Vibration applying structure detecting device and vehicle control device
First Claim
1. A vibration applying structure detecting device for a wheeled vehicle traveling on a roadway having a vibration applying structure on a road surface in or adjacent to the roadway, comprising:
- a lane departure judgment device that determines whether there is a lane departure tendency based on camera image taken by a vehicle mounted camera;
a vibration detecting device that determines the frequency and the amplitude of input vibration from a road surface to the vehicle;
a contact judgment device that determines that at least one of the wheels of the vehicle is contacting the vibration applying structure when the input vibration with an amplitude equal to or greater than a prescribed vibration amplitude threshold value has a frequency that is equal to or greater than a prescribed vibration frequency threshold value;
a threshold value setting device that sets one or both of the vibration amplitude threshold value and the vibration frequency threshold value;
wherein when it is judged by the lane departure tendency judgment device that there is a lane departure tendency, the threshold value setting device sets one or both of the vibration frequency threshold value and the vibration amplitude threshold value to a value smaller than that when it is judged that there is no lane departure tendency; and
wherein the threshold value setting device returns the vibration frequency threshold value and/or vibration amplitude threshold value of the wheels in a departure direction judged to have a lane departure tendency to the vibration frequency threshold value and/or vibration amplitude threshold value before it was reduced after a first prescribed period of time has passed since the vibration frequency threshold value and/or vibration amplitude threshold value was reduced.
1 Assignment
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Accused Products
Abstract
A vibration applying structure detecting device for a wheeled vehicle traveling on a roadway having a vibration applying structure on a road surface in or adjacent to the roadway includes a lane departure judgment device that determines whether there is a lane departure tendency, a vibration detecting device that determines the frequency and the amplitude of input vibration from a road surface to the vehicle, and a contact judgment device that determines that at least one of the wheels of the vehicle is contacting the vibration applying structure when the input vibration with an amplitude equal to or greater than a prescribed amplitude threshold value has a frequency that is equal to or greater than a prescribed frequency threshold value. The device may also include a threshold value setting device that sets one or both of the amplitude threshold value and the frequency threshold value.
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Citations
24 Claims
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1. A vibration applying structure detecting device for a wheeled vehicle traveling on a roadway having a vibration applying structure on a road surface in or adjacent to the roadway, comprising:
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a lane departure judgment device that determines whether there is a lane departure tendency based on camera image taken by a vehicle mounted camera; a vibration detecting device that determines the frequency and the amplitude of input vibration from a road surface to the vehicle; a contact judgment device that determines that at least one of the wheels of the vehicle is contacting the vibration applying structure when the input vibration with an amplitude equal to or greater than a prescribed vibration amplitude threshold value has a frequency that is equal to or greater than a prescribed vibration frequency threshold value; a threshold value setting device that sets one or both of the vibration amplitude threshold value and the vibration frequency threshold value; wherein when it is judged by the lane departure tendency judgment device that there is a lane departure tendency, the threshold value setting device sets one or both of the vibration frequency threshold value and the vibration amplitude threshold value to a value smaller than that when it is judged that there is no lane departure tendency; and wherein the threshold value setting device returns the vibration frequency threshold value and/or vibration amplitude threshold value of the wheels in a departure direction judged to have a lane departure tendency to the vibration frequency threshold value and/or vibration amplitude threshold value before it was reduced after a first prescribed period of time has passed since the vibration frequency threshold value and/or vibration amplitude threshold value was reduced. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A vehicle control device comprising:
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a vibration applying structure detecting device having a lane departure judgment device that determines whether there is a lane departure tendency; a vibration detecting device that determines the frequency and amplitude of input vibration from a road surface to the vehicle; a lane departure judgment device that determines whether there is a lane departure tendency based on camera image taken by a vehicle mounted camera a contact judgment device that determines that the wheels of the vehicle are contacting a vibration applying structure located on or adjacent to the roadway on which the vehicle is traveling, when the input vibration with an amplitude equal to or greater than a prescribed vibration amplitude threshold value has a frequency that is equal to or greater than a prescribed vibration frequency threshold; a yaw moment application device that applies a yaw moment to the vehicle to prevent the vehicle from departing from the roadway when it is determined that the wheels of the vehicle are contacting the vibration applying structure; and a threshold value setting device that sets one or both of the vibration frequency threshold value and vibration amplitude threshold value to a value smaller when it is judged that there is a lane departure tendency than that when it is judged that there is no lane departure tendency, and wherein the threshold value setting device returns the vibration frequency threshold value and/or vibration amplitude threshold value of the wheels in a departure direction judged to have a lane departure tendency to the vibration frequency threshold value and/or vibration amplitude threshold value before it was reduced after a first prescribed period of time has passed since the vibration frequency threshold value and/or vibration amplitude threshold value was reduced. - View Dependent Claims (13, 14, 15)
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16. A vibration applying structure detecting device for a wheeled vehicle traveling on a roadway having a vibration applying structure on a road surface in or adjacent to the roadway, comprising:
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a lane departure judgment means for determining whether there is a lane departure tendency based on camera image taken by a vehicle mounted camera; a vibration detecting means for determining the frequency and amplitude of input vibration from a road surface to the vehicle; a contact judgment means for determining that at least one of the wheels of the vehicle is contacting the vibration applying structure when the input vibration with an amplitude equal to or greater than a prescribed vibration amplitude threshold value has a frequency that is equal to or greater than a prescribed vibration frequency threshold value; and a threshold value setting means used to set one or both of the vibration amplitude threshold value and the vibration frequency threshold value; wherein when it is judged by the lane departure tendency judgment that there is a lane departure tendency, the threshold value setting means sets the vibration frequency threshold value and/or the vibration amplitude threshold value to a value smaller than that when it is judged that there is no lane departure tendency, and wherein the threshold value setting means returns the vibration frequency threshold value and/or vibration amplitude threshold value of the wheels in a departure direction judged to have a lane departure tendency to the vibration frequency threshold value and/or vibration amplitude threshold value before it was reduced after a first prescribed period of time has passed since the vibration frequency threshold value and/or vibration amplitude threshold value was reduced.
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17. A method for determining that a wheeled vehicle has the possibility of departing a travel lane of a roadway having a vibration applying structure on a road surface in or adjacent to the roadway, comprising:
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determining whether there is a lane departure tendency of the vehicle based on camera image taken by a vehicle mounted camera; determining the frequency and amplitude of input vibration from the road surface to the vehicle; determining that at least one of the wheels of the vehicle is contacting the vibration applying structure, when the input vibration with an amplitude equal to or greater than a prescribed vibration amplitude threshold value has a frequency that is equal to or greater than a prescribed vibration frequency threshold value; setting one or both of the vibration amplitude threshold value and the vibration frequency threshold value; and when it is judged by the lane departure tendency judgment that there is a lane departure tendency, setting the vibration frequency threshold value and/or the vibration amplitude threshold value to a value smaller than that when it is judged that there is no lane departure tendency, and setting the vibration frequency threshold value and/or vibration amplitude threshold value of the wheels in a departure direction judged to have a lane departure tendency to the vibration frequency threshold value and/or vibration amplitude threshold value before it was reduced after a first prescribed period of time has passed since the vibration frequency threshold value and/or vibration amplitude threshold value was reduced.
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18. A vibration applying structure detecting device for a wheeled vehicle traveling on a roadway having a vibration applying structure on a road surface in or adjacent to the roadway, comprising:
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a lane departure judgment device that determines whether there is a lane departure tendency; a vibration detecting device that determines the frequency and the amplitude of input vibration from a road surface to the vehicle; a contact judgment device that determines that at least one of the wheels of the vehicle is contacting the vibration applying structure when the input vibration with an amplitude equal to or greater than a prescribed amplitude threshold value has a frequency that is equal to or greater than a prescribed frequency threshold value; a threshold value setting device that sets one or both of the amplitude threshold value and the frequency threshold value; wherein when it is judged by the lane departure tendency judgment device that there is a lane departure tendency, the threshold value setting device sets one or both of the frequency threshold value and the amplitude threshold value to a value smaller than that when it is judged that there is no lane departure tendency; wherein the lane departure judgment device determines whether there is the lane departure tendency and detects the departure direction of the lane departure; wherein the vibration detecting device detects the vibration input to each of the left and right wheels of the vehicle from the road surface as the vibration input to the vehicle; wherein the contact judgment device determines whether each of the left and right wheels is contacting the vibration applying structure by determining whether the frequency of the vibration with an amplitude equal to or greater than a prescribed amplitude threshold value is equal to or greater than a prescribed frequency with respect to each detected vibration input to each of the left and right wheels; wherein the threshold value setting device sets only the frequency threshold value and/or the amplitude threshold value corresponding to the wheels in the departure direction judged to have a lane departure tendency to a value smaller than that when it is judged that there is no lane departure tendency; and wherein the threshold value setting device returns the frequency threshold value and/or vibration amplitude threshold value of the wheels in the departure direction judged to have a lane departure tendency to the frequency threshold value and/or amplitude threshold value before it was reduced after a first prescribed period of time has passed since the frequency threshold value and/or amplitude threshold value was reduced. - View Dependent Claims (20, 21, 23, 24)
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19. A vibration applying structure detecting device for a wheeled vehicle traveling on a roadway having a vibration applying structure on a road surface in or adjacent to the roadway, comprising:
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a lane departure judgment device that determines whether there is a lane departure tendency; a vibration detecting device that determines the frequency and the amplitude of input vibration from a road surface to the vehicle; a contact judgment device that determines that at least one of the wheels of the vehicle is contacting the vibration applying structure when the input vibration with an amplitude equal to or greater than a prescribed amplitude threshold value has a frequency that is equal to or greater than a prescribed frequency threshold value; a threshold value setting device that sets one or both of the amplitude threshold value and the frequency threshold value; wherein when it is judged by the lane departure tendency judgment device that there is a lane departure tendency, the threshold value setting device sets one or both of the frequency threshold value and the amplitude threshold value to a value smaller than that when it is judged that there is no lane departure tendency, wherein the lane departure judgment device determines whether there is the lane departure tendency and detects the departure direction of the lane departure; wherein the vibration detecting device detects the vibration input to each of the left and right wheels of the vehicle from the road surface as the vibration input to the vehicle; wherein the contact judgment device determines whether each of the left and right wheels is contacting the vibration applying structure by determining whether the frequency of the vibration with an amplitude equal to or greater than a prescribed amplitude threshold value is equal to or greater than a prescribed frequency with respect to each detected vibration input to each of the left and right wheels; wherein the threshold value setting device sets only the frequency threshold value and/or the amplitude threshold value corresponding to the wheels in the departure direction judged to have a lane departure tendency to a value smaller than that when it is judged that there is no lane departure tendency; and wherein the threshold value setting device reduces the frequency threshold value and/or vibration threshold value of the wheels in the departure direction judged to have a lane departure tendency at a rate corresponding to the type of road on which the vehicle is traveling. - View Dependent Claims (22)
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Specification