Vehicle control apparatus

• US 9,043,092 B2
• Filed: 02/26/2013
• Issued: 05/26/2015
• Est. Priority Date: 02/28/2012
• Status: Active Grant

• Current Assignee: DENSO Corporation, Nippon Soken, Inc.
• Original Assignee: DENSO Corporation, Nippon Soken, Inc.
• Inventors: Ueda, Yusuke, Tominaga, Motonori, Tsuruta, Tomohiko, Hatoh, Takeshi
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US13/777,037
• Publication Number:
  US 20130226406A1
• Time in Patent Office: 819 Days
• Field of Search: 701/41, 701/42, 701/43, 701/44, 701/93, 701/96
• US Class Current: 701/44
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/001 the torque NOT being among the input parameters
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles

Abstract

A vehicle control apparatus capable of automatic steering control while reducing discomfort or stress on vehicle occupants. In the apparatus, a lane detection unit detects a lane in which the vehicle is traveling. An offset setting unit sets an offset within the lane suitable for making a driver feel less stressed. An occupant detection unit detects the presence of a designated occupant of a seat opposite a driver'"'"'s seat. An offset adjustment unit, when the designated occupant is detected, adjusts the offset set by the offset setting unit to be decreased. A vehicle-path estimation unit estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle. An automatic steering control unit automatically controls steering so that the vehicle travels along the estimated vehicle.

Claims

1. A vehicle control apparatus mounted in a vehicle, the apparatus comprising:

a lane detection unit that detects a lane in which the vehicle is driven to travel;

an offset setting unit that sets an offset suitable for making a driver of the vehicle feel less stressed, the offset being a deviation of a lateral position of the vehicle from the middle position of the lane along the lane width direction, the lateral position of the vehicle being the middle position of the vehicle along the vehicle width direction;

an occupant detection unit that detects the presence of a designated occupant in the vehicle other than the driver, the designated occupant being an occupant sitting in a seat laterally opposite a driver'"'"'s seat;

an offset adjustment unit that, when the designated occupant is detected by the occupant detection unit, adjusts the offset set by the offset setting unit such that the lateral position of the vehicle is displaced toward the driver in the lane width direction, in order to make the designated occupant feel less stressed, the offset set by the offset setting unit being set assuming that the designated occupant is absent;

a vehicle-path estimation unit that estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle, the target lateral position of the vehicle being a lateral position offset from the middle position of the lane by the offset set by the offset setting unit or by the offset adjusted by the offset adjustment unit; and

an automatic steering control unit that automatically controls steering so that the vehicle travels along the vehicle path estimated by the vehicle-path estimation unit.

2. The apparatus of claim 1, wherein the seat laterally opposite the driver'"'"'s seat is a front passenger seat of the vehicle.

3. The apparatus of claim 2, wherein

the offset setting unit is configured to set the offset such that a position of the driver along the lane width direction is as close to the middle position of the lane along the lane width direction as possible while a minimum required space is ensured between the vehicle and a front passenger seat side lane demarcation.

4. The apparatus of claim 1, further comprising:

an occupant-state detection unit that determines whether or not the designated occupant is sleeping; and

an inhibition unit that, when it is determined by the occupant-state detection unit that the designated occupant is sleeping, inhibits the offset adjustment unit from adjusting the offset set by the offset setting unit.

5. The apparatus of claim 1, further comprising an eye level estimation unit that estimates an eye level of occupants of the vehicle from vehicle information about a height of the vehicle,

wherein the offset adjustment unit adjusts the offset set by the offset setting unit such that the lateral position of the vehicle is displaced toward the driver in the lane width direction by an increasing amount of lateral distance with a lowering eye level estimated by the eye level estimation unit.

6. The apparatus of claim 1, further comprising a special-occupant detection unit that determines whether or not the designated occupant is a predetermined special occupant,

wherein the offset adjustment unit is configured to, when it is determined by the special-occupant detection unit that the designated occupant is the predetermined special occupant, adjust the offset set by the offset setting unit such that the lateral position of the vehicle is displaced toward the driver in the lane width direction by an increased amount of lateral distance as compared to cases where the designated occupant is not the predetermined special occupant.

7. The apparatus of claim 1, further comprising an obstacle detection unit that detects an off-lane obstacle, the off-lane obstacle being an obstacle outside the lane,

wherein the offset setting unit is configured to set the offset in response to a detection result of the obstacle detection unit.

8. The apparatus of claim 7, wherein the offset setting unit is configured to, in the presence of the off-lane obstacle in a predefined region around the vehicle, set the offset such that a position of the driver along the lane width direction is as close to the middle position of the lane along the lane width direction as possible while at least a predetermined lateral distance is ensured between the off-lane obstacle and the vehicle.

9. The apparatus of claim 1, further comprising a status indication unit that indicates to occupants of the vehicle at least one of an offset adjustment result of the offset adjustment unit and a vehicle path estimation of the vehicle-path estimation unit.

10. The apparatus of claim 1, further comprising an instruction reception unit that receives an instruction of whether to employ an offset adjustment result of the offset adjustment unit,

wherein the vehicle-path estimation unit is configured to estimate the vehicle path based on the offset set by the offset setting unit or the offset adjusted by the offset adjustment unit in accordance with the instruction received via the instruction reception unit.

11. The apparatus of claim 1, wherein when the occupant detection unit does not detect the presence of the designated occupant in the vehicle, the offset adjustment unit adjusts the offset set by the offset setting unit such that the driver is positioned in a vicinity of the middle position of the lane.

12. The apparatus of claim 11, wherein when the occupant detection unit detects the presence of the designated occupant in the vehicle, the offset adjustment unit adjusts the offset set by the offset setting unit such that the seat laterally opposed to the driver'"'"'s seat is at a location closer to the middle position of the lane than a location of the seat laterally opposed to the driver'"'"'s seat when the designated occupant is not detected.

13. The apparatus of claim 1, wherein when the occupant detection unit detects the presence of the designated occupant in the vehicle, the offset adjustment unit adjusts the offset set by the offset selling unit such that the seat laterally opposed to the driver'"'"'s seat is at a location closer to the middle position of the lane than a location of the seat laterally opposed to the driver'"'"'s seat when the designated occupant is not detected.