Lane departure prevention control system for vehicle
First Claim
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1. A lane departure prevention control system for a vehicle comprising:
- a lane detector that detects a lane on which the vehicle travels;
a disturbance information detector that detects information on disturbance applied to the vehicle;
a correction module that corrects position information of a departure determination line used for determining whether the vehicle departs from the lane, based on at least the information on the disturbance applied to the vehicle;
a departure predictor that make a prediction of departure from the lane, based on position information on the departure determination line and a travelling state, the position information corrected by the correction module;
a target turn amount calculator that calculates a target turn amount to be applied to the vehicle, required for preventing departure from the lane based on the prediction of the departure from the lane; and
a target turn amount generator that generates the target turn amount to the vehicle, whereinthe information on the disturbance detected by the disturbance information detector includes a cant angle of the lane, andwhen there is a possibility that the vehicle may depart from the lane in an upward direction of a cant, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a lane mark line and corrects the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane in a downward direction of the cant, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase.
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Abstract
A lane departure prevention control system for a vehicle includes: a lane detector that detects a lane on which the vehicle travels; a disturbance information detector that detects information on disturbance applied to the vehicle; a correction module that corrects position information of a departure determination line used for determining whether the vehicle departs from the lane, based on at least the information on the disturbance applied to the vehicle; a departure predictor that makes a prediction of departure from the lane, based on position information on the departure determination line and a travelling state, the position information being corrected by the correction module; a target turn amount calculator that calculates a target turn amount to be applied to the vehicle, required for preventing departure from the lane based on the prediction of the departure from the lane; and a target turn amount generator that generates the target turn amount.
14 Citations
9 Claims
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1. A lane departure prevention control system for a vehicle comprising:
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a lane detector that detects a lane on which the vehicle travels; a disturbance information detector that detects information on disturbance applied to the vehicle; a correction module that corrects position information of a departure determination line used for determining whether the vehicle departs from the lane, based on at least the information on the disturbance applied to the vehicle; a departure predictor that make a prediction of departure from the lane, based on position information on the departure determination line and a travelling state, the position information corrected by the correction module; a target turn amount calculator that calculates a target turn amount to be applied to the vehicle, required for preventing departure from the lane based on the prediction of the departure from the lane; and a target turn amount generator that generates the target turn amount to the vehicle, wherein the information on the disturbance detected by the disturbance information detector includes a cant angle of the lane, and when there is a possibility that the vehicle may depart from the lane in an upward direction of a cant, the correction module corrects the position of the departure determination line from which the vehicle departs, toward an outer side of a lane mark line and corrects the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane in a downward direction of the cant, the correction module corrects the position of the departure determination line from which the vehicle departs, toward a center of the lane and corrects the target turn amount calculated by the target turn amount calculator so as to increase. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A lane departure prevention control system for a vehicle comprising:
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a pair of cameras configured to capture stereo images in front of a vehicle; a stereo image processor, configured to receive and process stereo images from the pair of cameras and generate a distance image; a velocity sensor; a yaw rate sensor; a transverse acceleration sensor; a controller, configured to; detect information on disturbance applied to the vehicle, including a cant angle of the lane, based on information from one or more of the velocity sensor, the yaw rate sensor, the transverse acceleration sensor, and the stereo image processor; correct position information of a departure determination line used for determining whether the vehicle departs from the lane, based on at least the information on the disturbance applied to the vehicle, and, predict a departure from the lane, based on position information on the departure determination line and a travelling state, the position infmniation corrected by the correction module, calculate a target turn amount to be applied to the vehicle, required for preventing departure from the lane based on the prediction of the departure from the lane, when there is a possibility that the vehicle may depart from the lane in an upward direction of a cant, correct the position of the departure determination line from which the vehicle departs, toward an outer side of a lane mark line and correct the target turn amount calculated by the target turn amount calculator so as to decrease, and when there is a possibility that the vehicle may depart from the lane in a downward direction of the cant, correct the position of the departure determination line from which the vehicle departs, toward a center of the lane and correct the target turn amount calculated by the target turn amount calculator so as to increase; and an electric power steering, configured to generate the target turn amount to the vehicle.
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Specification
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Current AssigneeSubaru Corp.
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Original AssigneeFuji Heavy Industries Limited (Subaru Corp.)
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InventorsTerazawa, Takeshi
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Primary Examiner(s)MELTON, TODD M
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Application NumberUS14/856,391Publication NumberTime in Patent Office566 DaysField of SearchUS Class CurrentCPC Class CodesB62D 15/025 Active steering aids, e.g. ...B62D 6/04 responsive only to forces d...
