Vehicle driving control apparatus and vehicle driving control method

• US 8,145,385 B2
• Filed: 06/23/2009
• Issued: 03/27/2012
• Est. Priority Date: 07/28/2008
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Sato, Ko, Kobayashi, Masahiro, Hayakawa, Yasuhisa
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US12/489,959
• Publication Number:
  US 20100023218A1
• Time in Patent Office: 1,008 Days
• Field of Search: 701/42, 701/41, 701/117, 701/301, 701/116, 701/36, 701/70, 701/300, 340/435, 340/436, 340/438, 340/995.21, 340/903, 180/280
• US Class Current: 701/42
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

A vehicle driving control apparatus is provided with an obstacle detecting device, a future position estimating device, an obstacle avoidance control device, and a lane change intent detecting device. The obstacle detecting device detects an existence of an obstacle positioned laterally of a host vehicle. The future position estimating device estimates a future position of the host vehicle after a prescribed amount of time. The obstacle avoidance control device executes an obstacle avoidance control. The lane change intent detecting device detects an intent of a driver to effect a lane change and a direction of the intended lane change. Therefore, when it is detected that the driver intends to move to an adjacent lane located on the opposite side of the vehicle as the side containing the obstacle, a control suppressing portion of the obstacle avoidance control device suppresses the obstacle avoidance control.

Claims

1. A vehicle driving control apparatus comprising:

an obstacle detecting device configured to detect an existence of an obstacle positioned laterally of a host vehicle in which the vehicle control apparatus is employed;

a future position estimating device configured to estimate a future position of the host vehicle after a prescribed amount of time;

an obstacle avoidance control device configured to execute an obstacle avoidance control with respect to the host vehicle when the existence of an obstacle is detected by the obstacle detecting device such that the obstacle avoidance control device controls the host vehicle based on the estimated future position to prevent the host vehicle from laterally approaching the obstacle whose existence was detected; and

a lane change intent detecting device configured to detect an intent of a driver to effect a lane change and a direction of the intended lane change,

the obstacle avoidance control device further including a control suppressing portion that suppresses the obstacle avoidance control when the lane change intent detecting device detects that the direction of the intended lane change is the direction of an adjacent lane located on an opposite side of the host vehicle as the side on which the detected obstacle exists.

2. The vehicle driving control apparatus recited in claim 1, wherein

the control suppressing portion is configured to suppress the obstacle avoidance control by shortening the prescribed amount of time such that the obstacle avoidance control is not executed.

3. The vehicle driving control apparatus recited in claim 1, wherein

the control suppressing portion is configured to suppress the obstacle avoidance control by revising a future position of the host vehicle estimated by the future position estimating device.

4. The vehicle driving control apparatus recited in claim 1, wherein

the future position estimating device estimates the future position where the host vehicle will exist after the prescribed amount of time based on a yaw angle, a yaw angle velocity, and a yaw angle acceleration of the host vehicle;

and

the control suppressing portion is configured to suppress the obstacle avoidance control by revising at least one of the yaw angle, yaw angle velocity, and yaw angle acceleration used by the future position estimating device to estimate the future position of the host vehicle.

5. The vehicle driving control apparatus recited in claim 1, wherein

the control suppressing portion suppresses the obstacle avoidance control to a greater degree the smaller the width of a traveling lane in which the vehicle having the control apparatus is traveling.

6. The vehicle driving control apparatus recited in claim 1, wherein

the lane change intent detecting device is configured to detect the intent, of the driver to effect the lane change and the direction of the intended lane change based on a turn signal operation detected by a turn signal switch.

7. The vehicle driving control apparatus recited in claim 1, further comprising

a steering input detecting device configured to detect a steering input performed by the driver,

the lane change intent detecting device being configured to detect the intent of the driver to effect a lane change and the direction of the intended lane change based on the steering input detected by the steering input detecting device.

8. The vehicle driving control apparatus recited in claim 1, further comprising

a viewing direction detecting device configured to detect a viewing direction of the driver,

the lane change intent detecting device being configured to detect the intent of the driver to effect the lane change and the direction of the intended lane change based on the viewing direction detected by the viewing direction detecting device.

9. The vehicle driving control apparatus recited in claim 1, wherein

the lane change intent detecting device is configured to detect the intent of the driver to effect the lane change and the direction of the intended lane change based on route information stored in a navigation system.

10. The vehicle driving control apparatus recited in claim 1, wherein

the obstacle avoidance control device controls the host vehicle such that the host vehicle is prevented from laterally approaching the detected obstacle when a transverse position component of the estimated future position of the host vehicle is closer to the detected obstacle than a prescribed transverse position.

11. A vehicle driving control method performed by vehicle driving control apparatus, the vehicle driving control method comprising:

detecting if an obstacle exists laterally of a host vehicle by using an obstacle detecting device of the vehicle driving control apparatus, which is installed on the host vehicle,

predicting a future position at which the host vehicle will exist after a prescribed amount of time by using the vehicle driving control apparatus;

controlling the host vehicle using the vehicle driving control apparatus based on the predicted future position in order to avoid laterally approaching the detected obstacle;

detecting if a driver of the host vehicle intends to change lanes to an adjacent lane located on an opposite side of the host vehicle as the side on which the detected obstacle exists by using a the vehicle driving control apparatus; and

suppressing the controlling of the host vehicle by the vehicle driving control apparatus upon the vehicle driving control apparatus determining that the host vehicle has been operated in a manner that indicates the driver intends to change lanes to the adjacent lane located on the opposite side of the host vehicle as the side on which the detected obstacle exists.