Vehicle control system
AssigneeHitachi Automotive Systems, Ltd.
InventorsAkira TAKAHASHI, Jun KUBO, Mitsuo SASAKI
Life of this patent
Estimating the term…
Abstract
There is provided a vehicle control system capable of ensuring stability even if a vehicle spins slowly. The invention recognizes a travel-path defining line of a travel path from information about an area located in the traveling direction of an ego vehicle, recognizes a traveling-direction virtual line extending from the ego vehicle in the traveling direction, and controls vehicle motion to reduce a formed angle between the traveling-direction virtual line and the travel-path defining line at least when the formed angle increases.
Claims15
-14. (canceled)
A vehicle control system comprising:
- a travel-path defining line recognition unit configured to recognize a travel-path defining line of a travel path from information about an area located in a traveling direction of an ego vehicle;
- a traveling-direction virtual line recognition unit configured to recognize a traveling-direction virtual line extending from the ego vehicle in the traveling direction;
- and
- a yaw moment control unit configured to impart a yaw moment control amount to reduce a formed angle between the traveling-direction virtual line and the travel-path defining line at least when a differential value of the formed angle is larger than a predetermined value.
A vehicle control system comprising:
- a travel-path defining line recognition unit configured to recognize a travel-path defining line of a travel path from information about an area located in a traveling direction of an ego vehicle, which is obtained by a stereo camera which measures distance by using disparity created when a plurality of cameras take an image of the same object;
- a traveling-direction virtual line recognition unit configured to recognize a traveling-direction virtual line extending from the ego vehicle in the traveling direction;
- and
- a yaw moment control unit configured to impart a yaw moment control amount to reduce a formed angle between the traveling-direction virtual line and the travel-path defining line when the formed angle continues to be equal to or larger than a predetermined angle for a predetermined time period.
A vehicle control system comprising:
- a vehicle motion control unit configured to carry out yaw moment control by controlling a braking force of each wheel so that a vehicle motion state becomes a target motion state when deviation between the vehicle motion state and the target vehicle motion state is equal to or larger than a control onset threshold;
- a travel-path defining line recognition unit configured to recognize a travel-path defining line of a travel path from information about an area located in a traveling direction of an ego vehicle;
- a traveling-direction virtual line recognition unit configured to recognize a traveling-direction virtual line extending from the ego vehicle in the traveling direction;
- and
- a control onset threshold correction unit configured to correct the control onset threshold to a smaller value when a differential value of a formed angle between the traveling-direction virtual line and the travel-path defining line is larger than a predetermined value or the formed angle continues to be equal to or larger than a predetermined angle for a predetermined time period.
A vehicle control system comprising:
- a yaw moment control unit configured to impart a yaw moment control amount to reduce a formed angle between a traveling-direction virtual line and a travel-path defining line when a differential value of the formed angle is larger than a predetermined value, according to information from a travel-path defining line recognition unit configured to recognize the travel-path defining line of a travel path from information about an area located in a traveling direction of an ego vehicle and a traveling-direction virtual line recognition unit configured to recognize the traveling-direction virtual line extending from the ego vehicle in the traveling direction.
Dependencies are inferred from the claim text.