DRIVING ASSISTANCE DEVICE

• US 20170349212A1
• Filed: 06/02/2017
• Published: 12/07/2017
• Est. Priority Date: 06/02/2016
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Oshida, Kei, Nishiguchi, Haruhiko, Fujii, Satoshi, Kubota, Daisuke, Arakawa, Ryohsaku
• Granted Patent: US 10,501,122 B2
• Time in Patent Office: Days
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G01L 5/221 to steering wheels, e.g. for power assisted steering

Abstract

An RDM controller executes RDM control (steering suppression control). However, the RDM controller does not execute RDM control in cases in which lane changing has been determined to be possible by a LC determination section and a torque sensor has detected a steering input of a predetermined amount or greater.

Claims

1. A driving assistance device comprising:

a recognition controller configured to recognize lane markings and objects nearby a vehicle;

a lane change determination controller configured to determine whether or not a lane changing is possible based on a recognition result of the recognition controller;

an automatic lane change controller configured to, when the lane changing has been determined to be possible by the lane change determination controller and an operation to a direction indicator has been detected, execute an automatic lane change control of the vehicle in a direction indicated by the operation;

a torque sensor configured to detect a steering torque and a steering direction; and

a steering suppression controller configured to execute a steering suppression control,

wherein the steering suppression controller does not execute the steering suppression control when the lane changing has been determined to be possible by the lane change determination controller and the torque sensor has detected a predetermined steering input torque or greater.

2. The driving assistance device according to claim 1, wherein the automatic lane change controller switches the automatic lane change control in an enabled state when the lane changing has been determined to be possible by the lane change determination controller and the steering input has been detected to be greater than or equal to a first torque based on a detection result of the torque sensor.

3. The driving assistance device according to claim 2, wherein, after detection of the steering input, the automatic lane change controller starts the automatic lane change control of the vehicle along the steering direction at a time when the steering torque has been detected to be a value less than or equal to a second torque not greater than the first torque.

4. The driving assistance device according to claim 2, wherein:

the automatic lane change controller switches the automatic lane change control of the vehicle along the steering direction in a non-enabled state when the steering input torque has been detected to be greater than or equal to a third torque that is greater than the first torque based on a detection result of the torque sensor.

5. The driving assistance device according to claim 4, wherein, after switching the automatic lane change control in the non-enabled state, the automatic lane change controller switches the automatic lane change control in the enabled state when the vehicle has been detected to be straddling a lane or the vehicle has been detected to have moved sideways by a predetermined distance or greater based on a recognition result of the recognition controller.

6. The driving assistance device according to claim 5, wherein, after the vehicle has been detected to be straddling the lane or the vehicle has been detected to have moved sideways by the predetermined distance or greater, the automatic lane change controller starts the automatic lane change control when the steering torque has been detected to be a value less than or equal to a fourth torque not greater than the third torque.

7. The driving assistance device according to claim 1, wherein the steering suppression controller stops the steering suppression control when the lane changing has been determined to be possible by the lane change determination controller and the torque sensor has detected the predetermined steering input torque or greater during time that the steering suppression controller is executing the steering suppression control.

8. The driving assistance device according to claim 1, wherein the steering suppression control assists the vehicle to stay traveling in the current lane.

9. The driving assistance device according to claim 1, wherein the steering suppression control includes at least one of a road departure mitigation control and a lane departure warning control.

10. The driving assistance device according to claim 1, further comprising a lane keeping assist controller configured to execute a lane keeping assist control,

wherein the lane keeping assist controller stops the lane keeping assist control when the lane changing has been determined to be possible by the lane change determination controller and the torque sensor has detected a predetermined steering input torque or greater during time that the lane keeping assist controller is executing the lane keeping assist control.

11. The driving assistance device according to claim 3, wherein the second torque is lower than the first torque.

12. The driving assistance device according to claim 6, wherein the fourth torque is lower than the third torque.

13. A vehicle control method executed by an on-board computer, the method comprising steps of:

recognizing lane markings and objects nearby a vehicle;

determining whether or not a lane changing is possible based on a recognition result of the recognizing step;

executing, when the lane changing has been determined to be possible and an operation to a direction indicator has been detected, an automatic lane change control of the vehicle in a direction indicated by the operation;

detecting a steering torque and a steering direction by a torque sensor; and

executing a steering suppression control and stopping the steering suppression control when the lane changing has been determined to be possible and the torque sensor has detected a predetermined steering input torque or greater.

14. A non-transitory computer readable medium storing a vehicle control program for causing an on-board computer to execute processing, the processing comprising steps of:

recognizing lane markings and objects nearby a vehicle;

determining whether or not a lane changing is possible based on a recognition result of the recognizing step;

executing, when the lane changing has been determined to be possible and an operation to a direction indicator has been detected, an automatic lane change control of the vehicle in a direction indicated by the operation;

detecting a steering torque and a steering direction by a torque sensor; and

executing a steering suppression control and stopping the steering suppression control when the lane changing has been determined to be possible and the torque sensor has detected a predetermined steering input torque or greater.