Lane following vehicle control
First Claim
1. A lane following vehicle control apparatus for a vehicle, comprising:
- a lane sensing section to collect information on a lane of a road ahead of the vehicle;
a steering angle sensing section to sense an actual steering angle of the vehicle;
a steering torque producing section to produce an actual steering torque in accordance with a target steering torque to follow the lane;
a steering torque controlling section to set the target steering torque required for the vehicle to follow the lane, in accordance with the information on the lane and the actual steering angle;
a control steering direction discriminating section to determine whether a control steering direction of the steering torque controlling section is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position; and
a target steering torque limiting section to limit the target steering torque by setting a target torque limit in dependence on whether the control steering direction is the steer direction or the return direction.
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Accused Products
Abstract
In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in dependence on whether the control steering direction is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position, to take account of a self aligning torque.
63 Citations
14 Claims
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1. A lane following vehicle control apparatus for a vehicle, comprising:
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a lane sensing section to collect information on a lane of a road ahead of the vehicle;
a steering angle sensing section to sense an actual steering angle of the vehicle;
a steering torque producing section to produce an actual steering torque in accordance with a target steering torque to follow the lane;
a steering torque controlling section to set the target steering torque required for the vehicle to follow the lane, in accordance with the information on the lane and the actual steering angle;
a control steering direction discriminating section to determine whether a control steering direction of the steering torque controlling section is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position; and
a target steering torque limiting section to limit the target steering torque by setting a target torque limit in dependence on whether the control steering direction is the steer direction or the return direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A lane following vehicle control process comprising:
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collecting input information on a vehicle running condition of a vehicle running along a lane, and an actual steering angle of the vehicle;
producing a control signal to produce an actual steering torque in accordance with a target steering torque to follow the lane;
setting the target steering torque to achieve a target steering angle determined in accordance with the vehicle running condition and the actual steering angle to follow the lane;
determining whether a control steering direction of the target steering angle is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position; and
limiting the target steering torque by setting a target torque limit in dependence on whether the control steering direction is the steer direction or the return direction.
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13. A lane following vehicle control apparatus comprising:
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means for collecting input information on a vehicle running condition of a vehicle in relation to a lane;
means for sensing an actual steering angle of the vehicle;
means for producing an actual steering torque in accordance with a target steering torque to follow the lane;
means for determining a target steering angle in accordance with the vehicle running condition and the actual steering angle to follow the lane;
means for setting the target steering torque to achieve the target steering angle;
means for determining a control steering direction by examining changes in the target steering angle; and
means for limiting the target steering torque by setting a target torque limit in dependence on whether the control steering direction is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position. - View Dependent Claims (14)
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Specification