Lane keeping system and lane centering system

• US 9,180,908 B2
• Filed: 11/17/2011
• Issued: 11/10/2015
• Est. Priority Date: 11/19/2010
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Van Dan Elzen, Christopher L., Cheok, Ka Chai, Radovnikovich, Micho
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): Trivedi, Atul
• Application Number:
  US13/884,752
• Publication Number:
  US 20130231830A1
• Time in Patent Office: 1,454 Days
• Field of Search: 701/36, 701 41- 42, 701/116, 701301-302
• US Class Current: 1/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0008 Feedback, closed loop systems or details of feedback error signal
• CPC Class Codes: B60W 2050/0037 Mathematical models of vehicle sub-units
• CPC Class Codes: B60W 2050/0071 Controller overrides driver automatically
• CPC Class Codes: B60W 2050/0073 Driver overrides controller
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• 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: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• 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 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A lane keeping system for a vehicle sets a safe zone in which the driver can drive the vehicle. If the system determines that the driver is at risk of leaving the safe zone, the system takes a corrective action, such as notifying the driver or applying a steering correction to the vehicle. The system adjusts the width of the safe zone depending on the driver'"'"'s capability to stay within the safe zone. A lane centering system may be capable of autonomously steering the vehicle to remain within a lane. The lane centering system may include a controller that determines a target path for the vehicle depending on certain parameters. The controller may model each of the lane delimiters in a simplified form. This facilitates the determination of one of the target paths (the centerline of the lane). The simplified form may be a 3rd order polynomial equation.

Claims

1. A lane keeping system for use in a vehicle driving in a lane on a road, said lane keeping system comprising:

a controller;

a lane delimiter detection device;

said lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle;

wherein the controller is responsive to an output of the lane delimiter detection device that is indicative of a sensed position of a left lane delimiter on the road on a left side of the vehicle and a sensed position of a right lane delimiter on the road on a right side of the vehicle,

wherein, responsive to the output of the lane delimiter detection device, the controller is operable to;

a) establish a safe zone having a left safe zone delimiter based on the sensed position of the left lane delimiter and a right safe zone delimiter based on the sensed position of the right lane delimiter, wherein the safe zone has a width between the left and right safe zone delimiters,

b) take a corrective action responsive to the controller determining that the vehicle is at risk of unintentionally leaving the safe zone, wherein the corrective action is at least one action selected from the group of actions consisting of (i) notifying the driver that the vehicle is at risk of leaving the safe zone and (ii) applying a steering correction to the vehicle, and

c) adjust the positions of the left safe zone delimiter and the right safe zone delimiter so as to adjust the width of the safe zone, wherein the controller adjusts the positions responsive to the vehicle remaining within the safe zone for a selected period of time and without any corrective action being taken during that selected period of time.

2. A lane keeping system as claimed in claim 1, wherein the controller is operable to progressively reduce the width of the safe zone the longer that the vehicle remains within the safe zone, and wherein the controller is operable to increase the width of the safe zone whenever the driver is notified that the vehicle is at risk of leaving the safe zone.

3. A lane keeping system as claimed in claim 1, wherein the vehicle includes a steering wheel and wherein the lane keeping system further comprises a torque sensor positioned to determine torque applied to the steering wheel by a driver of the vehicle, and wherein the controller is operable to deactivate the lane keeping system if the torque sensor senses torques applied to the steering wheel that are below a selected threshold torque for a selected period of time.

4. A lane keeping system as claimed in claim 1, further comprising a steering assist device that is at least partially controlled by the controller to apply a steering correction to the vehicle to urge the vehicle to remain within the safe zone.

5. A lane keeping system as claimed in claim 4, wherein the steering correction applied to the vehicle may be overcome by the driver applying a driver applied torque on the steering wheel that is at least a selected driver applied torque.

6. A lane keeping system as claimed in claim 1, wherein the controller is operable to limit reduction of the width of the safe zone to a minimum safe zone width.

7. A lane keeping system as claimed in claim 6, wherein the controller is operable to:

determine a first prospective width based on an offset distance inboard from each of the lane delimiters;

select the first prospective width as the minimum safe zone width if the first prospective width represents a safe zone that would permit some lateral movement of the vehicle in the lane and if the first prospective width is smaller than the selected alternative width value;

select the selected alternative width value as the minimum safe zone width if the first prospective width does not represent a safe zone that would permit some lateral movement of the vehicle in the lane; and

select the selected alternative width value as the minimum safe zone width if the first prospective width is larger than the selected alternative width value.

8. A lane keeping system as claimed in claim 1, comprising:

an output device configured to send haptic feedback only to the driver of the vehicle,

wherein the controller is operable to notify the driver via the output device that the vehicle is at risk of leaving the lane based on a determination that the vehicle is at risk of unintentionally leaving the lane.

9. A lane keeping system as claimed in claim 8, wherein the output device includes a vibration mechanism in a driver'"'"'s seat in the vehicle.

10. A lane keeping system as claimed in claim 8, wherein the output device includes a vibration mechanism positioned to cause vibration in a steering wheel of the vehicle.

11. A lane keeping system as claimed in claim 8, wherein the vehicle includes a steering system that is operatively connected to front wheels of the vehicle to steer the front wheels, wherein the output device is operatively connected to the steering system to control steering of the front wheels based on the determination that the vehicle is at risk of unintentionally leaving the lane.

12. A lane keeping system as claimed in claim 11, wherein the steering system includes a steering column, and wherein the output device is configured to apply a selected torque on the steering column based on the determination that the vehicle is at risk of unintentionally leaving the lane.

13. A lane keeping system as claimed in claim 8, wherein the controller is further operable to determine whether the vehicle is at risk of unintentionally leaving the lane based on information relating to a current steering angle for the vehicle.

14. A lane keeping system for use in a vehicle driving in a lane on a road, said lane keeping system comprising:

a controller;

a lane delimiter detection device;

said lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle;

wherein the controller is responsive to an output of the lane delimiter detection device that is indicative of sensed positions of a left lane delimiter on the road on a left side of the vehicle and a right lane delimiter on the road on a right side of the vehicle;

wherein the controller is operable to establish a safe zone having a left safe zone delimiter based on the sensed position of the left lane delimiter and a right safe zone delimiter based on the sensed position of the right lane delimiter, wherein the safe zone has a width between the left and right safe zone delimiters; and

an output device configured to send feedback to the driver of the vehicle,

wherein, responsive to the output of the lane delimiter detection device, the controller is operable to;

a) determine whether the vehicle is at risk of unintentionally exiting the safe zone via a left side of the safe zone if the controller determines that the driver of the vehicle intends to exit the lane via a right side of the lane;

b) determine whether the vehicle is at risk of unintentionally exiting the safe zone via a right side of the safe zone if the controller determines that the driver of the vehicle intends to exit the lane via a left side of the lane; and

c) notify the driver via the output device that the vehicle is at risk of unintentionally exiting the safe zone based on the determinations made in steps a) and b);

wherein, responsive to driver performance, said controller is operable to adjust the positions of the left safe zone delimiter and the right safe zone delimiter so as to adjust the width of the safe zone; and

wherein said controller reduces the width of the safe zone responsive to the vehicle remaining within the safe zone for at least a threshold period of time and without any notification being made by the controller during that threshold period of time.

15. A lane centering system for use in a vehicle driving in a lane on a road, said lane centering system comprising:

a lane delimiter detection device;

said lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle;

wherein the controller is responsive to an output of the lane delimiter detection device that is indicative of sensed positions of a left lane delimiter on the road on a left side of the vehicle and a right lane delimiter on the road on a right side of the vehicle;

a steering assist device configured to apply steering corrections to the vehicle; and

a controller;

wherein the controller is operable to establish a target path for the vehicle based on the output of the lane delimiter detection device, wherein the controller is operatively connected to the steering assist device and controls the steering assist device to apply selected steering corrections to the vehicle to steer the vehicle towards the target path, wherein the target path is selected based at least in part on whether the controller has sufficient information to determine the positions of both lane delimiters or just one of the lane delimiters;

wherein the target path is within a safe zone having a width less than a width between the sensed positions of the left and right lane delimiters, and wherein the controller is operable to adjust the width of the safe zone responsive to (i) the vehicle remaining within the safe zone for a threshold period of time without steering correction and (ii) the vehicle requiring steering correction to remain within the safe zone; and

wherein said controller reduces the width of the safe zone responsive to the vehicle remaining within the safe zone for at least a threshold period of time and without any steering correction being made by said controller during that threshold period of time.

16. A lane centering system as claimed in claim 15, wherein the controller is further operable to select the target path based in part on how many of the lane delimiters are parallel to the vehicle.

17. A lane centering system as claimed in claim 15, wherein the controller is further operable to select the target path based in part on whether the vehicle is closer to one of the lane delimiters than the other.

18. A lane centering system as claimed in claim 15, wherein the controller is further operable to select the target path based in part on whether the distance between the lane delimiters is outside of a selected range.

19. A lane centering system as claimed in claim 15, wherein the target path is selected from a plurality of target paths including a first target path that is along a centerline of the lane, a second target path that is an offset distance from the left lane delimiter and a third target path that is an offset distance from the right lane delimiter.

20. A lane centering system as claimed in claim 19, wherein the controller is further operable to:

a) determine whether a first set of conditions are met;

b) determine a first decision outcome from a set of possible decision outcomes based on the determination made in step a), wherein the set of possible decision outcomes includes a first possible decision outcome to follow the first target path, a second possible decision outcome to follow the second target path, and a third possible decision outcome to follow the third target path;

c) determine whether a second set of conditions are met;

d) determine a second decision outcome from the set of possible decision outcomes based on the determination made in step c);

e) determine a final decision outcome based at least in part on the first and second decision outcomes; and

f) steer the vehicle to follow the target path referred to in the final decision outcome.

21. A lane centering system as claimed in claim 15, wherein the controller is further operable to model any detected lane delimiters as third order polynomial equations.