Lane-keep control system and method for vehicle

• US 7,266,436 B2
• Filed: 04/21/2005
• Issued: 09/04/2007
• Est. Priority Date: 04/23/2004
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Mouri, Hiroshi, Shirato, Ryota
• Primary Examiner(s): Chin; Gary
• Application Number:
  US11/110,904
• Publication Number:
  US 20050240328A1
• Time in Patent Office: 866 Days
• Field of Search: 701/36, 701/41, 701/70, 701/300, 701/301, 348/148, 340/435, 340/436, 340/903
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention

Abstract

A lane-keep control system includes a traveling condition detector and a controller. The controller includes a steering intention detecting section that detects whether a driver has an intention to steer a vehicle, a first steering torque control section that controls, when the driver has no intention to steer the vehicle, a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a lane, and a second steering torque control section that controls, when the driver has an intention to steer the vehicle, the steering torque according to the traveling condition so that a steering operation of the driver is readily reflected on steering of the vehicle. A lane-keep control method is also provided.

Claims

1. A lane-keep control system comprising:

a traveling condition detector that detects a traveling condition of a vehicle; and

a controller including;

a steering intention detecting section configured to detect whether a driver has an intention to steer the vehicle;

a first steering torque control section configured to control, when the driver has no intention to steer the vehicle, a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a traveling lane; and

a second steering torque control section configured to control, when the driver has an intention to steer the vehicle, a steering torque according to the traveling condition so that a steering operation of the driver is readily reflected in steering of the vehicle;

further comprising a steering angle sensor configured to detect an actual steering angle, wherein the controller further includes a target steering angle calculating section that calculates a target steering angle necessary for the vehicle to keep the predetermined position between the lane markings, wherein the first steering torque control section is configured to control the steering torque such that the actual steering angle coincides with the target steering angle, and the second steering torque control section is configured to control the steering torque according to a steering angle deviation, wherein the steering angle deviation is a difference between the target steering angle and the actual steering angle;

wherein the second steering torque control section is configured to control a steering torque control amount for increasing the steering torque such that the steering torque control amount increases with an increase of the steering angle deviation, wherein a rate of increase of the steering torque control amount decreases with an increase of the steering angle deviation.

2. A lane-keep control system according to claim 1, further comprising a steering torque sensor configured to detect the steering torque, wherein the steering intention detecting section is configured to determine that the driver has an intention to steer the vehicle when the steering torque is larger than a predetermined value.

3. A lane-keep control system according to claim 1, wherein the steering torque control amount is a target supplemental steering torque, and wherein the second steering torque control section is configured to calculate the target supplemental steering torque according to the steering angle deviation.

4. A lane-keep control system according to claim 1, wherein the traveling condition detector is configured to detect a traveling lane condition and a position of the vehicle with respect to the lane markings and a vehicle speed, wherein the target steering angle calculating section is configured to calculate a target yaw rate based on the traveling condition and calculates the target steering angle that realizes the target yaw rate.

5. A lane-keep control system according to claim 1, wherein the controller further comprises a control section configured to cause, when a change of detection of an intention of the driver to steer the vehicle from the presence of detection of the intention to the absence of detection of the intention occurs, a steering torque control mode to shift from a control mode by the second steering torque control section to a control mode by the first steering torque control section after a lapse of a predetermined time.

6. A lane-keep control system according to claim 1, wherein the controller further comprises a control section configured to cause, when a change of detection of an intention of the driver to steer the vehicle from the presence of detection of the intention to the absence of detection of the intention occurs, a steering torque control mode to shift from a control mode by the second steering torque control section to a control mode by the first steering torque control section gradually within a predetermined time.

7. A lane-keep control system according to claim 6, wherein the first steering torque control section and the second steering torque control section are configured to calculate respective target supplemental steering torques according to a control distribution ratio that causes the target supplemental steering torque calculated by the first steering torque control section to increase with a lapse of time.

8. A lane-keep control system according to claim 1, wherein the controller further comprises a control section that causes, when a change of detection of an intention of the driver to steer the vehicle from the absence of detection of the intention to the presence of detection of the intention occurs, a steering torque control mode to shift from a control mode by the first steering torque control section to a control mode by the second steering torque control section immediately.

9. A lane-keep control system comprising:

a traveling condition detecting means for detecting a traveling condition of a vehicle;

a steering intention detecting means for detecting whether a driver has an intention to steer the vehicle;

a first steering torque control means for controlling, when the driver has no intention to steer the vehicle, a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a traveling lane;

a second steering torque control means for controlling, when the driver has an intention to steer the vehicle, a steering torque according to the traveling condition so that a steering operation of the driver is readily reflected in steering of the vehicle; and

a steering angle sensing means for detecting an actual steering angle, wherein the system further includes a target steering angle calculating section that calculates a target steering angle necessary for the vehicle to keep the predetermined position between the lane markings, wherein the first steering torque control means is configured to control the steering torque such that the actual steering angle coincides with the target steering angle, and the second steering torque control means is configured to control the steering torque according to a steering angle deviation, wherein the steering angle deviation is a difference between the target steering angle and the actual steering angle;

wherein the second steering torque control means is configured to control a steering torque control amount for increasing the steering torque such that the steering torque control amount increases with increase of the steering angle deviation, wherein a rate of increase of the steering torque control amount decreases with an increase of the steering angle deviation.

10. A lane-keep control method comprising:

detecting a traveling condition of a vehicle;

detecting whether a driver has an intention to steer the vehicle;

when the driver has no intention to steer the vehicle, controlling a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a traveling lane;

when the driver has an intention to steer the vehicle, controlling the steering torque according to the traveling condition so that a steering operation of the driver is readily reflected in steering of the vehicle; and

detecting an actual steering angle, calculating a target steering angle necessary for the vehicle to keep the predetermined position between the lane markings of the traveling lane, wherein the controlling of the steering torque when the driver has no intention to steer the vehicle includes controlling the steering torque so that the actual steering angle coincides with the target steering angle, wherein the controlling of the steering torque when the driver has an intention to steer the vehicle includes controlling the steering torque according to a steering angle deviation that is a difference between the target steering angle and the actual steering angle;

wherein the controlling of the steering torque when the driver has an intention to steer the vehicle comprises controlling a steering torque control amount for increasing the steering torque, wherein the steering torque control amount increases with an increase of the steering angle deviation and a rate of increase of the steering torque control amount decreases with an increase of the steering angle deviation.

11. A lane-keep control method according to claim 10, further comprising detecting the steering torque, wherein the detecting whether the driver has an intention to steer the vehicle includes determining that the driver has an intention to steer the vehicle when the steering torque is larger than a predetermined value.

12. A lane-keep control method according to claim 10, wherein the steering torque control amount is a target supplemental steering torque, and wherein the controlling the steering torque control amount comprises calculating the target supplemental steering torque according to the steering angle deviation.

13. A lane-keep control method according to claim 10, wherein the detecting the traveling condition includes detecting a traveling lane condition, a position of the vehicle with respect to the lane markings and a vehicle speed, and wherein the calculating the target steering angle includes calculating a target yaw rate based on the traveling condition and calculating the target steering angle that realizes the target yaw rate.

14. A lane-keep control method according to claim 10, further comprising, when a change of detection of an intention of the driver to steer the vehicle changes from the presence of detection of the intention to the absence of detection of the intention occurs, shifting a steering torque control mode from a control mode in which the steering torque is controlled according to the traveling condition so that the vehicle keeps the predetermined position between lane markings of the traveling lane to a control mode in which the steering torque is controlled according to the traveling condition so that the steering operation of the driver is readily reflected in steering of the vehicle, wherein the shifting occurs after a lapse of a predetermined time.

15. A lane-keep control method according to claim 10, further comprising, when a change of detection of an intention of the driver to steer the vehicle from the presence of detection of the intention to the absence of detection of the intention occurs, shifting a steering torque control mode from a control mode in which the steering torque is controlled according to the traveling condition so that the vehicle keeps the predetermined position between lane markings of the traveling lane to a control mode in which the steering torque is controlled according to the traveling condition so that the steering operation of the driver is readily reflected in steering of the vehicle, wherein the shifting occurs, wherein the shifting occurs gradually within a predetermined time.

16. A lane-keep control method according to claim 10, further comprising, when a change of detection of an intention of the driver to steer the vehicle from the absence of detection of the intention to the presence of detection of the intention occurs, shifting a steering torque control mode from a control mode in which the steering torque is controlled according to the traveling condition so that the vehicle keeps the predetermined position between lane markings of the traveling lane to a control mode in which the steering torque is controlled according to the traveling condition so that the steering operation of the driver is readily reflected in steering of the vehicle, wherein the shifting occurs immediately.