US 7,680,569 B2Granted

Automotive lane deviation prevention apparatus

AssigneeNissan Motor Co., Ltd.

InventorsShinji Matsumoto, Satoshi Tange, Tatsuya Suzuki

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Abstract

An automotive lane deviation prevention (LDP) apparatus includes a control unit connected to a yawing-motion control actuator for LDP control purposes. The control unit determines, based on information regarding a lane marking line detected based on a picture image in front of a host vehicle, whether the host vehicle is in a state FLD≠0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdw≠0 where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line and the information regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state Fcamready=0 where the lane marking line is out of an image pick-up enabling area.

Claims10

Dependent claims

An automotive lane deviation prevention (LDP) apparatus, comprising:

(a) a lane marking detection section configured to detect a lane marking line of a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
(b) a lateral displacement estimation section configured to estimate, based on the lane marking line, a future lateral displacement of the host vehicle relative to the host vehicle's driving lane;
(c) a road surface irregularities detection section configured to determine whether the host vehicle is traveling on predetermined road surface irregularities formed on or close to the lane marking line;
and
(d) a vehicle yawing motion control section configured to execute vehicle yawing motion control by which the host vehicle returns toward a central position of the host vehicle's driving lane;
wherein the vehicle yawing motion control section initiates the vehicle yawing motion control when all following conditions occur:
(1) when the host vehicle is traveling on predetermined road surface irregularities;
(2) while the lane marking detection section cannot recognize or detect the lane marking line;
and
(3) an absolute value of the future lateral displacement, immediately before the lane marking detection section cannot recognize or detect the lane marking line, is greater than or equal to a predetermined lateral displacement criterion.

7 more elements

An automotive lane deviation prevention (LDP) apparatus, comprising:

(a) lane marking detection means for detecting a lane marking line of a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
(b) lateral displacement estimation means for estimating, based on the lane marking line, a future lateral displacement of the host vehicle relative to the host vehicle's driving lane;
(c) road surface irregularities detection means for detecting whether the host vehicle is traveling on predetermined road surface irregularities formed on or close to the lane marking line;
and
(d) vehicle yawing motion control means for executing vehicle yawing motion control by which the host vehicle returns toward a central position of the host vehicle's driving lane;
wherein the vehicle yawing motion control means initiates the vehicle yawing motion control when all following conditions occur:
(1) when the host vehicle is traveling on predetermined road surface irregularities;
(2) while the lane marking detection means cannot recognize or detect the lane marking line;
and
(3) an absolute value of the future lateral displacement, immediately before the lane marking detection means cannot recognize or detect the lane marking line, is greater than or equal to a predetermined lateral displacement criterion.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/828,462Filed 21 Apr 2004
Priority: JP 2003-13289912 May 2003
Published: US 2004/0230375 A118 Nov 2004
Granted: 16 Mar 2010
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

B60T 8/17557
Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a…
B60W 10/06
Including control of propulsion units: including control of combustion engines
B60W 10/18
Conjoint control of vehicle sub-units of different type or different function: including control of braking systems
B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems