JP7477236B2 - 車線逸脱抑制制御装置 - Google Patents
車線逸脱抑制制御装置 Download PDFInfo
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- JP7477236B2 JP7477236B2 JP2020144270A JP2020144270A JP7477236B2 JP 7477236 B2 JP7477236 B2 JP 7477236B2 JP 2020144270 A JP2020144270 A JP 2020144270A JP 2020144270 A JP2020144270 A JP 2020144270A JP 7477236 B2 JP7477236 B2 JP 7477236B2
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- steering
- lane
- prevention control
- departure prevention
- steering angle
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- 230000002265 prevention Effects 0.000 title claims description 80
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 description 22
- 238000000034 method Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 21
- 230000036461 convulsion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000001629 suppression Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0071—Controller overrides driver automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
2…ステアリング機構、
3…タイロッド、
4…ハンドル、
5…ステアリング軸、
6…EPS装置、
7…EPSモータ、
11…車線逸脱抑制制御装置、
11a…横位置演算部、
11b…逸脱判定演算部、
11c…逸脱抑制制御演算部、
11d…操舵トルク演算部、
12…操舵トルクセンサ、
13…車速センサ、
14…ヨーレートセンサ、
15…操舵角センサ、
21…カメラユニット、
22…車載カメラ、
22a…メインカメラ、
22b…サブカメラ、
23…画像処理部、
24…車線認識部、
Co…制御開始横位置、
FL,FR…左右前輪、
Fc…逸脱抑制制御フラグ、
Mm…車幅、
RL,RR…左右後輪、
T0~T5…経過時間、
Ts…操舵トルク、
Tso…オーバライド判定しきい値、
Wm…車幅、
a…横加加速度、
ae…終了時横加速度、
ao…初期横加速度、
astd…制御標準横加速度、
Δθ…差分、
θo…目標操舵角、
θst…実操舵角
Claims (3)
- 自車両前方の走行環境を認識し、認識した前記走行環境に基づいて前記自車両が走行する車線の左右を区画する区画線を検出する走行環境認識部と、
運転者のハンドル操作による実操舵角を検出する操舵角検出部と、
前記自車両の挙動を検出する車両挙動検出部と、
前記走行環境認識部で検出した左右の前記区画線と前記車両挙動検出部で検出した前記自車両の挙動とに基づいて該自車両が前記区画線から逸脱するか否かを予測する予測逸脱判定部と、
前記予測逸脱判定部で前記自車両が前記区画線から逸脱すると予測した場合、前記自車両の前記区画線からの逸脱を抑制する目標操舵角を設定して車線逸脱抑制制御を実行する車線逸脱抑制制御部と、
前記車線逸脱抑制制御部で前記目標操舵角を設定した際に、前記運転者のハンドル操作による操舵オーバライドの有無を調べる操舵オーバライド判定部と
を備える車線逸脱抑制制御装置において、
前記車線逸脱抑制制御部は、前記操舵オーバライド判定部が車線復帰方向への前記操舵オーバライドを検出し、且つ前記目標操舵角が前記操舵角検出部で検出した前記実操舵角に対して切り戻し方向にあると判定した場合、該目標操舵角を、前記運転者のハンドル操作をアシストする方向に設定する
ことを特徴とする車線逸脱抑制制御装置。 - 前記車線逸脱抑制制御部は、前記目標操舵角を前記実操舵角よりも所定角度だけ切り増し方向に設定することで前記運転者のハンドル操作をアシストする
ことを特徴とする請求項1記載の車線逸脱抑制制御装置。 - 前記車線逸脱抑制制御部は、前記操舵オーバライド判定部が前記操舵オーバライドを検出した場合であっても前記車線逸脱抑制制御を継続させる
ことを特徴とする請求項1或いは2記載の車線逸脱抑制制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020144270A JP7477236B2 (ja) | 2020-08-28 | 2020-08-28 | 車線逸脱抑制制御装置 |
CN202110842164.9A CN114104101A (zh) | 2020-08-28 | 2021-07-26 | 车道偏离抑制控制装置 |
US17/459,755 US11814099B2 (en) | 2020-08-28 | 2021-08-27 | Lane departure prevention control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020144270A JP7477236B2 (ja) | 2020-08-28 | 2020-08-28 | 車線逸脱抑制制御装置 |
Publications (2)
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JP2022039311A JP2022039311A (ja) | 2022-03-10 |
JP7477236B2 true JP7477236B2 (ja) | 2024-05-01 |
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JP2020144270A Active JP7477236B2 (ja) | 2020-08-28 | 2020-08-28 | 車線逸脱抑制制御装置 |
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Country | Link |
---|---|
US (1) | US11814099B2 (ja) |
JP (1) | JP7477236B2 (ja) |
CN (1) | CN114104101A (ja) |
Families Citing this family (1)
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KR20220164855A (ko) * | 2021-06-04 | 2022-12-14 | 현대자동차주식회사 | 차로 유지 제어 장치, 그를 포함한 차량 시스템 및 그 방법 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007326447A (ja) | 2006-06-07 | 2007-12-20 | Toyota Motor Corp | 走行支援装置 |
JP2013075600A (ja) | 2011-09-30 | 2013-04-25 | Nissan Motor Co Ltd | 車両用走行制御装置 |
JP2015189404A (ja) | 2014-03-28 | 2015-11-02 | マツダ株式会社 | 車線維持制御装置 |
JP2020040580A (ja) | 2018-09-12 | 2020-03-19 | 株式会社Subaru | 車線維持制御装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3599144B2 (ja) * | 1996-05-09 | 2004-12-08 | 本田技研工業株式会社 | 車両用操舵支援装置 |
CN102448798B (zh) * | 2009-04-10 | 2014-07-30 | 丰田自动车株式会社 | 车辆的控制装置 |
JP6790558B2 (ja) * | 2016-08-02 | 2020-11-25 | いすゞ自動車株式会社 | 補助力制御装置及び補助力制御方法 |
JP2018103766A (ja) * | 2016-12-26 | 2018-07-05 | トヨタ自動車株式会社 | 車両の車線変更支援装置 |
JP6572880B2 (ja) * | 2016-12-28 | 2019-09-11 | トヨタ自動車株式会社 | 運転支援装置 |
JP6547767B2 (ja) | 2017-01-17 | 2019-07-24 | トヨタ自動車株式会社 | 車線内走行支援装置 |
JP7106884B2 (ja) * | 2018-02-19 | 2022-07-27 | 株式会社デンソー | 車両の運転支援制御装置、車両の運転支援制御方法および運転支援システム |
CN112585050B (zh) * | 2019-01-31 | 2024-02-27 | 日本精工株式会社 | 用于车辆转向的致动器控制装置 |
IT201900013086A1 (it) * | 2019-07-26 | 2021-01-26 | Fiat Ricerche | Personalizzazione del cambio di corsia di marcia in guida autonoma degli autoveicoli sulla base delle abitudini di guida dei conducenti |
GB2586976B (en) * | 2019-09-10 | 2022-08-03 | Jaguar Land Rover Ltd | Steering torque assist method and apparatus |
JP7272255B2 (ja) * | 2019-12-16 | 2023-05-12 | トヨタ自動車株式会社 | 運転支援装置 |
JP7351797B2 (ja) * | 2020-06-02 | 2023-09-27 | トヨタ自動車株式会社 | 車両制御装置及び車両制御方法 |
-
2020
- 2020-08-28 JP JP2020144270A patent/JP7477236B2/ja active Active
-
2021
- 2021-07-26 CN CN202110842164.9A patent/CN114104101A/zh active Pending
- 2021-08-27 US US17/459,755 patent/US11814099B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007326447A (ja) | 2006-06-07 | 2007-12-20 | Toyota Motor Corp | 走行支援装置 |
JP2013075600A (ja) | 2011-09-30 | 2013-04-25 | Nissan Motor Co Ltd | 車両用走行制御装置 |
JP2015189404A (ja) | 2014-03-28 | 2015-11-02 | マツダ株式会社 | 車線維持制御装置 |
JP2020040580A (ja) | 2018-09-12 | 2020-03-19 | 株式会社Subaru | 車線維持制御装置 |
Also Published As
Publication number | Publication date |
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CN114104101A (zh) | 2022-03-01 |
US20220063722A1 (en) | 2022-03-03 |
US11814099B2 (en) | 2023-11-14 |
JP2022039311A (ja) | 2022-03-10 |
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