RUNNING CONTROL DEVICE, AND RUNNING CONTROL METHOD
First Claim
1. A running control device comprising:
- a lateral object detecting means that detects a lateral object which exists on a side of a vehicle;
a later-arriving position estimating means that estimates a later-arriving lateral position at which the vehicle arrives after a lapse of a predetermined time, with respect to a traffic lane;
a running controlling means that suppresses a lateral movement of the vehicle in a direction to a side of the lateral object when judging that the later-arriving lateral position estimated by the later-arriving position estimating means reaches a position of the lateral object side with respect to a predetermined lateral position under a condition in which the lateral object detecting means detects the lateral object;
an avoidance movement detecting means that detects that the vehicle laterally moves in a direction opposite to the side of the lateral object; and
a restricting means that restricts the suppression of the lateral movement executed by the running controlling means after the avoidance movement detecting means detects the lateral movement of the vehicle.
1 Assignment
0 Petitions
Accused Products
Abstract
[Object] An object of the present invention is to restrict an unnecessary control intervention at a scene where a vehicle avoids an obstacle etc. ahead of the vehicle by steering.
[Means to Solve] A lateral object that exists on a side of the vehicle is detected (step S3), a later-arriving lateral position Xf at which the vehicle arrives after a lapse of a headway time Tt, with respect to a traffic lane, is estimated, and when the later-arriving lateral position Xf reaches a predetermined threshold value XL under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1 (step S6). Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1 (step S7). When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time Tm elapses, then the suppression of the lateral movement is forbidden (step S9).
22 Citations
11 Claims
-
1. A running control device comprising:
-
a lateral object detecting means that detects a lateral object which exists on a side of a vehicle; a later-arriving position estimating means that estimates a later-arriving lateral position at which the vehicle arrives after a lapse of a predetermined time, with respect to a traffic lane; a running controlling means that suppresses a lateral movement of the vehicle in a direction to a side of the lateral object when judging that the later-arriving lateral position estimated by the later-arriving position estimating means reaches a position of the lateral object side with respect to a predetermined lateral position under a condition in which the lateral object detecting means detects the lateral object; an avoidance movement detecting means that detects that the vehicle laterally moves in a direction opposite to the side of the lateral object; and a restricting means that restricts the suppression of the lateral movement executed by the running controlling means after the avoidance movement detecting means detects the lateral movement of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A running control method comprising:
-
detecting a lateral object which exists on a side of a vehicle; estimating a later-arriving lateral position at which the vehicle arrives after a lapse of a predetermined time, with respect to a traffic lane; suppressing a lateral movement of the vehicle in a direction to a side of the lateral object when judging that the later-arriving lateral position reaches a predetermined lateral position under a condition in which the lateral object is detected; and restricting the suppression of the lateral movement of the vehicle in the direction to the side of the lateral object when detecting that the vehicle laterally moves in a direction opposite to the side of the lateral object.
-
Specification