# US 8,543,292 B2 · Lane maintenance control method

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- Number: US 8,543,292 B2
- Document ID: US8543292B2
- Status: Granted
- Kind: B2
- Application number: 13/105,413
- Filed: 2011-05-11
- Published: 2011-11-17
- Granted: 2013-09-24
- Earliest claimed: 2010-05-13
- Assignees: Mando Corporation
- Applicants: Jae Bum Choi
- Inventors: Jae Bum Choi
- Web page: https://patentgrep.com/patent/US8543292B2

## CPC

- B60T 8/17557: {specially adapted for lane departure prevention (road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12)}
- B60W 50/10: Interpretation of driver requests or demands
- B60T 2201/083: using active brake actuation
- B60W 10/06: including control of combustion engines
- B60W 10/182: {including control of parking brakes}
- B60W 10/184: with wheel brakes
- B60W 30/02: Control of vehicle driving stability
- B60W 2050/0073: {Driver overrides controller}
- B60W 2540/18: Steering angle
- B60W 2540/20: Direction indicator values
- B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc
- B60W 2720/14: Yaw
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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

## Abstract

Disclosed herein is a lane maintenance control method to control a vehicle to travel while accurately remaining in a given lane. The lane maintenance control method performs brake steering control in which, when a vehicle departs from a lane, a brake torque is applied to wheels of the vehicle close to the lane to generate an appropriate moment for lane maintenance, which allows the vehicle to finally move in an opposite direction of a direction in which the vehicle departs from the lane, resulting in accurate lane maintenance.

## Claims

### Claim 1

A lane maintenance control method, comprising:
obtaining information of a lane along which a vehicle travels;
judging whether or not the vehicle departs from the lane based on the obtained lane information and transversal deviation of the vehicle;
determining a look ahead distance required for lane maintenance when it is judged that the vehicle departs from the lane;
calculating a target moment based on the look ahead distance such that a first value of the target moment calculated based on a first value of the look ahead distance is greater than a second value of the target moment calculated based on a second value of the look ahead distance that is smaller than the first value of the look ahead distance; and
applying a brake torque to a wheel to generate the calculated target moment, thereby changing a direction of the vehicle.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the application of the brake torque to the wheel includes applying a brake torque to a wheel close to the lane to generate the target moment.

### Claim 3 (depends on 2)

The method according to claim 2, wherein the application of the brake torque to the wheel includes distributing different torques to left and right wheels of the vehicle to generate the target moment.

### Claim 4 (depends on 1)

The method according to claim 1, further comprising:
stopping, when a turn signal is turned on, a brake steering control, in which the direction of the vehicle is changed as the brake torque is applied to the wheel of the vehicle.

### Claim 5 (depends on 1)

The method according to claim 1, further comprising:
stopping, when a driver steering input exceeds a predetermined range, a brake steering control, in which the direction of the vehicle is changed as the brake torque is applied to the wheel of the vehicle.