Automotive lane deviation prevention apparatus
First Claim
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1. An automotive lane deviation prevention (LDP) apparatus comprising:
- a road-surface irregularities detector configured to detect whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line and arranged along the lane marking line;
a picture image pick-up device configured to pick up a picture image in front of the host vehicle;
a lane marker detector configured to detect a lane marking line of a driving lane of the host vehicle, based on the picture image picked up by the picture image pick-up device;
an actuator configured to decelerate the host vehicle; and
a control unit configured to be electronically connected to the road-surface irregularities detector, the lane marker detector, and the actuator for LDP control purposes;
the control unit comprising;
an LDP control section configured to execute, based on the detected lane marking line, yaw moment control by which a host vehicle'"'"'s lane deviation tendency is avoided, when the lane marking line can be detected by the lane marker detector; and
a vehicle deceleration control section configured to execute vehicle deceleration control to actively decelerate the host vehicle, when all following conditions occur;
(1) when the host vehicle is traveling on the road-surface irregularities formed on or close to the lane marking line and arranged along the lane marking line; and
(2) while the lane marking line cannot be detected by the lane marker detector.
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Abstract
An automotive lane deviation prevention (LDP) apparatus includes a control unit detecting whether a host vehicle is in a specific state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line. The control unit actively decelerates the host vehicle when the host vehicle is in the specific state where the host vehicle is traveling on the road-surface irregularities.
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Citations
21 Claims
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1. An automotive lane deviation prevention (LDP) apparatus comprising:
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a road-surface irregularities detector configured to detect whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line and arranged along the lane marking line; a picture image pick-up device configured to pick up a picture image in front of the host vehicle; a lane marker detector configured to detect a lane marking line of a driving lane of the host vehicle, based on the picture image picked up by the picture image pick-up device; an actuator configured to decelerate the host vehicle; and a control unit configured to be electronically connected to the road-surface irregularities detector, the lane marker detector, and the actuator for LDP control purposes; the control unit comprising; an LDP control section configured to execute, based on the detected lane marking line, yaw moment control by which a host vehicle'"'"'s lane deviation tendency is avoided, when the lane marking line can be detected by the lane marker detector; and a vehicle deceleration control section configured to execute vehicle deceleration control to actively decelerate the host vehicle, when all following conditions occur; (1) when the host vehicle is traveling on the road-surface irregularities formed on or close to the lane marking line and arranged along the lane marking line; and (2) while the lane marking line cannot be detected by the lane marker detector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17)
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12. An automotive lane deviation prevention (LDP) apparatus, comprising:
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a road-surface irregularities detector that detects whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line; an actuator configured to decelerate the host vehicle; a control unit configured to be electronically connected to the road-surface irregularities detector and the actuator for LDP control purposes; the control unit comprising; a vehicle deceleration control section that executes vehicle deceleration control to actively decelerate the host vehicle when the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities; a picture image pick-up device that picks up a picture image in front of the host vehicle; and a lane marker detector that detects a lane marking line on a driving lane of the host vehicle, based on the picture image picked up by the picture image pick-up device, wherein the control unit further comprises; a lane-deviation tendency detection section that determines, based on a host vehicle'"'"'s lateral deviation estimated based on the lane marking line, whether the host vehicle is in a state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a state where there is a less tendency for the host vehicle to deviate from the driving lane; an LDP control section that executes yaw moment control by which the host vehicle'"'"'s lane deviation tendency is avoided, when the host vehicle is in the state where there is an increased tendency for the host vehicle to deviate from the driving lane; a lane-marker unrecognizable state detection section that determines whether the host vehicle is in a lane-marker unrecognizable state where the lane marking line cannot be detected by the picture image pick-up device or in a lane-marker recognizable state where the lane marking line can be detected by the picture image pick-up device; and a virtual-deviation-estimate based lane-deviation possibility estimation section that estimates, based on a virtual deviation estimate estimated based on historical data concerning a vehicle'"'"'s driving state and a traveling-path condition of the host vehicle, all obtained just before a transition from the lane-marker recognizable state to the lane-marker unrecognizable state, whether the host vehicle is in a state where there is a high possibility for the host vehicle to deviate from the driving lane or in a state where there is a low possibility for the host vehicle to deviate from the driving lane, wherein the vehicle deceleration control section fixes a vehicle-deceleration-control controlled variable to a preset constant value, when the virtual-deviation-estimate based lane-deviation possibility estimation section determines that the host vehicle is in the state where there is a high possibility for the host vehicle to deviate from the driving lane in the lane-marker unrecognizable state and additionally the road-surface irregularities detector determines that the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
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18. An automotive lane deviation prevention (LDP) apparatus comprising:
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road-surface irregularities detection means for detecting whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line and arranged along the lane marking line; picture image pick-up means for picking up a picture image in front of the host vehicle; lane marker detection means for detecting a lane marking line of a driving lane of the host vehicle, based on the picture image picked up by the picture image pick-up means; an actuator configured to decelerate the host vehicle; and a control unit configured to be electronically connected to the road-surface irregularities detection means, the lane marker detection means, and the actuator for LDP control purposes; the control unit comprising; LDP control means for executing, based on the detected lane marking line, yaw moment control by which a host vehicle'"'"'s lane deviation tendency is avoided, when the lane marking line can be detected by the lane marker detection means; and vehicle deceleration control means for executing vehicle deceleration control to actively decelerate the host vehicle, when all following conditions occur; (1) when the host vehicle is traveling on the road-surface irregularities formed on or close to the lane marking line and arranged along the lane marking line; and (2) while the lane marking line cannot be detected by the lane marker detection means.
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19. A method of preventing lane deviation of a host vehicle employing braking force actuators that adjust braking forces applied to respective road wheels, the method comprising:
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(a) detecting whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line and arranged along the lane marking line; (b) picking up a picture image in front of the host vehicle by a picture image pick-up device; (c) detecting a lane marking line of a driving lane of the host vehicle, based on the picture image picked up; (d) executing, based on the detected lane marking line, yaw moment control by which a host vehicle'"'"'s lane deviation tendency is avoided, in a lane-marker recognizable state where the lane marking line can be detected in the detecting step (a); and (e) executing vehicle deceleration control to actively decelerate the host vehicle, when all following conditions occur; (1) when the host vehicle is traveling on the road-surface irregularities formed on or close to the lane marking line and arranged along the lane marking line; and (2) while the lane marking line cannot be detected in the detecting step (a). - View Dependent Claims (20, 21)
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Specification