System and method for preventing lane deviation of vehicle

• US 20040107035A1
• Filed: 11/17/2003
• Published: 06/03/2004
• Est. Priority Date: 11/28/2002
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Matsumoto, Shinji, Tange, Satoshi, Naito, Genpei
• Granted Patent: US 7,433,769 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60T 8/17557 specially adapted for lane departure prevention road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 30/12 Lane keeping
• 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

Abstract

A system for preventing lane deviation of a vehicle is provided. The system comprises a lane detecting device, a running condition detecting device, a deviation judging device, and a vehicle behavior control device. The vehicle behavior control device controls a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane. The lane detecting device detects the running lane based on a variation in a running direction of the vehicle due to the yaw moment generated by the vehicle behavior control device. A method for preventing lane deviation of a vehicle is also provided.

Claims

1. A system for preventing lane deviation of a vehicle comprising:

a lane detecting device that detects a running lane of the vehicle;

a running condition detecting device that detects a running condition of the vehicle;

a deviation judging device that judges based on the detected running lane and the detected running condition of the vehicle whether the vehicle has a tendency to deviate from the running lane; and

a vehicle behavior control device that controls a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane in accordance with the detected running condition when the deviation judging device judges that the vehicle has a tendency to deviate from the running lane;

wherein the lane detecting device detects the running lane of the vehicle based on a variation in a running direction of the vehicle due to the yaw moment generated by the vehicle behavior control device.

2. A system according to claim 1, further comprising a steering condition parameter detecting device that detects a steering condition parameter, wherein the lane detecting device corrects the detected steering condition parameter by a steering condition parameter equivalent to the yaw moment generated by the vehicle behavior control device and detects the running lane based on the corrected steering condition parameter.

3. A system according to claim 1, further comprising a steering angle sensor for detecting a steering angle of a steering wheel, wherein the lane detecting device corrects the detected steering angle by a steering angle equivalent to the yaw moment generated by the vehicle behavior control device and detects the running lane based on the corrected steering angle.

4. A system according to claim 1, wherein the vehicle behavior control device comprises a braking/driving force control amount calculating device that calculates a braking/driving force control amount of each wheel of the vehicle so as to generate the yaw moment in the direction to prevent the vehicle from deviating from the running lane and a braking/driving force control device that controls a braking/driving force of each wheel of the vehicle in accordance with the calculated braking/driving force control amount.

5. A system according to claim 1, wherein the deviation judging device judges that the vehicle has a tendency to deviate from the running lane when an absolute value of an estimated lateral displacement in future is equal to or larger than a lateral displacement limit value.

6. A system according to claim 5, wherein the estimated lateral displacement in future is an estimated lateral displacement of the vehicle from a center of the running lane after a headway time.

7. A system according to claim 6, wherein the lateral displacement limit value is a value obtained by subtracting a half of a width of the vehicle from a half of a width of the running lane.

8. A system for preventing lane deviation of a vehicle comprising:

lane detecting means for detecting a running lane of the vehicle;

running condition detecting means for detecting a running condition of the vehicle;

deviation judging means for judging based on the detected running lane and the detected running condition whether the vehicle has a tendency to deviate from the running lane; and

vehicle behavior control means for controlling a behavior of the vehicle in a way as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane in accordance with the detected running condition when the deviation judging means judges that the vehicle has a tendency to deviate from the running lane;

wherein the lane detecting means detects the running lane based on a variation in a running direction of the vehicle due to the yaw moment that is generated by the vehicle behavior control means.

9. A method for preventing lane deviation of a vehicle comprising:

detecting a running lane of the vehicle;

detecting a running condition of the vehicle;

judging based on the detected running lane and the detected running condition whether the vehicle has a tendency to deviate from the running lane; and

controlling a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane in accordance with the detected running condition when the vehicle is judged to have a tendency to deviate from the running lane;

wherein the detecting of the running lane comprises detecting the running lane based on a variation in a running direction of the vehicle due to the yaw moment generated by the controlling of the behavior of the vehicle.

10. A method according to claim 9, further comprising detecting a steering condition parameter, wherein the detecting of the running lane comprises correcting the detected steering condition parameter by a steering condition parameter equivalent to the yaw moment generated by the controlling of the vehicle behavior and detecting the running lane based on the corrected steering condition parameter.

11. A method according to claim 9, further comprising detecting a steering angle of a steering wheel, wherein the detecting of the running lane comprises correcting the detected steering angle by a steering angle equivalent to the yaw moment generated by the controlling of the vehicle behavior and detecting the running lane based on the corrected steering angle.

12. A method according to claim 9, wherein the controlling of the vehicle behavior comprises calculating a braking/driving force control amount of each wheel of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane and controlling a braking/driving force of each wheel of the vehicle in accordance with the braking/driving force control amount.