Vehicle steering control apparatus

• US 10,000,209 B2
• Filed: 05/17/2016
• Issued: 06/19/2018
• Est. Priority Date: 06/02/2015
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Takaso, Yasushi, Kubo, Takashi
• Primary Examiner(s): Cheung, Mary D
• Application Number:
  US15/157,057
• Publication Number:
  US 20160355212A1
• Time in Patent Office: 763 Days
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

A vehicle steering control apparatus includes a target course setter, a first control quantity calculator, a second control quantity calculator, a control rate variator, and a steering controller. The target course setter sets, based on forward environment information, a target course to be traveled by an own vehicle. The first control quantity calculator calculates a first control quantity that allows the own vehicle to travel along the target course. The second control quantity calculator calculates a second control quantity based on a steering angle. The control rate variator variably sets, in accordance with a vehicle speed, a first rate of the first control quantity and a second rate of the second control quantity. The steering controller calculates a steering control quantity, based on the first control quantity corrected based on the first rate and the second control quantity corrected based on the second rate, and executes a steering control.

Claims

1. A vehicle steering control apparatus, comprising:

a target course setter that sets, based on forward environment information, a target course to be traveled by an own vehicle;

a first control quantity calculator that calculates a first control quantity based on a target steering angle to allow the own vehicle to travel along the target course, the target steering angle being calculated based on the forward environment information;

a second control quantity calculator that calculates a second control quantity, the second control quantity being based on a detected steering angle detected by a sensor of the own vehicle;

a control rate variator that variably sets, in accordance with a vehicle speed, a first rate of the first control quantity in a steering control quality and a second rate of the second control quantity in the steering control quality; and

a steering controller that calculates the steering control quantity, based on a first corrected control quantity that is set by correcting the first control quantity based on the first rate and a second corrected control quantity that is set by correcting the second control quantity based on the second rate, and executes a steering control of the own vehicle based on the steering control quantity.

2. The vehicle steering control apparatus according to claim 1, further comprising a forward environment recognizer that recognizes environment in front of the own vehicle to obtain the forward environment information.

3. The vehicle steering control apparatus according to claim 2, wherein the control rate variator raises the second rate of the second control quantity, in a low-speed travel range in which the vehicle speed is smaller than a preset first speed.

4. The vehicle steering control apparatus according to claim 2, wherein the control rate variator allows the second rate to be higher than the first rate, in a low-speed travel range in which the vehicle speed is smaller than a preset first speed.

5. The vehicle steering control apparatus according to claim 2, wherein the control rate variator raises the first rate of the first control quantity, in a high-speed travel range in which the vehicle speed exceeds a preset second speed.

6. The vehicle steering control apparatus according to claim 2, wherein the control rate variator allows the first rate to be higher than the second rate, in a high-speed travel range in which the vehicle speed exceeds a preset second speed.

7. The vehicle steering control apparatus according to claim 2, wherein the control rate variator allows the first rate of the first control quantity and the second rate of the second control quantity to be gradually variated in accordance with the vehicle speed, in a rate-variated speed range in which the first rate of the first control quantity and the second rate of the second control quantity are variated.

8. The vehicle steering control apparatus according to claim 2, wherein, when the control rate variator variably sets, in accordance with the vehicle speed, the second rate of the second control quantity to cause a decrease in an absolute value of the second control quantity, the steering controller resets an integral term of the second control quantity corrected based on the second rate, to calculate the steering control quantity.

9. The vehicle steering control apparatus according to claim 1, wherein the control rate variator raises the second rate of the second control quantity, in a low-speed travel range in which the vehicle speed is smaller than a preset first speed.

10. The vehicle steering control apparatus according to claim 1, wherein the control rate variator allows the second rate to be higher than the first rate, in a low-speed travel range in which the vehicle speed is smaller than a preset first speed.

11. The vehicle steering control apparatus according to claim 1, wherein the control rate variator raises the first rate of the first control quantity, in a high-speed travel range in which the vehicle speed exceeds a preset second speed.

12. The vehicle steering control apparatus according to claim 1, wherein the control rate variator allows the first rate to be higher than the second rate, in a high-speed travel range in which the vehicle speed exceeds a preset second speed.

13. The vehicle steering control apparatus according to claim 1, wherein the control rate variator allows the first rate of the first control quantity and the second rate of the second control quantity to be gradually variated in accordance with the vehicle speed, in a rate-variated speed range in which the first rate of the first control quantity and the second rate of the second control quantity are variated.

14. The vehicle steering control apparatus according to claim 1, wherein, when the control rate variator variably sets, in accordance with the vehicle speed, the second rate of the second control quantity to cause a decrease in an absolute value of the second control quantity, the steering controller resets an integral term of the second control quantity corrected based on the second rate, to calculate the steering control quantity.

15. The vehicle steering control apparatus according to claim 1, wherein the control rate variator is configured to set the first rate and the second rate so that:

in a low-speed travel range in which the vehicle speed is smaller than a preset first speed, the first rate is set at a first constant value and the second rate is set at a second constant value, and the second constant value is higher than the first constant value,

in a high-speed travel range in which the vehicle speed exceeds a preset second speed, the first rate is set at a third constant value and the second rate is set at a forth constant value, and the third constant value is higher than the forth constant value,

in a medium-speed travel range in which the vehicle speed exceed the preset first speed and is smaller than preset second speed, the first rate is increased gradually in accordance with the vehicle speed from the first constant value to the third constant value and the second rate is decreased gradually in accordance with the vehicle speed from the second constant value to the forth constant value.

16. The vehicle steering control apparatus according to claim 15, wherein the control rate variator is configured to set the first rate and the second rate so that the third constant value is equal to the second constant value.

17. The vehicle steering control apparatus according to claim 1,

wherein the first control quantity calculator is configured to convert the target steering angle to the first control quantity;

and

wherein the second control quantity calculator is configured to convert the detected steering angle to the second control quantity.