CN107709140B - 车道脱离抑制装置 - Google Patents

车道脱离抑制装置 Download PDF

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Publication number
CN107709140B
CN107709140B CN201680036812.9A CN201680036812A CN107709140B CN 107709140 B CN107709140 B CN 107709140B CN 201680036812 A CN201680036812 A CN 201680036812A CN 107709140 B CN107709140 B CN 107709140B
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CN
China
Prior art keywords
vehicle
steering angle
lane
control unit
torque
Prior art date
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Active
Application number
CN201680036812.9A
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English (en)
Chinese (zh)
Other versions
CN107709140A (zh
Inventor
达川淳平
衣笠荣信
奥田裕宇二
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Publication of CN107709140A publication Critical patent/CN107709140A/zh
Application granted granted Critical
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    • 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
    • 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
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • 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
    • 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
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • 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
    • 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
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN201680036812.9A 2015-06-26 2016-06-17 车道脱离抑制装置 Active CN107709140B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015-129175 2015-06-26
JP2015129175A JP6372430B2 (ja) 2015-06-26 2015-06-26 車線逸脱抑制装置
PCT/JP2016/068030 WO2016208497A1 (ja) 2015-06-26 2016-06-17 車線逸脱抑制装置

Publications (2)

Publication Number Publication Date
CN107709140A CN107709140A (zh) 2018-02-16
CN107709140B true CN107709140B (zh) 2020-03-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680036812.9A Active CN107709140B (zh) 2015-06-26 2016-06-17 车道脱离抑制装置

Country Status (5)

Country Link
US (1) US10780916B2 (enExample)
JP (1) JP6372430B2 (enExample)
CN (1) CN107709140B (enExample)
DE (1) DE112016002841B4 (enExample)
WO (1) WO2016208497A1 (enExample)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6413955B2 (ja) 2015-06-30 2018-10-31 株式会社デンソー 逸脱回避装置
JP7102685B2 (ja) * 2017-04-26 2022-07-20 富士通株式会社 波形推定装置、波形推定方法および波形推定プログラム
CN109398355A (zh) * 2017-08-18 2019-03-01 郑州宇通客车股份有限公司 一种用于基于分布式电机驱动车辆的车道保持方法及车辆
JP6954039B2 (ja) * 2017-11-20 2021-10-27 富士通株式会社 波形推定装置、波形推定方法および波形推定プログラム
EP3808621B1 (en) * 2019-01-31 2023-05-24 Nsk Ltd. Actuator control device used in steering of vehicle
JP7116012B2 (ja) * 2019-06-06 2022-08-09 本田技研工業株式会社 車両制御装置、車両、車両制御装置の動作方法およびプログラム
JP7207339B2 (ja) * 2020-01-20 2023-01-18 いすゞ自動車株式会社 車線逸脱防止装置の制御装置
JP7371647B2 (ja) * 2021-03-03 2023-10-31 トヨタ自動車株式会社 車両の制御装置、制御方法、制御プログラム
CN116834825A (zh) * 2022-03-24 2023-10-03 本田技研工业株式会社 电动助力转向装置及其辅助方法
JP7602846B1 (ja) * 2023-04-28 2024-12-19 Ｎｓｋステアリング＆コントロール株式会社 電動パワーステアリング装置の制御装置及び電動パワーステアリング装置
JP2024162315A (ja) * 2023-05-10 2024-11-21 スズキ株式会社 車両の制御装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08286759A (ja) * 1995-04-14 1996-11-01 Fanuc Ltd 静摩擦を補償するロボット駆動制御方法
JP2007331714A (ja) * 2006-06-19 2007-12-27 Toyota Motor Corp 運転支援装置
CN101146705A (zh) * 2005-05-27 2008-03-19 丰田自动车株式会社 车辆脱离防止装置
JP2009227125A (ja) * 2008-03-24 2009-10-08 Mitsubishi Electric Corp 車両用操舵装置
CN101959743A (zh) * 2008-07-11 2011-01-26 丰田自动车株式会社 行驶辅助控制装置
JP2015027837A (ja) * 2013-07-30 2015-02-12 富士重工業株式会社 車線逸脱防止支援装置

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US7444224B2 (en) * 2003-11-14 2008-10-28 Nissan Motor Co., Ltd. Lane departure prevention apparatus
JP4581680B2 (ja) 2004-12-27 2010-11-17 日産自動車株式会社 車線逸脱防止装置
JP4638370B2 (ja) * 2006-03-29 2011-02-23 富士重工業株式会社 車線逸脱防止装置
JP4419997B2 (ja) * 2006-08-28 2010-02-24 トヨタ自動車株式会社 電動パワーステアリング装置
JP4706654B2 (ja) * 2007-03-27 2011-06-22 トヨタ自動車株式会社 衝突回避装置
US7660669B2 (en) * 2007-03-28 2010-02-09 Nissan Technical Center North America, Inc. Lane departure avoidance system
JP5083658B2 (ja) * 2008-03-26 2012-11-28 本田技研工業株式会社 車両用車線認識装置、車両、及び車両用車線認識プログラム
JP2012232704A (ja) 2011-05-09 2012-11-29 Jtekt Corp 車両用操舵装置
JP6011304B2 (ja) 2012-12-15 2016-10-19 マツダ株式会社 車線維持支援装置
DE102014201107B4 (de) * 2013-02-06 2016-02-11 Ford Global Technologies, Llc Verfahren und Vorrichtung zur Beschränkung eines unterstützenden Lenkmoments in einem Lenksystem mit elektronischer Lenkunterstützung
JP2015003566A (ja) 2013-06-19 2015-01-08 トヨタ自動車株式会社 逸脱防止装置
JP2015005193A (ja) * 2013-06-21 2015-01-08 富士重工業株式会社 車両用運転支援装置
JP6112072B2 (ja) * 2014-06-19 2017-04-12 トヨタ自動車株式会社 車両用照明装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08286759A (ja) * 1995-04-14 1996-11-01 Fanuc Ltd 静摩擦を補償するロボット駆動制御方法
CN101146705A (zh) * 2005-05-27 2008-03-19 丰田自动车株式会社 车辆脱离防止装置
JP2007331714A (ja) * 2006-06-19 2007-12-27 Toyota Motor Corp 運転支援装置
JP2009227125A (ja) * 2008-03-24 2009-10-08 Mitsubishi Electric Corp 車両用操舵装置
CN101959743A (zh) * 2008-07-11 2011-01-26 丰田自动车株式会社 行驶辅助控制装置
JP2015027837A (ja) * 2013-07-30 2015-02-12 富士重工業株式会社 車線逸脱防止支援装置

Also Published As

Publication number Publication date
JP6372430B2 (ja) 2018-08-15
US10780916B2 (en) 2020-09-22
WO2016208497A1 (ja) 2016-12-29
JP2017013526A (ja) 2017-01-19
DE112016002841B4 (de) 2022-11-03
DE112016002841T5 (de) 2018-03-08
US20180170424A1 (en) 2018-06-21
CN107709140A (zh) 2018-02-16

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