DE602005023574D1 - System zur Spurhaltung eines Kraftfahrzeugs - Google Patents

System zur Spurhaltung eines Kraftfahrzeugs

Info

Publication number
DE602005023574D1
DE602005023574D1 DE602005023574T DE602005023574T DE602005023574D1 DE 602005023574 D1 DE602005023574 D1 DE 602005023574D1 DE 602005023574 T DE602005023574 T DE 602005023574T DE 602005023574 T DE602005023574 T DE 602005023574T DE 602005023574 D1 DE602005023574 D1 DE 602005023574D1
Authority
DE
Germany
Prior art keywords
tracking
motor vehicle
vehicle
motor
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.)
Active
Application number
DE602005023574T
Other languages
English (en)
Inventor
Yuya Takeda
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
Publication of DE602005023574D1 publication Critical patent/DE602005023574D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • 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
    • 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
    • B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
    • 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
    • B60T2201/085—Lane monitoring; Lane Keeping Systems using several actuators; Coordination of the lane keeping system with other control 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
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
DE602005023574T 2004-12-27 2005-12-23 System zur Spurhaltung eines Kraftfahrzeugs Active DE602005023574D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004377553 2004-12-27
JP2005340187A JP4867313B2 (ja) 2004-12-27 2005-11-25 車線逸脱防止装置

Publications (1)

Publication Number Publication Date
DE602005023574D1 true DE602005023574D1 (de) 2010-10-28

Family

ID=36097181

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005023574T Active DE602005023574D1 (de) 2004-12-27 2005-12-23 System zur Spurhaltung eines Kraftfahrzeugs

Country Status (5)

Country Link
US (1) US7206684B2 (de)
EP (1) EP1674359B1 (de)
JP (1) JP4867313B2 (de)
KR (1) KR100723554B1 (de)
DE (1) DE602005023574D1 (de)

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JP4457891B2 (ja) * 2004-12-28 2010-04-28 日産自動車株式会社 車線逸脱防止装置
US20070179697A1 (en) * 2006-01-31 2007-08-02 Bendix Commercial Vehicle Systems Llc Lane departure warning system and method
US20070225914A1 (en) * 2006-03-21 2007-09-27 Hiroshi Kawazoe Lane departure avoidance control
JP4650362B2 (ja) * 2006-07-18 2011-03-16 日産自動車株式会社 車線逸脱防止装置
JP4748122B2 (ja) 2007-06-28 2011-08-17 日産自動車株式会社 車線逸脱防止装置
JP4985173B2 (ja) * 2007-07-19 2012-07-25 日産自動車株式会社 車線内走行支援装置、自動車および車線内走行支援方法
JP4946807B2 (ja) * 2007-11-07 2012-06-06 トヨタ自動車株式会社 車線逸脱防止制御装置
JP4532569B2 (ja) * 2008-01-21 2010-08-25 本田技研工業株式会社 車両の運転支援装置
JP5359085B2 (ja) * 2008-03-04 2013-12-04 日産自動車株式会社 車線維持支援装置及び車線維持支援方法
JP5380860B2 (ja) * 2008-03-04 2014-01-08 日産自動車株式会社 車線維持支援装置及び車線維持支援方法
JP5380861B2 (ja) * 2008-03-04 2014-01-08 日産自動車株式会社 車線維持支援装置及び車線維持支援方法
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JP2009255666A (ja) * 2008-04-15 2009-11-05 Mazda Motor Corp 車両の車線逸脱警報装置
JP5266926B2 (ja) * 2008-07-23 2013-08-21 日産自動車株式会社 車線維持支援装置及び車線維持支援方法
JP5359092B2 (ja) * 2008-07-28 2013-12-04 日産自動車株式会社 車両運転支援装置及び車両運転支援方法
JP5359516B2 (ja) * 2008-07-29 2013-12-04 日産自動車株式会社 車両運転支援装置及び車両運転支援方法
JP5174609B2 (ja) * 2008-10-10 2013-04-03 日立オートモティブシステムズ株式会社 走行支援装置
WO2010073400A1 (ja) * 2008-12-26 2010-07-01 トヨタ自動車株式会社 車両の走行支援装置
JP5332703B2 (ja) * 2009-02-18 2013-11-06 日産自動車株式会社 車線維持支援装置及び車線維持支援方法
KR100956858B1 (ko) 2009-05-19 2010-05-11 주식회사 이미지넥스트 차량 주변 영상을 이용하는 차선 이탈 감지 방법 및 장치
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JP5452143B2 (ja) * 2009-09-08 2014-03-26 富士重工業株式会社 車両の路外逸脱防止制御装置
JP5036780B2 (ja) * 2009-10-06 2012-09-26 トヨタ自動車株式会社 車両の制御装置
CN102781742B (zh) * 2010-03-04 2014-12-24 本田技研工业株式会社 车辆的转弯控制装置
US8626392B2 (en) 2010-06-23 2014-01-07 Toyota Jidosha Kabushiki Kaisha Vehicle running control apparatus
US8612095B2 (en) 2010-06-23 2013-12-17 Toyota Jidosha Kabushiki Kaisha Vehicle driving control apparatus
JP5430505B2 (ja) 2010-06-25 2014-03-05 トヨタ自動車株式会社 車両の制御装置
EP2589520A4 (de) * 2010-06-30 2014-09-17 Toyota Motor Co Ltd Steuereinheit für ein fahrzeug
JP5429126B2 (ja) * 2010-10-01 2014-02-26 トヨタ自動車株式会社 走行支援装置及び方法
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KR102047280B1 (ko) * 2012-09-27 2019-11-21 한국전자통신연구원 카메라 방향 제어를 이용한 차선 추종 장치 및 방법
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JP5905846B2 (ja) * 2013-03-29 2016-04-20 株式会社日本自動車部品総合研究所 横断判定装置およびプログラム
JP2017013519A (ja) * 2015-06-26 2017-01-19 株式会社デンソー 車線維持支援装置
KR101819003B1 (ko) * 2016-04-07 2018-01-16 엘지전자 주식회사 차량 운전 보조 장치 및 차량
JP6460039B2 (ja) * 2016-04-27 2019-01-30 トヨタ自動車株式会社 レーン維持制御装置
JP6808992B2 (ja) * 2016-06-17 2021-01-06 株式会社デンソー 走行支援装置
JP6809023B2 (ja) * 2016-08-02 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
JP6483644B2 (ja) 2016-08-15 2019-03-13 トヨタ自動車株式会社 車線逸脱抑制装置
JP6520874B2 (ja) * 2016-09-12 2019-05-29 トヨタ自動車株式会社 車両制御装置
CN107310553B (zh) * 2017-06-27 2019-05-07 安徽江淮汽车集团股份有限公司 一种防止单侧偏离重复报警的车道偏离报警方法及系统
JP6941189B2 (ja) * 2018-01-19 2021-09-29 日立Astemo株式会社 運転支援装置、運転支援方法及び運転支援システム
JP6986463B2 (ja) * 2018-02-13 2021-12-22 日立Astemo株式会社 運転支援装置、運転支援方法及び運転支援システム
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JP3873919B2 (ja) * 2003-03-20 2007-01-31 日産自動車株式会社 車線逸脱防止装置
JP3900099B2 (ja) * 2003-03-20 2007-04-04 日産自動車株式会社 車線逸脱防止装置
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DE602004027699D1 (de) * 2003-11-26 2010-07-29 Nissan Motor Spurhaltevorrichtung für ein Kraftfahrzeug
JP3979382B2 (ja) * 2003-12-03 2007-09-19 日産自動車株式会社 車線逸脱防止装置

Also Published As

Publication number Publication date
EP1674359A1 (de) 2006-06-28
EP1674359B1 (de) 2010-09-15
JP2006206032A (ja) 2006-08-10
US20060142921A1 (en) 2006-06-29
JP4867313B2 (ja) 2012-02-01
US7206684B2 (en) 2007-04-17
KR100723554B1 (ko) 2007-05-31
KR20060074855A (ko) 2006-07-03

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