Vehicle travel safety device

Details Vehicle travel safety device Vehicle travel safety device

2000-06-15

2003-05-27

Nguyen, Tan Q. (Department: 3661)

Data processing: vehicles, navigation, and relative location

Relative location

Collision avoidance

C701S096000, C180S421000, C340S436000

Reexamination Certificate

active

06571176

ABSTRACT:

BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to vehicle travel safety devices for preventing a vehicle from colliding with an oncoming vehicle by using an object detecting means such as a radar device.
2. Description of the Prior Art
Such a vehicle travel safety device is already known from Japanese Patent Application Laid-open No. 7-14100.
In the above-mentioned publication, the possibility of a collision of a vehicle with an oncoming vehicle is determined on the basis of the distance between the vehicle and the oncoming vehicle, the relative speed between the vehicle and the oncoming vehicle, the vehicle speed of the vehicle and the image in front of the vehicle. In the case where there is a possibility of a collision, the collision is avoided by alerting the driver with an alarm or by carrying out automatic braking.
In the case where there is a possibility of a collision between a vehicle and an oncoming vehicle, consideration can be given to avoiding the collision by carrying out automatic steering instead of automatic braking or in addition to automatic braking. In such a case, if the target value for steering for avoiding the collision is set using a steering angle, when the actuator is driven in order to generate the target steering angle while the driver is holding the steering wheel strongly, the higher the holding power of the driver, the higher the steering torque generated by the actuator, and as a result there is the problem that the driver receives an uncomfortable feeling.
SUMMARY OF THE INVENTION
The present invention has been made in view of the above circumstances, and it is an object of the present invention to prevent the actuator from generating excess steering torque which gives an uncomfortable feeling to a driver who holds the steering wheel, when avoiding a collision between the vehicle and an oncoming vehicle by means of automatic steering by the actuator.
In order to achieve the above object, there is proposed a vehicle travel safety device comprising an object detecting means for detecting an object present in the direction in which a vehicle is traveling, a vehicle speed detecting means for detecting the speed of the vehicle, a relationship calculating means for detecting an oncoming vehicle on the basis of the result of detecting by the object detecting means and the vehicle speed of the vehicle detected by the vehicle speed detecting means and calculating the relationship between the vehicle and the oncoming vehicle. A correct route setting means sets a correct route for the vehicle for it to pass the oncoming vehicle correctly, a collision position predicting means determines a predicted collision position where the vehicle is presumed to collide with the oncoming vehicle on the basis of the relationship and the vehicle speed of the vehicle, and a collision avoidance steering torque calculating means calculates a lateral movement steering torque required in order to avoid a collision with the oncoming vehicle by moving the vehicle laterally on the basis of a comparison between the predicted collision position and the correct route. An actuator steers the vehicle, and an actuator control means controls the driving of the actuator on the basis of the lateral movement steering torque calculated by the collision avoidance steering torque calculating means.
In accordance with the above arrangement, when there is a possibility of a collision between the vehicle and the oncoming vehicle, since the collision avoidance steering torque calculating means calculates a lateral movement steering torque and the actuator control means controls the driving of the actuator on the basis of the lateral movement steering torque to move the vehicle laterally, a collision with the oncoming vehicle can be avoided reliably even in the case where the driver does not spontaneously carry out an operation to avoid the collision. Moreover, since the target value for the steering for avoiding the collision is set using the steering torque instead of the steering angle, even when the driver holds the steering wheel strongly, the actuator can be prevented from generating excess steering torque which gives an uncomfortable feeling to the driver.
In accordance with the invention, there is proposed a vehicle travel safety device wherein the actuator is an electric motor, and the actuator control means controls the driving of the actuator on the basis of an assist steering torque for assisting the steering operation by the driver and the lateral movement steering torque.
In accordance with this arrangement, since the driving of the actuator comprising an electric motor is controlled on the basis of an assist steering torque for assisting the steering operation by the driver and the lateral movement steering torque, the assist function for the driver carrying out spontaneous steering and the automatic steering function for avoiding a collision, can be effected simultaneously.
In accordance with the invention, there is proposed a vehicle travel safety device wherein the collision avoidance steering torque calculating means adds the lateral movement steering torque to a yaw angle correction steering torque for returning the vehicle attitude after the avoidance of a collision, to the state the vehicle attitude was in prior to the avoidance of the collision.
In accordance with this arrangement, since the lateral movement steering torque is added to the yaw angle correction steering torque for returning the vehicle attitude after the avoidance of a collision, to the state it was in prior to the avoidance of the collision, even when the vehicle attitude of the vehicle is disturbed as a result of the collision avoidance by the lateral movement steering torque, the vehicle attitude is automatically restored to its original state by the yaw angle correction steering torque, and thus the operational burden and the uncomfortable feeling given to the driver, can be reduced.
In accordance with the invention, there is proposed a vehicle travel safety device wherein the assist steering torque is set to prohibit the steering assist in the direction opposite to the direction of steering by the driver, and when a collision is avoided by both the assist steering torque and the lateral movement steering torque, the steering assist in the direction opposite to the direction of steering by the driver is allowed.
In accordance with this arrangement, when the driver spontaneously carries out steering, the steering operation by the driver can be accurately assisted by the assist steering torque. Moreover, when the driver does not spontaneously carry out steering and remains holding the steering wheel, since the steering assist in the direction opposite to the direction of steering by the driver is allowed, the lateral movement steering torque for avoiding a collision can be generated without obstruction.
In accordance with the invention, there is proposed a vehicle travel safety device wherein the amount of lateral movement of the vehicle by the lateral movement steering torque is set not to be higher than a predetermined level.
In accordance with this arrangement, since the amount of lateral movement of the vehicle by the lateral movement steering torque is limited not to be higher than a predetermined level, the vehicle can be prevented from drifting off the road due to too large an amount of lateral movement for avoiding a collision.
In accordance with the invention, there is proposed a vehicle travel safety device wherein the lateral movement steering torque increases as the direction in which the vehicle is traveling approaches the oncoming vehicle.
In accordance with this arrangement, since the lateral movement steering torque increases as the direction in which the vehicle is traveling approaches the oncoming vehicle, when there is a high possibility of a collision, a large amount of lateral movement can be generated thus avoiding the collision reliably.
In accordance with the invention, there is proposed a vehicle travel safety device wherein the lower the veh

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