Steering assist system in a vehicle

• US 6,092,619 A
• Filed: 05/07/1997
• Issued: 07/25/2000
• Est. Priority Date: 05/09/1996
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Hashimoto, Kenshiro, Nishikawa, Masao
• Primary Examiner(s): Swann, J. J.
• Assistant Examiner(s): Cuff, Michael
• Application Number:
  US08/852,844
• Time in Patent Office: 1,175 Days
• Field of Search: 180/167, 180/168, 180/169, 180/443, 180/446, 180/402, 180/403, 180/204, 74/41, 74/42, 701/41, 701/28
• US Class Current: 180/446
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60W 2540/18 Steering angle
• 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 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A steering assist system in a vehicle, wherein the traveling of a vehicle along a reference lane can be realized by applying a reference induction force determined in accordance with the magnitude and direction of a deviation of the subject vehicle from a reference target course (zone) established within the reference lane, and moreover, the lane change can be easily and naturally performed by a driver. A second target course (zone) is established in a second lane along which the vehicle travels after the lane change. A second induction force applied to a steering means to realize the traveling of the vehicle along the second lane is set in accordance with the magnitude and direction of a deviation of the subject vehicle from the second target course (zone). The reference target course (zone) and the second target course (zone) are connected in a connection course (zone) in which the force applied from a driving means to the steering means during the lane change is substantially "0".

Claims

1. A steering assist system in a vehicle having a lane change function during forward traveling of the vehicle, comprising a steering means connected to a steered wheel and also connected to a steering wheel to be able to transmit a torque from said steering wheel, a driving means for operating said steering means, and a control unit having, means for detecting a reference lane on which the vehicle is now traveling forward, based on information of a road ahead of the vehicle to substantially set a reference target course within said reference lane, and applying, to said steering means, a reference induction force determined in accordance with the magnitude and direction of a deviation of the subject vehicle from said reference target course, thereby controlling the operation of said driving means to realize the forward traveling of the vehicle along said reference lane, wherein said control unit includes a means for substantially setting a second target course in a second lane along which the vehicle will be traveling forward after the lane change, a means for determining a second induction force to be applied to said steering means in order to realize the forward traveling of the vehicle along said second lane, in accordance with the magnitude and direction of the deviation of the subject vehicle from said second target course, and a means for connecting said reference target course and said second target course by a connection course with a force applied from said driving means to said steering, means during the lane change being substantially equal to "0".

5. A steering assist system in a vehicle according to claim 1 or 2, wherein said control unit includes an intention perceiving means for perceiving a driver'"'"'s lane change intention, and is arranged to establish said connection course in response to an output from said intention perceiving means.

9. A steering assist system in a vehicle according to claim 1 or 2, wherein said connection course is comprised of a line having a predetermined width.

10. A steering assist system in a vehicle according to claim 1 or 2, wherein said connection course is established on the side of said second lane from said reference target course or on the side of said reference lane from said second target course.

11. A steering assist system in a vehicle according to claim 1 or 2, wherein the width of said connection course is determined so that it is narrowed with the advance of the lane change.

12. A steering assist system in a vehicle according to claim 1 or 2, wherein said control unit is arranged to apply an induction force for guiding the subject vehicle deviated from said connection course to said steering means in accordance with the distance from said connection course to the position of the subject vehicle.

13. A steering assist system in a vehicle according to claim 5, wherein said control unit is arranged to widen said connection course from the side of said reference target course toward the second target course simultaneously with the perceiving of the driver'"'"'s lane change intention by said intention perceiving means or after a lapse of a predetermined time from said perceiving of the driver'"'"'s lane change intention.

14. A steering assist system in a vehicle according to claim 5, wherein said control unit is arranged to expand said connection course from the side of said reference target course toward the second target course at a predetermined speed in response to the perceiving of the driver'"'"'s lane change intention by said intention perceiving means.

18. A steering assist system in a vehicle according to any of claims 1 to 4, wherein said control unit is arranged to change the extent of the relation between the deviation of the subject vehicle from said reference target course and the reference induction force, when the reference induction force is weakened during the lane change.

19. A steering assist system in a vehicle according to any of claims 1 to 4, wherein said control unit is arranged to determine a reference induction force related to a predetermined extent of relation in an area in which the deviation of the subject vehicle from said reference target course (zone) exceeds a reference value and to increase said reference value when the reference induction force is weakened during the lane change.

30. A steering assist system in a vehicle according to claim 5, wherein the criterion of determination in the intention perceiving means is the operation of the blinker provided by the driver.

31. A steering assist system in a vehicle according to claim 5, wherein the criterion of determination in the intention perceiving means is in that the deviation of the subject vehicle is equal to or larger than a first predetermined value, or in that the state in which the deviation of the subject vehicle from said reference target course is equal to or larger than the first predetermined value is continued for a predetermined time or more.

32. A steering assist system in a vehicle according to claim 5, wherein the criterion of determination in the intention perceiving means is in that at least a portion of the subject vehicle exists on said second lane.

33. A steering assist system in a vehicle according to claim 5, further including a steering force detecting means for detecting a steering force, and wherein the criterion of determination in the intention perceiving means is in that the detection value detected by said steering force detecting means is equal to or larger than a predetermined value, or in that the detection value detected by said steering force detecting means is equal to or larger than the predetermined value continuously for the predetermined time or more.

34. A steering assist system in a vehicle according to claim 5, further including a steering speed detecting means for detecting a steering speed, and wherein the criterion of determination in the intention perceiving means is in that the detection value detected by said steering speed detecting means is equal to or larger than a predetermined value.

35. A steering assist system in a vehicle according to claim 5, further including a course-maintaining steering angle calculating means for calculating a steering angle required for maintaining the relationship in relative position between said reference lane and the subject vehicle, and a steering angle detecting means for detecting a current steering angle, and wherein the criterion of determination in said intention perceiving means is in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is equal to or larger than a predetermined value, or in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is equal to or larger than the predetermined value continuously for a predetermined time or more.

36. A steering assist system in a vehicle according to claim 5, wherein the criterion of determination in said intention perceiving means is in that the deviation of the subject vehicle from said reference target course is increased or not decreased.

2. A steering assist system in a vehicle having a lane change function during forward traveling of the vehicle, comprising a steering means connected to a steered wheel and also connected to a steering wheel to be able to transmit a torque from said steering wheel, a driving means for operating said steering means, and a control unit having means for detecting a reference lane on which the vehicle is now traveling forward, based on an information of a road ahead of the vehicle to substantially set a reference target course within said reference lane, and applying, to said steering means, a reference induction force determined in accordance with the magnitude and direction of a deviation of the subject vehicle from said reference target course, thereby controlling the operation of said driving means to realize the forward traveling of the vehicle along said reference lane, wherein said control unit includes a lane change confirming means for confirming the substantial execution, non-execution and completion of the lane change while the vehicle is traveling forward, a means for substantially setting a second target course in a second lane along which the vehicle will be traveling forward after the lane change, a means for determining a second induction force to be applied to said steering means in order to realize the forward traveling of the vehicle along said second lane, in accordance with the magnitude and direction of the deviation of the subject vehicle from said second target course, and a means for connecting said reference target course and said second target course by a connection course with a force applied from said driving means to said steering means during the lane change being substantially equal to "0" and for changing said connection course in accordance with the result of the confirmation by said lane change confirming means.

6. A steering assist system in a vehicle according to claim 2, wherein said control unit is arranged to eliminate said connection course in response to the confirmation of the substantial completion and non-execution of the lane change by said lane change confirming means.

15. A steering assist system in a vehicle according to claim 2, wherein said control unit is arranged to reduce the width of said connection course toward said second target course in response to the confirmation of the substantial execution or completion of the lane change by said lane change confirming means.

16. A steering assist system for a vehicle according to claim 2, wherein said control unit is arranged to reduce the width of said connection course toward said reference target course in response to the confirmation of the substantial execution or completion of the lane change by said lane change confirming means.

17. A steering assist system in a vehicle according to claim 15 or 16, wherein said control unit is arranged to reduce the width of said connection course at a constant speed or at predetermined speeds varied at a plurality of stages.

20. A steering assist system in a vehicle according to claim 2 or 4, wherein said control unit is arranged to increase the second induction force on said reference lane in response to the confirmation of the substantial execution or completion of the lane change by said lane change confirming means.

23. A steering assist system in a vehicle according to claim 2 or 4, wherein said control unit includes an intention perceiving means for perceiving a driver'"'"'s lane change intention, and is arranged to decrease said reference induction force at least on said second lane in response to the perceiving of the driver'"'"'s lane change intention by said intention perceiving means, and to increase said second induction force at least on said reference lane in response to the confirmation of the substantial execution or completion of the lane change by said lane change confirming means.

26. A steering assist system in a vehicle according to claim 23, wherein said control unit is arranged to carry out the decreasing of said reference induction force and the increasing of said second induction force according to a predetermined time schedule.

27. A steering assist system in a vehicle according to claim 2 or 4, wherein said control unit is arranged to replace said second lane by the reference lane, or replace said second target course by said reference target course in response to the confirmation of the substantial completion of the lane change by said lane change confirming means.

28. A steering assist system in a vehicle according to claim 2 or 4, wherein said control unit is arranged to enable the reduction of said connection course in response to the confirmation of the substantial completion of the lane change by said lane change confirming means, and to carry out the replacement of said second lane by the reference lane or the replacement of said second target course by said reference target course after completion of the reduction of said connection course (zone).

29. A steering assist system in a vehicle according to claim 20, wherein said control unit is arranged to replace said second lane by the reference lane, or replace said second target course by said reference target course after completion of the increasing of the second induction force.

37. A steering assist system in a vehicle according to claim 2 or 4, wherein the criterion of confirmation of the substantial execution by said lane change confirming means is the canceling of the blinker.

38. A steering assist system in a vehicle according to claim 2 or 4, wherein the criterion of confirmation of the substantial execution by said lane change execution confirming means is in that the deviation of the subject vehicle from said reference target course is equal to or larger than the second predetermined value.

39. A steering assist system in a vehicle according to claim 2 or 4, wherein the criterion of confirmation of the substantial execution by said lane change execution confirming means is in that the deviation of the subject vehicle from said reference target course is increased or not decreased.

40. A steering assist system in a vehicle according to claim 2 or 4, wherein the criterion of confirmation of the substantial completion by said lane change execution confirming means is in that the deviation of the subject vehicle from said second target course is equal to or smaller than a predetermined value, or in that the deviation of the subject vehicle from said reference target course is equal to or larger than a predetermined value.

41. A steering assist system in a vehicle according to claim 2 or 4, further including a course-maintaining steering angle calculating means for calculating a steering angle required for maintaining the relationship in relative position between said second lane and the subject vehicle, and a steering angle detecting means for detecting a current steering angle, and wherein the criterion of confirmation of the substantial completion by said lane change confirming means is in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is smaller than a predetermined value.

42. A steering assist system in a vehicle according to claim 2 or 4, wherein the criterion of confirmation of the substantial non-execution by said lane change confirming means is in that the deviation of the subject vehicle from the reference target course is smaller than a predetermined value during canceling of the blinker, or in that the deviation of the subject vehicle from said reference target course is decreased after canceling of the blinker.

43. A steering assist system in a vehicle according to claim 2 or 4, wherein the criterion of confirmation of the substantial non-execution by said lane change confirming means is in that the deviation of the subject vehicle from the reference target course is increased to exceed a predetermined value and then decreased to smaller than said predetermined value, or in that the deviation of the subject vehicle from the reference target course is increased to exceed a predetermined value and then decreased to smaller than another predetermined value smaller than said predetermined value smaller.

44. A steering assist system in a vehicle according to claim 2 or 4, further including a course-maintaining steering angle calculating means for calculating a steering angle required for maintaining the relationship in relative position between said reference lane and the subject vehicle, and a steering angle detecting means for detecting a current steering angle, and wherein the criterion of confirmation of the substantial non-execution by said lane change confirming means is in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is increased to exceed a predetermined value and then decreased to smaller than said predetermined value, or in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is increased to exceed a predetermined value and then decreased to smaller than another predetermined value smaller than said predetermined value smaller.

45. A steering assist system in a vehicle according to claim 2 or 4, further including a course-maintaining steering angle calculating means for calculating a steering angle required for maintaining the relationship in relative position between said reference lane and the subject vehicle, and a steering angle detecting means for detecting a current steering angle, and wherein the criterion of confirmation of the substantial non-execution by said lane change confirming means is in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is equal to or smaller than a predetermined value during canceling of the blinker.

3. A steering assist system in a vehicle having a lane change function during forward traveling of the vehicle, comprising a steering means connected to a steered wheel and also connected to a steering wheel to be able to transmit a torque from said steering wheel, a driving means for operating said steering means, and a control unit having means for detecting at least a reference lane on which the vehicle is now traveling forward, based on an information of a road ahead of the vehicle to substantially set a reference target course within said reference lane, and applying, to said steering means, a reference induction force determined in accordance with the magnitude and direction of a deviation of the subject vehicle from said reference target course, thereby controlling the operation of said driving means to realize the forward traveling of the vehicle along said reference lane, wherein said control unit includes a means for substantially setting a second target course in a second lane along which the vehicle will be traveling forward after the lane change, a means for determining a second induction force to be applied to said steering means in order to realize the forward traveling of the vehicle along said second lane, in accordance with the magnitude and direction of the deviation of the subject vehicle from said second target course, and a means for weakening at least one of said reference induction force and said second induction force on said second lane during the lane change.

7. A steering assist system in a vehicle according to claim 3 or 4, wherein said control unit includes an intention perceiving means for perceiving a driver'"'"'s lane change intention, and is arranged to start the weakening of at least one of said reference induction force and said second induction force on said second lane in response to an output from said intention perceiving means.

22. A steering assist system in a vehicle according to claim 7, wherein said control unit is arranged to decrease said reference induction force at least on said second lane and to increase said second induction force at least on said reference lane in response to the perceiving of the driver'"'"'s lane change intention by said intention perceiving means.

46. A steering assist system in a vehicle according to claim 7, wherein the criterion of determination in the intention perceiving means is the operation of the blinker provided by the driver.

47. A steering assist system in a vehicle according to claim 7, wherein the criterion of determination in the intention perceiving means is in that the deviation of the subject vehicle is equal to or larger than a first predetermined value, or in that the state in which the deviation of the subject vehicle from said reference target course is equal to or larger than the first predetermined value is continued for a predetermined time or more.

48. A steering assist system in a vehicle according to claim 7, wherein the criterion of determination in the intention perceiving means is in that at least a portion of the subject vehicle exists on said second lane.

49. A steering assist system in a vehicle according to claim 7, further including a steering force detecting means for detecting a steering force, and wherein the criterion of determination in the intention perceiving means is in that the detection value detected by said steering force detecting means is equal to or larger than a predetermined value, or in that the detection value detected by said steering force detecting means is equal to or larger than the predetermined value continuously for the predetermined time or more.

50. A steering assist system in a vehicle according to claim 7, further including a steering speed detecting means for detecting a steering speed, and wherein the criterion of determination in the intention perceiving means is in that the detection value detected by said steering speed detecting means is equal to or larger than a predetermined value.

51. A steering assist system in a vehicle according to claim 7, further including a course-maintaining steering angle calculating means for calculating a steering angle required for maintaining the relationship in relative position between said reference lane and the subject vehicle, and a steering angle detecting means for detecting a current steering angle, and wherein the criterion of determination in said intention perceiving means is in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is equal to or larger than a predetermined value, or in that the difference between outputs from said course-maintaining steering angle calculating means and said steering angle detecting means is equal to or larger than the predetermined value continuously for a predetermined time or more.

52. A steering assist system in a vehicle according to claim 7, wherein the criterion of determination in said intention perceiving means is in that the deviation of the subject vehicle from said reference target course is increased or not decreased.

4. A steering assist system in a vehicle having a lane change function during forward traveling of the vehicle, comprising a steering means connected to a steered wheel and also connected to a steering wheel to be able to transmit a torque from said steering wheel, a driving means for operating said steering means, and a control unit having means for detecting at least a reference lane on which the vehicle is now traveling forward, based on an information of a road ahead of the vehicle to substantially set a reference target course within said reference lane, and applying, to said steering means, a reference induction force determined in accordance with the magnitude and direction of a deviation of the subject vehicle from said reference target course, thereby controlling the operation of said driving means to realize the forward traveling of the vehicle along said reference lane, wherein said control unit includes a lane change confirming means for confirming the substantial execution, non-execution and completion of the lane change, while the vehicle is traveling forward a means for substantially setting a second target course in a second lane along which the vehicle will be traveling forward after the lane change, a means for determining a second induction force to be applied to said steering means in order to realize the forward traveling of the vehicle along said second lane, in accordance with the magnitude and direction of the deviation of the subject vehicle from said second target course, and a means for weakening at least one of said reference induction force and said second induction force on said second lane during the lane change and for changing the situation of said weakening of the induction force in accordance with the result of said confirmation provided by said lane change confirming means.

8. A steering assist system in a vehicle according to claim 4, wherein said control unit is arranged to restore the reference induction force or the second induction force weakened once in response to the confirmation of the substantial completion and non-execution of the lane change by said lane change confirming means.

24. A steering assist system in a vehicle according to claim 8, wherein said control unit is arranged to strengthen the extent of the relation between the deviation of the subject vehicle from said reference target course and the reference induction force, when the reference induction force is restored to an initial value.

25. A steering assist system in a vehicle according to claim 8, wherein said control unit is arranged to determine a reference induction force related to the deviation of the subject vehicle from said reference target course in a predetermined extent of relation in an area in which said deviation of the subject vehicle exceeds a reference value, and to decrease said reference value, when the reference induction force is restored to an initial value.

21. A steering assist system in a vehicle according to 1 or 2, wherein said control unit is arranged to increase said second induction force at least on said reference lane after a lapse of a predetermined time from the establishment of said connection course.

53. A steering assist system in a vehicle having a lane change function during forward traveling of the vehicle, comprising a steering means for steering the vehicle by applying an induction force, and a control unit for applying to said steering means a reference induction force for causing the vehicle to travel along a reference lane while the vehicle is traveling forward, said control unit having means for determining a lane-change induction force to be applied to said steering for causing the vehicle to change lanes to travel forward along a new lane, in accordance with the magnitude and direction of the deviation of the vehicle from said new lane, said control unit having means for controlling said reference induction force and said lane-change induction force for allowing a driver of the vehicle to manually steer the vehicle from the reference lane to the new lane while traveling forward without a force above a predetermined level being applied on said steering means by said reference induction force and said lane-change induction force.