Steering control device

• US 9,449,235 B2
• Filed: 09/25/2013
• Issued: 09/20/2016
• Est. Priority Date: 10/04/2012
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takeda, Yuya
• Primary Examiner(s): MOYER, DALE S
• Application Number:
  US14/427,935
• Publication Number:
  US 20150225017A1
• Time in Patent Office: 1,091 Days
• US Class Current: 1/1
• 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 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A steering control device is provided that calculates a white line approach suppression turning amount that is based on a distance between a host vehicle is separated from either a left or a right white line when a host vehicle approaches either a left or a right white line. The steering control device controls a turning unit for turning a turnable wheel based on the white line approach suppression turning amount, and upon determining that the other among the left and right white lines cannot be detected and a distance between the host vehicle and the left or right white line is decreasing, an increase in the white line approach suppression turning amount is inhibited while permitting a decrease in the white line approach suppression turning amount.

Claims

1. A steering control device comprising:

a white line detection unit programmed to detect a left or a right white line of a traveling lane;

a white line approach suppression turning amount calculating unit programmed to calculate a white line approach suppression turning amount based on a distance in which a host vehicle is separated from the white line when a host vehicle approaches either the left or right white line;

a turning control unit programmed to suppress a turning unit that turns a turnable wheel based on the white line approach suppression turning amount; and

a limiting unit programmed to limit the white line approach suppression turning amount by inhibiting an increase in the white line approach suppression turning amount while permitting a decrease in the white line approach suppression amount,

upon determining that the other among the left and right white lines is undetectable and a distance between the host vehicle and the left or right white line is decreasing

the limiting unit being further programmed to inhibit the increase in the white line approach suppression turning amount used by the turning control unit when an increase gradient of the white line approach suppression turning amount is equal to or less than a predetermined increase gradient, and

the turning control unit being further programmed to turn the turnable wheel based on the white line approach suppression turning amount when the increase gradient of the white line approach suppression turning amount is greater than the predetermined increase gradient.

2. The steering control device according to claim 1, wherein

the limiting unit is further programmed to limit the white line approach suppression turning amount when the white line approach suppression turning amount is below a previous value.

3. The steering control device according to claim 2, wherein

the limiting unit is further programmed to determine that the other among the left and right white lines is undetectable when a state in which the other among the left and right white lines is undetectable has continued for a predetermined time.

4. The steering control device according to claim 2, comprising:

a yaw angle detection unit programmed to detect a yaw angle, which is the angle between at least one among the detected left and right white lines and a host vehicle traveling direction; and

a yaw angle suppression turning amount calculating unit programmed to calculate a yaw angle suppression turning amount for suppressing the detected yaw angle,

the turning control unit being further programmed to control the turning unit based on the white line approach suppression turning amount and the yaw angle suppression turning amount, and

the limiting unit being further programmed not to limit the yaw angle suppression turning amount even when a determination has been made that the other among the left and right white lines is undetectable.

5. The steering control device according to claim 1, wherein

the limiting unit is further programmed to determine that the other among the left and right white lines is undetectable when a state in which the other among the left and right white lines is undetectable has continued for a predetermined time.

6. The steering control device according to claim 5, comprising:

a yaw angle detection unit programmed to detect a yaw angle, which is the angle between at least one among the detected left and right white lines and a host vehicle traveling direction; and

a yaw angle suppression turning amount calculating unit programmed to calculate a yaw angle suppression turning amount for suppressing the detected yaw angle,

the turning control unit being further programmed to control the turning unit based on the white line approach suppression turning amount and the yaw angle suppression turning amount, and

the limiting unit being further programmed not to limit the yaw angle suppression turning amount even when a determination has been made that the other among the left and right white lines is undetectable.

7. The steering control device according to claim 1, further comprising:

a yaw angle detection unit programmed to detect a yaw angle, which is the angle between at least one among the detected left and right white lines and a host vehicle traveling direction; and

a yaw angle suppression turning amount calculating unit programmed to calculate a yaw angle suppression turning amount for suppressing the detected yaw angle,

the turning control unit being further programmed to control the turning unit based on the white line approach suppression turning amount and the yaw angle suppression turning amount, and

the limiting unit being further programmed not to limit the yaw angle suppression turning amount even when a determination has been made that the other among the left and right white lines is undetectable.

8. The steering control device according to claim 1, wherein

the white line approach suppression turning amount calculating unit is further programmed to calculate the white line approach suppression turning amount such that the white line approach suppression turning amount increases as the distance between the host vehicle and the left or right white line decreases.

9. The steering control device according to claim 8, wherein

the limiting unit is further programmed to limit the white line approach suppression turning amount when the white line approach suppression turning amount is below a previous value.

10. The steering control device according to claim 8, wherein

the limiting unit is further programmed to determine that the other among the left and right white lines is undetectable when a state in which the other among the left and right white lines is undetectable has continued for a predetermined time.

11. The steering control device according to claim 8, further comprising:

a yaw angle detection unit programmed to detect a yaw angle, which is the angle between at least one among the detected left and right white lines and a host vehicle traveling direction; and

a yaw angle suppression turning amount calculating unit programmed to calculate a yaw angle suppression turning amount for suppressing the detected yaw angle,

the turning control unit being further programmed to control the turning unit based on the white line approach suppression turning amount and the yaw angle suppression turning amount, and

the limiting unit being further programmed not to limit the yaw angle suppression turning amount even when a determination has been made that the other among the left and right white lines is undetectable.

12. A steering control device comprising:

a controller programmed to

calculate a white line approach suppression turning amount based on a distance in which a host vehicle is separated from either a left or a right white line when the host vehicle approaches the left or a right white line;

control a turning unit for turning a turnable wheel based on the white line approach suppression turning amount; and

inhibit an increase in the white line approach suppression turning amount and permit a decrease in the white line approach suppression turning amount used by the turning unit upon determining that the other among the left and right white lines is undetectable and a distance between the host vehicle and the left or right white line is decreasing when an increase gradient of the white line approach suppression turning amount is equal to or less than a predetermined increase gradient,

the turning unit turning a turnable wheel based on the white line suppression control amount upon determining that the other among the left and right white lines is undetectable and a distance between the host vehicle and the left or right white line is decreasing when the white line approach suppression turning amount is equal to or greater than the predetermined increase gradient.

13. A steering control device comprising:

a sensor for detecting a left or a right white line of a traveling lane; and

a controller programmed to

calculate a white line approach suppression turning amount that is based on a distance between a host vehicle and the left or a right white line when the host vehicle approaches either the left or right white lines; and

control a turning unit for turning a turnable wheel based on the white line approach suppression turning amount,

inhibit an increase in the white line approach suppression turning amount and permit a decrease in the white line approach suppression turning amount used by the turning unit upon determining that the other among the left and right white lines is undetectable and a distance between the host vehicle and the left or right white line is decreasing when an increase gradient of the white line approach suppression turning amount is equal to or less than a predetermined increase gradient,

the turning unit turning a turnable wheel based on the white line suppression control amount upon determining that the other among the left and right white lines is undetectable and a distance between the host vehicle and the left or right white line is decreasing when the white line approach suppression turning amount is equal to or greater than the predetermined increase gradient.