Vehicle stability control apparatus having obstacle detector and automatic brake-application device

Claim 2

A vehicle stability control apparatus according to claim 1, wherein said hazard detecting device includes an obstacle detecting device (224, 226) for detecting an obstacle in front of the vehicle as seen in a running direction of the vehicle, said automatic brake application device (150, 14, 16-19, 180, 302, 306, 350, 352, 354, 356) being operable to activate said braking device (14, 16-19, 180, 302, 306), when an output of said obstacle detecting device at least during an operation of said vehicle running stability control device (150, 14, 16-19, 180, 302, 306, 350, 352, 354, 356) indicates that there is a risk of a collision of the vehicle with said obstacle.

Claim 3

A vehicle stability control apparatus according to claim 2, wherein said automatic brake application device is operated during an operation of the vehicle running stability control device, when the output of said obstacle detecting device indicates that there is said risk of the collision of the vehicle with said obstacle.

Claim 4

A vehicle stability control apparatus according to claim 1, wherein said hazard detecting device includes a vehicle-deviation determining device (150, 224, 226) for determining whether there is a risk of a deviation of the vehicle from a nominal running path of the vehicle, said automatic brake application device being operable to activate said braking device, when an output of said vehicle-deviation determining device at least during an operation of said vehicle running stability control device indicates that there is said risk of the deviation of the vehicle from said nominal running path.

Claim 5

A vehicle stability control apparatus according to claim 4, wherein said automatic brake application device is operated during an operation of said vehicle running stability control device, when the output of said vehicle-deviation determining device indicates that there is said risk of the deviation of the vehicle from said nominal running path.

Claim 6

A vehicle stability control apparatus according to claim 4 or 5, wherein said vehicle-deviation determining device includes a lane detecting device (224, 226) for detecting a lane-defining line which defines a traffic lane on which the vehicle is running, said vehicle-deviation determining device determining that there is a risk of the deviation of the vehicle from said nominal running path, when an angle between said lane-defining line detected by said lane detecting device and a longitudinal direction of the vehicle is larger than a predetermined upper limit.

Claim 7

A vehicle stability control device according to claim 6, wherein said vehicle-deviation determining device further includes a running-path estimating device (150, 218) for estimating an actual running path of the vehicle, on the basis of a yaw rate of the vehicle.

Claim 8

A vehicle stability control device according to claim 6 or 7, wherein said vehicle-deviation determining device includes an image obtaining device (224) for obtaining image data representative of an image of a scene in front of the vehicle as seen in a longitudinal direction of the vehicle, and an image-data processing device (226) for processing said image data to determine a lane-defining line which defines a traffic lane on which the vehicle is running.

Claim 9

A vehicle stability control device according to any one of claims 1-8, further comprising running stability control terminating device (150, S8-S13) for terminating the operation of said vehicle running stability control device (150, 14, 16-19, 180, 302, 306, 350, 352, 354,, 356) when said braking device (14, 16-19, 180, 302, 306) is activated by said automatic brake application device (150, 14, 16-19, 180, 302, 306, 350, 352, 354, 356).

Claim 10

A vehicle stability control apparatus according to any one of claims 1-9, wherein said automatic brake application device controls said braking device (14, 16-19, 180, 302, 306, 350, 354, 356) to brake all of a plurality of wheels (FR, FR, RL, RR) of the vehicle such that a total braking force generated by said all of said plurality of wheels is equal to a predetermined maxim value.

Claim 11

A vehicle-collision preventing device apparatus for preventing a collision of an automotive vehicle with an obstacle, comprising: a braking device (14, 16-19, 180, 302, 306, 350, 352, 354, 356) for applying a brake to the vehicle; a running-path estimating device (150, S103, S203) for estimating a running path of the vehicle; an obstacle detecting device (224, 226) for detecting an obstacle existing in front of the vehicle and in said running path of the vehicle estimated by said running-path estimating device; a vehicle speed detecting device (222) for detecting a running speed of said vehicle; a vehicle-collision determining device (150, S104, S204) for determining, on the basis of said running speed detected by said vehicle speed detecting device, whether there is a risk of a collision of the vehicle with said obstacle detected by said obstacle detecting device on an assumption that the vehicle is braked at a predetermined reference deceleration value (G 1 ); and an automatic brake application device (150, S114, S213, 14, 16-19, 180, 302, 306, 350, 352, 354, 356) operable to activate said braking device to brake said vehicle at a deceleration value (G 0 ) whose absolute value is larger than that of said reference deceleration value, when said vehicle-collision determining device has determined that there is said risk of the collision of the vehicle with said obstacle.

Claim 12

A vehicle-collision preventing apparatus according to claim 11, wherein said running-path estimating device, said vehicle speed detecting device and said vehicle-collision determining device are kept operated even after an operation of said braking device is initiated by said automatic brake application device, said vehicle-collision determining device including deceleration increasing means (150, S119, S217) for increasing the absolute value of the deceleration value to be established by the operation of the braking device under the control of said automatic brake application device, as long as said vehicle-collision determining device keeps determining that there is said risk of the collision of the vehicle with said obstacle.

Claim 13

A vehicle-deviation preventing apparatus for preventing a deviation of an automotive vehicle from a nominal running path of the vehicle, comprising: a braking device (14, 16-19, 180, 302, 306, 350, 352, said risk of the vehicle deviation from said nominal running path.

Claim 14

A vehicle-deviation preventing apparatus according to claim 13, further comprising an alarm indicator device (186) operable when said vehicle-deviation determining means has determined that there is said risk of the deviation of the vehicle, to warn an operator of the vehicle that there is said risk.

Claim 15

A vehicle-deviation preventing apparatus according to claim 13 or 14, further comprising an operator-controlled member (223), and an automatic-brake-application inhibiting device (150, S8, S21, S157, S168, S226, S237) for inhibiting an operation of said automatic brake application device when said operator-controlled member is operated.

Claim 16

A vehicle-deviation preventing apparatus according to claim 13, further comprising: an alarm indicator device (186) operable when said vehicle-deviation determining device has determined that there is said risk of the deviation of the vehicle, to warn an operator of the vehicle that there is said risk; an operator-controlled member (223); and an automatic-brake-application inhibiting device (150, S8, S21, S157, S168, S226, S237) for inhibiting an operation of said automatic brake application device when said operator-controlled member is operated, and wherein said automatic brake application device activates said braking device when a predetermined time has passed without an operation of said operator-controlled member after said alarm indicator device is operated.