Driving control device

• US 8,700,305 B2
• Filed: 12/01/2010
• Issued: 04/15/2014
• Est. Priority Date: 12/24/2009
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Hayakawa, Yasuhisa, Sato, Kou, Kobayashi, Masahiro
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): BRUSHABER, FREDERICK M
• Application Number:
  US13/518,249
• Publication Number:
  US 20120265431A1
• Time in Patent Office: 1,231 Days
• Field of Search: 701/301
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• 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: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

A driving control device according to the present invention activates a control for suppressing sideways movement of a vehicle towards a side object, when the side object present to the side of the vehicle as well as towards the rear of the vehicle is detected. Also, the activation of the control is suppressed when, in the absence of detection of the side object, the vehicle starts entering an adjacent lane in order to change lanes.

Claims

1. A driving control device comprising:

a first side object detecting unit configured to detect a side object present to a side of a vehicle and towards a rear of the vehicle;

a control unit configured to activate a sideways movement suppressing control for suppressing sideways movement of the vehicle towards the side object, when the first side object detecting unit detects the side object, the sideways movement accompanying a change in a lateral position of the vehicle relative to a lane;

an entry start determination unit configured to determine whether the vehicle has started entering an adjacent lane based on the lateral position of the vehicle; and

an activation suppressing unit configured to suppress activation of the sideways movement suppressing control by the control unit, when the entry start determination unit determines that the vehicle has started entering the adjacent lane, and the first side object detecting unit detects the side object in the adjacent lane targeted under a condition where the vehicle has started entering the adjacent lane,

wherein the vehicle has started entering the adjacent lane when a computed future lateral position of the vehicle exceeds a criterion threshold value for the lateral position.

2. The driving control device according to claim 1, comprising a future lateral position estimating unit configured to estimate the computed future lateral position of the vehicle that is a lateral position which the vehicle reaches after a predetermined time, with respect to a lane separation line marked on a road surface,

wherein the entry start determination unit determines that the vehicle has started entering the adjacent lane, when, without detection of the side object by the first side object detecting unit, the future lateral position estimated by the future lateral position estimating unit is in the adjacent lane and is outside a predetermined lateral position as a first criterion threshold value.

3. The driving control device according to claim 1, comprising a future lateral position estimating unit configured to estimate the computed future lateral position of the vehicle that is a lateral position which the vehicle reaches after a predetermined time, with respect to a lane separation line marked on a road surface, wherein

the entry start determination unit determines that the vehicle has started entering the adjacent lane, when, without detection of the side object by the first side object detecting unit, a predetermined time as a second criterion threshold value elapses after the future lateral position estimated by the future lateral position estimating unit has crossed over the lane separation line towards the adjacent lane.

4. The driving control device according to claim 1, wherein the activation suppressing unit suppresses activation of the sideways movement suppressing control by the control unit, until a predetermined time as a first cancel condition elapses after the entry start determination unit has determined that the vehicle started entering the adjacent lane.

5. The driving control device according to claim 1, wherein the activation suppressing unit suppresses activation of the sideways movement suppressing control by the control unit, until sideways movement of the vehicle reaches a predetermined amount of sideways movement as a second cancel condition after the entry start determination unit has determined that the vehicle started entering the adjacent lane.

6. The driving control device according to claim 1, wherein the activation suppressing unit suppresses activation of the sideways movement suppressing control by the control unit, until a lateral position of the vehicle relative to a lane separation line marked on a road surface reaches a predetermined lateral position as a third cancel condition after the entry start determination unit has determined that the vehicle started entering the adjacent lane.

7. The driving control device according to claim 1, comprising a future lateral position estimating unit configured to estimate the computed future lateral position of the vehicle that is a lateral position which the vehicle reaches after a predetermined time, with respect to a lane separation line marked on a road surface, wherein

the control unit activates the sideways movement suppressing control for suppressing sideways movement of the vehicle towards the side object, when, with detection of the side object by the first side object detecting unit, the future lateral position estimated by the future lateral position estimating unit crosses over a predetermined lateral position as an activation threshold value, towards the side object.

8. The driving control device according to claim 7, wherein the activation suppressing unit suppresses activation of the sideways movement suppressing control by the control unit, by correcting at least one of the future lateral position and the predetermined lateral position as the activation threshold value, to hinder the future lateral position from crossing over the predetermined lateral position as the activation threshold value.

9. The driving control device according to claim 7, wherein the activation suppressing unit suppresses activation of the sideways movement suppressing control by the control unit, by setting narrower a region of detection of the side object by the first side object detecting unit.

10. The driving control device according to claim 1, wherein the control unit imparts a yaw moment in a direction opposite to the side of the side object as the control for suppressing sideways movement of the vehicle towards the side object.

11. The driving control device according to claim 10, wherein the activation suppressing unit suppresses activation of the sideways movement suppressing control by suppressing the yaw moment in the direction opposite to the side of the side object imparted to the vehicle.

12. The driving control device according to claim 1, wherein the control unit gives a warning to notify a driver that the side object is present as the control for suppressing sideways movement of the vehicle towards the side object.

13. The driving control device according to claim 12, wherein the activation suppressing unit suppresses activation of the sideways movement suppressing control by suppressing the warning to the driver that the side object is present.

14. The driving control device according to claim 1, wherein the activation suppressing unit inhibits activation of the sideways movement suppressing control by the control unit, until a predetermined condition is satisfied after the entry start determination unit has determined that the vehicle started entering the adjacent lane.

15. A driving control device comprising:

a first side object detecting unit configured to detect a side object present to a side of a vehicle and towards a rear of the vehicle;

a control unit configured to activate a sideways movement suppressing control for suppressing sideways movement of the vehicle towards the side object, when the first side object detecting unit detects the side object, the sideways movement accompanying a change in a lateral position of the vehicle relative to a lane;

an entry start determination unit configured to determine whether the vehicle has started entering an adjacent lane based on the lateral position of the vehicle;

an activation suppressing unit configured to suppress activation of the sideways movement suppressing control by the control unit, when the entry start determination unit determines that the vehicle has started entering the adjacent lane, and the first side object detecting unit detects the side object in the adjacent lane targeted under a condition where the vehicle has started entering the adjacent lane; and

a degree-of-difficulty estimating unit configured to estimate the degree of difficulty of passing the vehicle for the side object, wherein

the entry start determination unit sets a criterion of judgment to facilitate determination that the vehicle has started entering the adjacent lane, as the degree of difficulty estimated by the degree-of-difficulty estimating unit is higher.

16. The driving control device according to claim 15, wherein the entry start determination unit facilitates determination that the vehicle has started entering the adjacent lane, by setting a predetermined lateral position as a first criterion threshold value to a position closer to a lane separation line, as the degree of difficulty estimated by the degree-of-difficulty estimating unit is higher.

17. The driving control device according to claim 15, wherein the entry start determination unit facilitates determination that the vehicle has started entering the adjacent lane, by setting shorter a predetermined time as a second criterion threshold value, as the degree of difficulty estimated by the degree-of-difficulty estimating unit is higher.

18. The driving control device according to claim 15, wherein the entry start determination unit facilitates determination that the vehicle has started entering the adjacent lane, by setting narrower a region of detection of the side object by the first side object detecting unit, as the degree of difficulty estimated by the degree-of-difficulty estimating unit is higher.

19. The driving control device according to claim 15, wherein the degree-of-difficulty estimating unit estimates that the degree of difficulty of passing the vehicle is higher, as a lane width of the adjacent lane targeted is narrower.

20. The driving control device according to claim 15, wherein the degree-of-difficulty estimating unit estimates that the degree of difficulty of passing the vehicle is higher, as a curvature of a road is larger.

21. The driving control device according to claim 15, wherein the degree-of-difficulty estimating unit estimates that the degree of difficulty of passing the vehicle is higher when the adjacent lane targeted is a carpool lane than when the adjacent lane targeted is not the carpool lane.

22. The driving control device according to claim 15, comprising a second side object detecting unit configured to detect a side object present to the side of the vehicle and towards the rear of the vehicle farther away from a region of detection of the side object by the first side object detecting unit, wherein

the degree-of-difficulty estimating unit estimates that the degree of difficulty of passing the vehicle is higher, as a vehicle width of the side object detected by the second side object detecting unit is larger, when, without detection of the side object by the first side object detecting unit, the second side object detecting unit detects the side object.

23. A driving control device comprising:

first side object detecting means for detecting a side object present to a side of a vehicle and towards a rear of the vehicle;

control means for activating a sideways movement suppressing control for suppressing sideways movement of the vehicle towards the side object, when the first side object detecting means detects the side object, the sideways movement accompanying a change in a lateral position of the vehicle relative to a road lane;

entry start determination means for determining whether the vehicle has started entering an adjacent lane based on the lateral position of the vehicle; and

activation suppressing means for suppressing activation of the sideways movement suppressing control by the control means, when the entry start determination means determines that the vehicle has started entering the adjacent lane, and the first side object detecting means detects the side object in the adjacent lane targeted under a condition where the vehicle has started entering the adjacent lane,

wherein the vehicle has started entering the adjacent lane when a computed future lateral position of the vehicle exceeds a criterion threshold value for the lateral position.