving force acting on the host vehicle; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation section that estimates the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control section that executes the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

(iii) a driving force limit section that limits a value of a controlled variable of the driving force to zero in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

6. An automotive lane deviation avoidance system comprising:

a driving torque controller that controls a driving force acting on the host vehicle; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation section that estimates the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control section that executes the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

(iii) a driving force limit section that limits a value of a controlled variable of the driving force controlled by the driving torque controller for avoiding a mutual interference between the lane deviation avoidance control and driving force control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

wherein the driving force limit section gradually increases the value of the controlled variable of the driving force, which has been limited in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane, in a transition period from a state of the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane to a state of the absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

7. An automotive lane deviation avoidance system comprising:

an accelerator opening sensor that detects an accelerator opening corresponding to a manipulated variable of a driver'"'"'s accelerator-pedal depression; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation section that estimates the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control section that executes the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(iii) a comparison section that compares the accelerator opening to a predetermined criterion to determine whether the accelerator opening is greater than or equal to the predetermined criterion; and

(iv) a lane deviation avoidance control limit section that limits the lane deviation avoidance control when the accelerator opening is greater than or equal to the predetermined criterion.

8. The automotive lane deviation avoidance system as claimed in claim 7, wherein:

the lane deviation avoidance control limit section gradually reduces a value of a controlled variable controlled by the lane deviation avoidance control section when limiting the lane deviation avoidance control.

9. An automotive lane deviation avoidance system comprising:

a driving torque controller that controls a driving force acting on the host vehicle; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation section that estimates the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control section that executes the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

(iii) a driving force limit section that limits a value of a controlled variable of the driving force controlled by the driving torque controller for avoiding a mutual interference between the lane deviation avoidance control and driving force control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

wherein the lane deviation avoidance control section comprises a desired yawing moment calculation section that calculates a desired yawing moment acting on the host vehicle in the direction that avoids the host vehicle from deviating from the driving lane, and a braking-force controlled variable calculation section that calculates a value of a controlled variable of a braking force for every road wheel based on the desired yawing moment; and

wherein an actual yawing moment, acting on the host vehicle in the direction that avoids the host vehicle from deviating from the driving lane, is controlled by a braking-force difference between left and right road wheels, produced based on the values of the controlled variables of the braking force for every road wheel.

10. An automotive lane deviation avoidance system comprising:

a driving force control means for controlling a driving force acting on the host vehicle; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation means for estimating the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control means for executing the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

(iii) a driving force limit means for limiting a value of a controlled variable of the driving force controlled by the driving force control means for avoiding a mutual interference between the lane deviation avoidance control and driving force control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

11. The automotive lane deviation avoidance system as claimed in claim 10, which further comprises:

a vehicle-to-vehicle distance detection means for detecting a vehicle-to-vehicle distance between a preceding vehicle relative to the host vehicle;

wherein the control unit comprises;

(iv) a vehicle-to-vehicle distance controlled variable calculation means for calculating a value of a controlled variable of either of a braking force and a driving force applied to the host vehicle based on the vehicle-to-vehicle distance; and

(v) a vehicle-to-vehicle distance control means for executing a vehicle-to-vehicle distance control in which the vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is controlled responsively to the value of the controlled variable of either of the braking force and the driving force.

12. An automotive lane deviation avoidance system comprising:

an accelerator opening detection means for detecting an accelerator opening corresponding to a manipulated variable of a driver'"'"'s accelerator-pedal depression; and

a control unit that executes a host vehicle'"'"'s lane deviation avoidance control in which a change in vehicle dynamic behavior occurs in a direction that avoids the host vehicle from deviating from a driving lane when there is a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

the control unit comprising;

(i) a lane deviation estimation means for estimating the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(ii) a lane deviation avoidance control means for executing the lane deviation avoidance control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane;

(iii) a comparison means for comparing the accelerator opening to a predetermined criterion to determine whether the accelerator opening is greater than or equal to the predetermined criterion; and

(iv) a lane deviation avoidance control limit means for limiting the lane deviation avoidance control when the accelerator opening is greater than or equal to the predetermined criterion.

13. 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 both a driving force control system, which controls a driving force acting on a host vehicle, and a braking force control system, which controls a braking force for every road wheel, the method comprising:

detecting an accelerator opening corresponding to a manipulated variable of a driver'"'"'s accelerator-pedal depression;

estimating the presence or absence of a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

calculating a desired driving force based on the accelerator opening;

calculating a desired yawing moment acting on the host vehicle in a direction that avoids the host vehicle from deviating from the driving lane;

calculating a value of a controlled variable of a braking force for every road wheel based on the desired yawing moment;

executing a host vehicle'"'"'s lane deviation avoidance control via the braking force control system in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

simultaneously limiting the desired driving force via the driving force control system for avoiding a mutual interference between the lane deviation avoidance control and driving force control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

14. 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 both a driving force control system, which controls a driving force acting on a host vehicle, and a braking force control system, which controls a braking force for every road wheel, the method comprising:

estimating the presence or absence of a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

detecting a vehicle-to-vehicle distance between a preceding vehicle relative to the host vehicle;

calculating a value of a controlled variable of either of a braking force and a driving force applied to the host vehicle based on the vehicle-to-vehicle distance;

calculating a desired yawing moment acting on the host vehicle in a direction that avoids the host vehicle from deviating from the driving lane;

calculating a value of a controlled variable of a braking force for every road wheel based on the desired yawing moment and the value of the controlled variable of the braking force;

executing a vehicle-to-vehicle distance control in which the vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is controlled responsively to the value of the controlled variable of either of the braking force and the driving force;

executing a host vehicle'"'"'s lane deviation avoidance control via the braking force control system in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

simultaneously limiting the value of the controlled variable of the driving force via the driving force control system for avoiding a mutual interference between the lane deviation avoidance control and driving force control in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane.

15. 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 both a driving force control system, which controls a driving force acting on a host vehicle, and a braking force control system, which controls a braking force for every road wheel, the method comprising:

detecting an accelerator opening corresponding to a manipulated variable of a driver'"'"'s accelerator-pedal depression;

estimating the presence or absence of a possibility of the host vehicle'"'"'s lane deviation from the driving lane;

determining, based on a result of comparison between the accelerator opening and a predetermined criterion, whether a host vehicle'"'"'s lane deviation avoidance control should be enabled or disabled, to set a lane deviation avoidance control enabling flag when the accelerator opening is less than the predetermined criterion and thus the lane deviation avoidance control is enabled and to reset the lane deviation avoidance control enabling flag when the accelerator opening is greater than or equal to the predetermined criterion and thus the lane deviation avoidance control is disabled;

calculating a desired driving force based on the accelerator opening;

calculating a desired yawing moment acting on the host vehicle in a direction that avoids the host vehicle from deviating from the driving lane;

calculating a value of a controlled variable of a braking force for every road wheel based on the desired yawing moment;

executing a host vehicle'"'"'s lane deviation avoidance control via the braking force control system, while simultaneously limiting the desired driving force via the driving force control system in the presence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane; and

inhibiting the lane deviation avoidance control irrespective of the presence or absence of the possibility of the host vehicle'"'"'s lane deviation from the driving lane when the lane deviation avoidance control enabling flag is reset.