Vehicle dynamics control apparatus

• US 7,580,785 B2
• Filed: 04/29/2008
• Issued: 08/25/2009
• Est. Priority Date: 02/10/2003
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Matsumoto, Shinji, Tange, Satoshi, Naito, Genpei
• Primary Examiner(s): Nguyen; Cuong H
• Application Number:
  US12/111,710
• Publication Number:
  US 20080208409A1
• Time in Patent Office: 483 Days
• Field of Search: 701/47, 701/70, 701/93, 701/301, 303/167, 303/132, 303/125, 342 70- 71, 180168-170
• US Class Current: 701/70
• 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 2201/087 using active steering actuation
• 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 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• 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: 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: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

In a vehicle dynamics control apparatus capable of balancing a vehicle dynamics stability control system and a lane deviation prevention control system, a cooperative control section is provided to make a cooperative control between lane deviation prevention control (LDP) and vehicle dynamics stability control (VDC). When a direction of yawing motion created by LDP control is opposite to a direction of yawing motion created by VDC control, the cooperative control section puts a higher priority on VDC control rather than LDP control. Conversely when the direction of yawing motion created by LDP control is identical to the direction of yawing motion created by VDC control, a higher one of the LDP desired yaw moment and the VDC desired yaw moment is selected as a final desired yaw moment, to prevent over-control, while keeping the effects obtained by both of VDC control and LDP control.

Claims

1. A method of balancing a lane deviation prevention control system configured to generate a yaw moment in a direction in which lane deviation is avoided when a host vehicle tends to deviate from a driving lane, and a vehicle dynamics control system configured to generate a yaw moment in a direction in which a driving stability is enhanced when the driving stability of the host vehicle lowers, the method comprising:

making a cooperative control between lane deviation prevention control achieved by the lane deviation prevention control system and vehicle dynamics stability control achieved by the vehicle dynamics control system,

wherein the cooperative control is made to put a higher priority on a higher one of a controlled variable for the lane deviation prevention control system and a controlled variable for the vehicle dynamics control system, when a direction of yawing motion created by the lane deviation prevention control achieved by the lane deviation prevention control system is identical to a direction of yawing motion created by the vehicle dynamics stability control achieved by the vehicle dynamics control system.

2. The method as claimed in claim 1, further comprising:

detecting a driving condition of the host vehicle; and

executing the cooperative control based on the driving condition.

3. The method as claimed in claim 1, wherein:

the cooperative control is made to put a higher priority on the vehicle dynamics stability control rather than the lane deviation prevention control, when a direction of yawing motion created by the lane deviation prevention control achieved by the lane deviation prevention control system is opposite to a direction of yawing motion created by the vehicle dynamics stability control achieved by the vehicle dynamics control system.

4. The method as claimed in claim 3, wherein:

making the cooperative control comprises;

arbitrarily controlling a braking force of each of left and right road wheels regardless of a driver'"'"'s brake-pedal depression.

5. The method as claimed in claim 1, further comprising:

detecting a level of a driver'"'"'s intention for lane-changing; and

executing the cooperative control based on the level of the driver'"'"'s intention for lane-changing.

6. The method as claimed in claim 5, wherein:

the cooperative control is made to put a higher priority on the vehicle dynamics stability control rather than the lane deviation prevention control, when it is decided that the level of the driver'"'"'s intention for lane-changing is high under a condition where a direction of yawing motion created by the lane deviation prevention control system is opposite to a direction of yawing motion created by the vehicle dynamics control system and that the host vehicle tends to deviate from the driving lane toward the outside lane during a turn, and

wherein the cooperative control is made to put a higher priority on the lane deviation prevention control rather than the vehicle dynamics stability control, conversely when it is decided that the level of the driver'"'"'s intention for lane-changing is low under a condition where the direction of yawing motion created by the lane deviation prevention control system is opposite to the direction of yawing motion created by the vehicle dynamics control system and that the host vehicle tends to deviate from the driving lane toward the outside lane during a turn.

7. The method as claimed in claim 5, further comprising;

detecting a driver'"'"'s manipulated variable; and

detecting the level of the driver'"'"'s intention for lane-changing, based on the manipulated variable.

8. The method as claimed in claim 5, further comprising:

generating an image data regarding the level of the driver'"'"'s intention for lane-changing; and

detecting the level of the driver'"'"'s intention for lane-changing, based on the image data.

10. The method as claimed in claim 8, further comprising:

detecting a turning degree of the host vehicle; and

variably determining the yaw-moment controlled variable upper limit depending on the turning degree.

9. A method of balancing a lane deviation prevention control system configured to generate a yaw moment in a direction in which lane deviation is avoided when a host vehicle tends to deviate from a driving lane, and a vehicle dynamics control system configured to generate a yaw moment in a direction in which a driving stability is enhanced when the driving stability of the host vehicle lowers, the method comprising:

making a cooperative control between lane deviation prevention control achieved by the lane deviation prevention control system and vehicle dynamics stability control achieved by the vehicle dynamics control system,

wherein the cooperative control is executed such that a summed yaw moment controlled variable of a controlled variable for the lane deviation prevention control system and a controlled variable for the vehicle dynamics control system does not exceed a yaw-moment controlled variable upper limit, when a direction of yawing motion created by the lane deviation prevention control achieved by the lane deviation prevention control system is identical to a direction of yawing motion created by the vehicle dynamics stability control achieved by the vehicle dynamics control system.

11. A method of balancing a lane deviation prevention control system configured to generate a yaw moment in a direction in which lane deviation is avoided when a host vehicle tends to deviate from a driving lane, and a vehicle dynamics control system configured to generate a yaw moment in a direction in which a driving stability is enhanced when the driving stability of the host vehicle lowers, the method comprising:

making a cooperative control between lane deviation prevention control achieved by the lane deviation prevention control system and vehicle dynamics stability control achieved by the vehicle dynamics control system; and

executing a weighting process for both of a controlled variable for the lane deviation prevention control system and a controlled variable for the vehicle dynamics control system, when a direction of yawing motion created by the lane deviation prevention control achieved by the lane deviation prevention control system is identical to a direction of yawing motion created by the vehicle dynamics stability control achieved by the vehicle dynamics control system.

12. The method as claimed in claim 11, further comprising:

detecting at least a host vehicle speed, a host vehicle'"'"'s yaw angle, a host vehicle'"'"'s lateral deviation from a central axis of the host vehicle'"'"'s driving lane, and a curvature of the host vehicle'"'"'s driving lane;

estimating a lane-deviation estimate corresponding to an estimate of a future lateral deviation of the host vehicle, based on a driving data;

estimating a direction of lane deviation and a possibility of lane deviation based on the lane-deviation estimate; and

determining that the host vehicle tends to deviate from the driving lane, when the lane-deviation estimate becomes greater than or equal to a predetermined lane-deviation criterion.

13. The method as claimed in claim 12, wherein:

the lane-deviation estimate is estimated based on at least the host vehicle speed, the host vehicle'"'"'s yaw angle, the host vehicle'"'"'s lateral deviation from the central axis of the driving lane, and the curvature of the host vehicle'"'"'s driving lane, and

wherein a controlled variable for the lane deviation prevention control is calculated based on a deviation between the lane-deviation estimate and the predetermined lane-deviation criterion.

14. The method as claimed in claim 12, wherein:

a braking/driving force controlled variable for each of left and right road wheels is calculated based on the driving data when it is decided that there is a possibility of host vehicle'"'"'s lane deviation, so that a yaw moment is generated in a direction in which the lane deviation is avoided, and

wherein a braking/driving force controlled variable for each of the left and right road wheels is calculated when it is decided that a host vehicle'"'"'s maneuverability is lowered, so that a yaw moment is generated in a direction of vehicle heading, and conversely when it is decided that a host vehicle'"'"'s driving stability is lowered, a braking/driving force controlled variable for each of the left and right road wheels is calculated, so that a yaw moment is generated in a direction in which the driving stability is enhanced, and

wherein making the cooperative control comprises;

calculating a cooperative-control braking/driving force controlled variable by providing cooperative control between the braking/driving force controlled variable calculated by the lane deviation prevention control system and the braking/driving force controlled variable calculated by the vehicle dynamics control system; and

adjusting a braking/driving force distribution between the left and right road wheels, based on the cooperative-control braking/driving force controlled variable.

15. The method as claimed in claim 14, wherein:

making the cooperative control comprises;

arbitrarily controlling the braking force of each of the left and right road wheels regardless of a driver'"'"'s braking action.

16. The method as claimed in claim 12, further comprising:

automatically applying a steering torque to a steering system, and

wherein a steering torque controlled variable for the steering system is calculated based on the driving data when it is decided that there is a possibility of host vehicle'"'"'s lane deviation, so that a yaw moment is generated in a direction in which the lane deviation is avoided, and

wherein a steering torque controlled variable is calculated when it is decided that a host vehicle'"'"'s maneuverability is lowered, so that a yaw moment is generated in a direction of vehicle heading, and conversely when it is decided that a host vehicle'"'"'s driving stability is lowered, a steering torque controlled variable is calculated, so that a yaw moment is generated in a direction in which the driving stability is enhanced, and

wherein making the cooperative control comprises;

calculating a cooperative-control steering torque controlled variable by providing cooperative control between the steering torque controlled variable calculated by the lane deviation prevention control system and the steering torque controlled variable calculated by the vehicle dynamics control system; and

adjusting a steering torque desired value, based on the cooperative-control steering torque controlled variable.

17. The method as claimed in claim 12, further comprising:

automatically applying a steering torque to a steering system, and

wherein a yaw moment controlled variable for the steering system is calculated based on the driving data when it is decided that there is a possibility of host vehicle'"'"'s lane deviation, so that a yaw moment is generated in a direction in which the lane deviation is avoided, and

wherein a yaw moment controlled variable is calculated when it is decided that a host vehicle'"'"'s maneuverability is lowered, so that a yaw moment is generated in a direction of vehicle heading, and conversely when it is decided that a host vehicle'"'"'s driving stability is lowered, a yaw moment controlled variable is calculated, so that a yaw moment is generated in a direction in which the driving stability is enhanced, and

wherein making the cooperative control comprises;

calculating a lane-deviation-prevention-control cooperative-control yaw moment controlled variable and a vehicle-dynamics-stability-control cooperative-control yaw moment controlled variable by providing cooperative control between the yaw moment controlled variable calculated by the lane deviation prevention control system and the yaw moment controlled variable calculated by the vehicle dynamics control system;

adjusting a steering torque desired value, based on a first one of the lane-deviation-prevention-control cooperative-control yaw moment controlled variable and the vehicle-dynamics-stability-control cooperative-control yaw moment controlled variable; and

additionally adjusting a braking/driving force distribution between left and right road wheels, based on the second cooperative-control yaw moment controlled variable.