Lane following vehicle control and process

• US 6,463,369 B2
• Filed: 06/07/2001
• Issued: 10/08/2002
• Est. Priority Date: 07/07/2000
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kawazoe, Hiroshi, Shimakage, Masayasu, Sadano, On
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/875,157
• Publication Number:
  US 20020007236A1
• Time in Patent Office: 488 Days
• Field of Search: 701/28, 701/41, 701/23, 701/301, 701/96, 180/167, 180/168, 180/169, 348/118, 348/119, 342/70, 342/66, 340/435, 340/436
• US Class Current: 701/28
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers

Abstract

In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in accordance with a sensed longitudinal acceleration of the vehicle.

Claims

1. A lane following vehicle control apparatus for a vehicle, comprising:

a lane sensing section to collect information on a lane of a road ahead of the vehicle;

a steering angle sensing section to sense an actual steering angle of the vehicle;

a longitudinal acceleration sensing section to sense a longitudinal acceleration of the vehicle;

a steering torque producing section to produce an actual steering torque in accordance with a target steering torque to follow the lane;

a steering torque controlling section to set the target steering torque required for the vehicle to follow the lane, in accordance with the information on the lane and the actual steering angle; and

a target steering torque limiting section to limit the target steering torque by setting a target torque limit in accordance with the longitudinal acceleration,

wherein the target steering torque limiting section decreases the target torque limit when the longitudinal acceleration is higher than or equal to a first level.

2. The lane following vehicle control apparatus as claimed in claim 1, wherein the target steering torque limiting section decreases the target torque limit with increase in the longitudinal acceleration when the longitudinal acceleration is higher than or equal to the first level.

3. The lane following vehicle control apparatus as claimed in claim 2, wherein the target steering torque limiting section sets the target torque limit at a minimum limit value when the longitudinal acceleration is higher than or equal to a second level higher than the first level, and decreases the target torque limit from a normal limit value to the minimum value as the longitudinal acceleration increases from the first level to the second level.

4. The lane following vehicle control apparatus as claimed in claim 3, wherein the target steering torque limiting section sets the first level and the second level, respectively, equal to a higher first value and a higher second value when the longitudinal acceleration is increased, and sets the first level and the second level, respectively, equal to a lower first value lower than the higher first value and a lower second value lower than the higher second value when the longitudinal acceleration is decreased.

5. The lane following vehicle control apparatus as claimed in claim 1, wherein the target steering torque limiting section holds the target torque limit at a normal limit value when the absolute value of the longitudinal acceleration is lower than the first level and decreases the target torque limit with an increase in the absolute value of the longitudinal acceleration when the absolute value of the longitudinal acceleration is higher than or equal to the first level.

6. The lane following vehicle control apparatus as claimed in claim 5, wherein the target steering torque limiting section holds the target torque limit at a minimum limit value when the absolute value of the longitudinal acceleration is higher than or equal to a second level higher than the first level, and decreases the target torque limit from the normal limit value to the minimum limit value as the absolute value of the longitudinal acceleration increases from the first level to the second level.

7. The lane following vehicle control apparatus as claimed in claim 1, wherein the steering torque producing section comprises an electric motor to produce the actual steering torque in response to a supply current, and the target steering toque limiting section limits the supply current for the electric motor by setting the target torque limit as an upper limit of the supply current.

8. A lane following vehicle control process comprising:

collecting input information on a vehicle running condition of a vehicle running along a lane, and an actual steering angle of the vehicle;

obtaining a sensed actual longitudinal acceleration of the vehicle;

producing a control signal to produce an actual steering torque in accordance with a target steering torque to follow the lane;

setting the target steering torque to achieve a target steering angle determined in accordance with the vehicle running condition and the actual steering angle to follow the lane; and

limiting the target steering torque by setting a target torque limit in accordance with the longitudinal acceleration, the target torque limit being decreased when the longitudinal acceleration is higher than or equal to a first level.

9. A lane following vehicle control apparatus comprising:

means for collecting input information on a vehicle running condition of a vehicle in relation to a lane;

means for sensing an actual steering angle of the vehicle;

means for sensing a longitudinal acceleration of the vehicle;

means for producing an actual steering torque in accordance with a target steering torque to follow the lane;

means for determining a target steering angle in accordance with the vehicle running condition and the actual steering angle to follow the lane;

means for setting the target steering torque to achieve the target steering angle; and

means for limiting the target steering torque by setting a target torque limit in accordance with the longitudinal acceleration,

wherein the target steering torque limiting means decreases the target torque limit in accordance with the absolute value of longitudinal acceleration, and

wherein the target steering torque limiting means decreases the target torque limit from a normal limit value to a minimum limit value when the absolute value of the longitudinal acceleration increases from a first level to a second level.

10. The lane following vehicle control apparatus as claimed in claim 9, wherein the target steering torque limiting section sets the target torque limit invariably equal to the normal limit value when the absolute value of the longitudinal acceleration is equal to or lower than the first level, and sets the target torque limit invariably equal to the minimum limit value when the absolute value of the longitudinal acceleration is equal to or higher than the second level.