DE60000766D1 - Seitliche Steuerung zum Folgen einer Fahrspur - Google Patents

Seitliche Steuerung zum Folgen einer Fahrspur

Info

Publication number
DE60000766D1
DE60000766D1 DE60000766T DE60000766T DE60000766D1 DE 60000766 D1 DE60000766 D1 DE 60000766D1 DE 60000766 T DE60000766 T DE 60000766T DE 60000766 T DE60000766 T DE 60000766T DE 60000766 D1 DE60000766 D1 DE 60000766D1
Authority
DE
Germany
Prior art keywords
lane
follow
lateral control
lateral
control
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
DE60000766T
Other languages
English (en)
Other versions
DE60000766T2 (de
Inventor
Shigeki Satoh
Kenya Uenuma
Hiroshi Mouri
Hiroyuki Furusho
Masayasu Shimakage
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.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Application granted granted Critical
Publication of DE60000766D1 publication Critical patent/DE60000766D1/de
Publication of DE60000766T2 publication Critical patent/DE60000766T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Traffic Control Systems (AREA)
DE60000766T 1999-08-02 2000-07-31 Seitliche Steuerung zum Folgen einer Fahrspur Expired - Lifetime DE60000766T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP21917199A JP3529037B2 (ja) 1999-08-02 1999-08-02 車線追従装置

Publications (2)

Publication Number Publication Date
DE60000766D1 true DE60000766D1 (de) 2002-12-19
DE60000766T2 DE60000766T2 (de) 2003-09-18

Family

ID=16731322

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60000766T Expired - Lifetime DE60000766T2 (de) 1999-08-02 2000-07-31 Seitliche Steuerung zum Folgen einer Fahrspur

Country Status (4)

Country Link
US (1) US6473678B1 (de)
EP (1) EP1074904B1 (de)
JP (1) JP3529037B2 (de)
DE (1) DE60000766T2 (de)

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JP3529042B2 (ja) * 2000-10-02 2004-05-24 日産自動車株式会社 車線追従制御装置
JP3783562B2 (ja) * 2000-12-28 2006-06-07 日産自動車株式会社 車両の走行制御装置
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JP4765212B2 (ja) * 2001-07-17 2011-09-07 いすゞ自動車株式会社 自動操舵装置
JP4857494B2 (ja) * 2001-07-17 2012-01-18 いすゞ自動車株式会社 自動操舵装置
JP4622180B2 (ja) * 2001-07-17 2011-02-02 いすゞ自動車株式会社 自動操舵装置
JP3736413B2 (ja) * 2001-09-28 2006-01-18 日産自動車株式会社 車線逸脱防止装置
US8718919B2 (en) 2002-04-23 2014-05-06 Robert Bosch Gmbh Method and apparatus for lane recognition for a vehicle
DE10218010A1 (de) 2002-04-23 2003-11-06 Bosch Gmbh Robert Verfahren und Vorrichtung zur Querführungsunterstützung bei Kraftfahrzeugen
JP3661684B2 (ja) * 2002-11-28 2005-06-15 日産自動車株式会社 車線逸脱防止装置
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US7415335B2 (en) * 2003-11-21 2008-08-19 Harris Corporation Mobile data collection and processing system and methods
JP4161938B2 (ja) 2004-06-01 2008-10-08 トヨタ自動車株式会社 走行制御装置
JP4082388B2 (ja) * 2004-06-01 2008-04-30 トヨタ自動車株式会社 走行制御装置
DE102004052127A1 (de) * 2004-10-27 2006-05-04 Hella Kgaa Hueck & Co. Verfahren zur Spurführung eines straßengebundenen Fahrzeugs
JP4721279B2 (ja) 2006-03-29 2011-07-13 富士重工業株式会社 車線追従支援装置
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
JP4645598B2 (ja) * 2006-05-23 2011-03-09 株式会社デンソー 車両用ブレーキ制御装置
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DE102007043911A1 (de) * 2007-09-14 2009-03-19 Robert Bosch Gmbh Verfahren für die Steuerung eines Fahrerassistenzsystems
JP4995029B2 (ja) * 2007-10-18 2012-08-08 富士重工業株式会社 車両の運転支援装置
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JP5233371B2 (ja) * 2008-04-03 2013-07-10 トヨタ自動車株式会社 車両制御装置
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JP5991340B2 (ja) * 2014-04-28 2016-09-14 トヨタ自動車株式会社 運転支援装置
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JP6132359B2 (ja) * 2014-10-20 2017-05-24 株式会社Ｓｏｋｅｎ 走行区画線認識装置
JP6603045B2 (ja) * 2015-05-28 2019-11-06 アイシン・エィ・ダブリュ株式会社 走行態様検出システム、走行態様検出方法及びコンピュータプログラム
JP6332170B2 (ja) * 2015-07-01 2018-05-30 トヨタ自動車株式会社 自動運転制御装置
JP6376059B2 (ja) * 2015-07-06 2018-08-22 トヨタ自動車株式会社 自動運転車両の制御装置
JP6419671B2 (ja) * 2015-10-14 2018-11-07 三菱電機株式会社 車両用操舵装置および車両用操舵方法
JP6809020B2 (ja) * 2016-07-27 2021-01-06 いすゞ自動車株式会社 操舵補助装置及び操舵補助方法
US10139830B2 (en) 2016-12-29 2018-11-27 Automotive Research & Testing Center Automatic lane following control system and method for vehicles
CN107153420B (zh) * 2017-05-25 2021-01-22 广州汽车集团股份有限公司 路径跟踪控制方法、装置及智能汽车
EP3501944B1 (de) 2017-12-20 2020-08-05 Aptiv Technologies Limited Verfahren und vorrichtung zur schätzung eines lenkmoments
CN110308717B (zh) * 2018-03-27 2020-12-22 广州汽车集团股份有限公司 控制自主式移动机器移动的方法、装置、机器及存储介质
US11084491B2 (en) 2018-04-11 2021-08-10 Hyundai Motor Company Apparatus and method for providing safety strategy in vehicle
US11084490B2 (en) 2018-04-11 2021-08-10 Hyundai Motor Company Apparatus and method for controlling drive of vehicle
US11548509B2 (en) 2018-04-11 2023-01-10 Hyundai Motor Company Apparatus and method for controlling lane change in vehicle
US11597403B2 (en) 2018-04-11 2023-03-07 Hyundai Motor Company Apparatus for displaying driving state of vehicle, system including the same and method thereof
US10836394B2 (en) 2018-04-11 2020-11-17 Hyundai Motor Company Apparatus and method for lane change control
EP3552902A1 (de) * 2018-04-11 2019-10-16 Hyundai Motor Company Vorrichtung und verfahren zur bereitstellung eines fahrwegs an ein fahrzeug
EP3552901A3 (de) 2018-04-11 2020-04-29 Hyundai Motor Company Vorrichtung und verfahren zur bereitstellung einer sicherheitsstrategie in einem fahrzeug
US11351989B2 (en) 2018-04-11 2022-06-07 Hyundai Motor Company Vehicle driving controller, system including the same, and method thereof
US11334067B2 (en) 2018-04-11 2022-05-17 Hyundai Motor Company Apparatus and method for providing safety strategy in vehicle
US10843710B2 (en) 2018-04-11 2020-11-24 Hyundai Motor Company Apparatus and method for providing notification of control authority transition in vehicle
EP3569460B1 (de) 2018-04-11 2024-03-20 Hyundai Motor Company Vorrichtung und verfahren zur steuerung des fahrens in einem fahrzeug
US11173910B2 (en) 2018-04-11 2021-11-16 Hyundai Motor Company Lane change controller for vehicle system including the same, and method thereof
US11077854B2 (en) 2018-04-11 2021-08-03 Hyundai Motor Company Apparatus for controlling lane change of vehicle, system having the same and method thereof
EP3552913B1 (de) 2018-04-11 2021-08-18 Hyundai Motor Company Vorrichtung und verfahren zur steuerung für die ermöglichung eines autonomen systems in einem fahrzeug
CN108609014B (zh) * 2018-05-04 2021-01-05 奇瑞汽车股份有限公司 智能车辆的横向控制方法及装置
KR102115915B1 (ko) * 2018-10-08 2020-05-27 주식회사 만도 차선 인식의 왜곡을 판단하여 차량을 제어하는 장치 및 방법
EP3808621B1 (de) * 2019-01-31 2023-05-24 Nsk Ltd. Aktuatorsteuerungsvorrichtung zur lenkung eines kraftfahrzeugs
JP6714116B1 (ja) * 2019-02-06 2020-06-24 三菱電機株式会社 車両用制御装置および車両用制御方法
JP6599037B1 (ja) * 2019-02-15 2019-10-30 三菱電機株式会社 車両用制御装置および車両用制御方法
US11009881B2 (en) 2019-04-05 2021-05-18 Caterpillar Paving Products Inc. Roadway center detection for autonomous vehicle control
CN110316193B (zh) * 2019-07-02 2020-07-17 华人运通(上海)自动驾驶科技有限公司 预瞄距离的设置方法、装置、设备及计算机可读存储介质
GB2586976B (en) * 2019-09-10 2022-08-03 Jaguar Land Rover Ltd Steering torque assist method and apparatus
DE102020200703B3 (de) * 2020-01-22 2021-03-25 Volkswagen Aktiengesellschaft Überlenkbare Fahrerassistenzfunktion mit verbessertem Lenkgefühl
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CN112977444B (zh) * 2021-02-24 2022-03-08 武汉光庭信息技术股份有限公司 一种车道保持高级辅助驾驶控制方法、系统及电子设备
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Also Published As

Publication number Publication date
DE60000766T2 (de) 2003-09-18
JP2001039326A (ja) 2001-02-13
JP3529037B2 (ja) 2004-05-24
US6473678B1 (en) 2002-10-29
EP1074904B1 (de) 2002-11-13
EP1074904A1 (de) 2001-02-07

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