Vehicle driving control apparatus and vehicle driving control method
First Claim
1. A vehicle driving control apparatus comprising:
- a lane detecting device configured to detect a lane marker of a lane in which a host vehicle equipped with the vehicle control apparatus is traveling;
a future position estimating device configured to estimate a future transverse position of the host vehicle after a prescribed amount of time; and
a vehicle control device configured to execute a vehicle control with respect to the host vehicle such that a yaw moment oriented toward a middle of the lane in which the host vehicle is traveling is imparted to the host vehicle when the vehicle control device determines that the future transverse position of the host vehicle estimated by the future position estimating device is located laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference,the vehicle control device being further configured to reduce a frequency at which the vehicle control intervenes in influencing lateral movement of the vehicle during occurrence of a decline in a degree at which the lane detecting device is able to recognize the lane marker during the travelling of the host vehicle by suppressing an impartation of the yaw moment by the vehicle control device over a period of time in relation to the traveling of the host vehicle and the decline in the degree at which the lane detecting device is able to recognize the lane marker during the traveling.
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Accused Products
Abstract
A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.
39 Citations
19 Claims
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1. A vehicle driving control apparatus comprising:
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a lane detecting device configured to detect a lane marker of a lane in which a host vehicle equipped with the vehicle control apparatus is traveling; a future position estimating device configured to estimate a future transverse position of the host vehicle after a prescribed amount of time; and a vehicle control device configured to execute a vehicle control with respect to the host vehicle such that a yaw moment oriented toward a middle of the lane in which the host vehicle is traveling is imparted to the host vehicle when the vehicle control device determines that the future transverse position of the host vehicle estimated by the future position estimating device is located laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference, the vehicle control device being further configured to reduce a frequency at which the vehicle control intervenes in influencing lateral movement of the vehicle during occurrence of a decline in a degree at which the lane detecting device is able to recognize the lane marker during the travelling of the host vehicle by suppressing an impartation of the yaw moment by the vehicle control device over a period of time in relation to the traveling of the host vehicle and the decline in the degree at which the lane detecting device is able to recognize the lane marker during the traveling. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 16)
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13. A vehicle driving control method comprising:
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detecting an obstacle laterally of a host vehicle employing the vehicle driving control method; estimating a future transverse position of the host vehicle after a prescribed amount of time based on a steering input performed by a driver; controlling a yaw moment imparted on the host vehicle with the yaw moment being oriented toward a middle of a lane in which the host vehicle is traveling upon determining that the future transverse position of the host vehicle is positioned farther in a lateral direction toward the obstacle than a prescribed widthwise lane position that is determined in advance using a lane marker located on a side of the vehicle closer to the obstacle as a reference; and suppressing control of the yaw moment imparted on the host vehicle over a period of time in relation to the traveling of the host vehicle and a decline in an ability to recognize the lane marker on the side of the vehicle closer to the obstacle during the traveling by reducing a frequency at which the yaw moment is imparted on the host vehicle over a period of time in relation to the traveling of the host vehicle and the decline in the ability to recognize the lane marker during the traveling. - View Dependent Claims (17)
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14. A vehicle driving control method comprising:
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estimating a future transverse position of a host vehicle employing the vehicle driving control method after a prescribed amount of time; executing vehicle control to impart a yaw moment on the host vehicle with the yaw moment being oriented toward a middle of a lane in which the host vehicle is traveling upon determining that the future transverse position of the host vehicle is positioned farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using a lane marker as a reference; and suppressing impartation of the yaw moment by the vehicle control over a period of time in relation to the traveling of the host vehicle and a decline in an ability to recognize the lane marker during the traveling by reducing a frequency at which the yaw moment is imparted on the host vehicle over the period of time in relation to the traveling of the host vehicle and the decline in the ability to recognize the lane marker during the traveling. - View Dependent Claims (18)
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15. A vehicle driving control apparatus comprising:
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a lane detecting device configured to detect a lane marker of a lane in which a host vehicle equipped with the vehicle control apparatus is traveling; a future position estimating device configured to estimate a future transverse position of the host vehicle after a prescribed amount of time; and a vehicle control device configured to execute a vehicle control with respect to the host vehicle such that a yaw moment oriented toward a middle of the lane in which the host vehicle is traveling is imparted to the host vehicle when the vehicle control device determines that the future transverse position of the host vehicle estimated by the future position estimating device is located laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference, the vehicle control device being further configured to suppress an impartation of the yaw moment by the vehicle control device when a recognition degree at which the lane detecting device detects the lane marker is lower than a prescribed value, the vehicle control device further including a control start determining section with a start determination suppressing section, the control start determining section determining that the vehicle control should be started upon determining that the future transverse position of the host vehicle is located farther toward the outside of the lane from the middle of the lane than the prescribed widthwise lane position, the start determination suppressing section suppressing the impartation of the yaw moment by the vehicle control device by suppressing a determination that the vehicle control should be started, and the start determination suppressing section gradually restoring a suppression quantity used for suppressing the determination that the vehicle control should be started upon determining that the recognition degree at which the lane detecting device detects the lane marker has become equal to or larger than the prescribed value, and a restoration time to accomplish restoration of the suppression quantity is set longer as the recognition degree at which the lane detecting device detects the lane marker becomes lower, before the recognition degree becomes become equal to or larger than the prescribed value. - View Dependent Claims (19)
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Specification