Vehicle drive assist system

• US 20090125204A1
• Filed: 10/17/2008
• Published: 05/14/2009
• Est. Priority Date: 10/18/2007
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Kudo, Shinya
• Granted Patent: US 7,925,415 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• 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 60/00 Drive control systems specially adapted for autonomous road vehicles
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar

Abstract

In automatic steering control, when both a traveling lane and a preceding vehicle are detected, a target position on a first vehicle traveling path based on traveling lane information and a target position on a second vehicle traveling path based on preceding vehicle information are set as a first target position and a second target position, respectively. When the second target position is set farther than the first target position, the correction amount of the distance between the first target position and the second vehicle traveling path is set in accordance with the distance difference in the front-rear direction between the first and second target positions, and a third target position is set by correcting the first target position by the correction amount so as to become closer to the second vehicle traveling path. The steering control amount is calculated on the basis of the third target position.

Claims

1. A vehicle drive assist system comprising:

traveling-lane information detecting unit configured to detect information about a forward traveling lane;

preceding-vehicle information detecting unit configured to detect information about a preceding vehicle;

first-target-position setting unit configured to set a target position on a first vehicle traveling path based on the information about the forward traveling lane as a first target position;

second-target-position setting unit configured to set a target position on a second vehicle traveling path based on the information about the preceding vehicle as a second target position;

third-target-position setting unit configured to set a correction amount in accordance with a distance difference in a front-rear direction between the second target position and the first target position when the second target position is set farther than the first target position, and configured to set a third target position by performing correction by the correction amount so that the first target position becomes closer to the second vehicle traveling path; and

steering-control-amount calculation unit configured to calculate a steering control amount on the basis of the third target position.

2. The vehicle drive assist system according to claim 1, wherein the third-target-position setting unit sets the second target position as the third target position when the second target position is set closer than the first target position.

3. The vehicle drive assist system according to claim 1, wherein the third-target-position setting unit sets the correction amount so that the correction amount decreases as the distance difference in the front-rear direction between the second target position and the first target position increases.

4. The vehicle drive assist system according to claim 2, wherein the third-target-position setting unit sets the correction amount so that the correction amount decreases as the distance difference in the front-rear direction between the second target position and the first target position increases.

5. A vehicle drive assist system comprising:

traveling-lane information detecting means for detecting information about a forward traveling lane;

preceding-vehicle information detecting means for detecting information about a preceding vehicle;

first-target-position setting means for setting a target position on a first vehicle traveling path based on the information about the forward traveling lane as a first target position;

second-target-position setting means for setting a target position on a second vehicle traveling path based on the information about the preceding vehicle as a second target position;

third-target-position setting means for setting a correction amount in accordance with a distance difference in a front-rear direction between the second target position and the first target position when the second target position is set farther than the first target position, and for setting a third target position by performing correction by the correction amount so that the first target position becomes closer to the second vehicle traveling path; and

steering-control-amount calculation means for calculating a steering control amount on the basis of the third target position.