Driving support system and method
First Claim
1. A driving support system with an actuator for steering a steered wheel, which performs a driving support control of a vehicle to apply an additional torque to a steering mechanism incorporating the steered wheel, by means of the actuator to steer the steered wheel, the driving support system comprising:
- image taking means for taking a forward image ahead the vehicle;
controlling means for determining the additional torque to be applied to the steering mechanism on the basis of the forward image acquired by the image taking means and for driving the actuator so as to generate the determined torque, thereby performing the driving support control;
steering wheel torque detecting means for detecting a steering wheel torque applied on a steering wheel by a driver; and
control suppressing means for prioritizing a steering operation by the driver to the driving support control when a magnitude of the steering wheel torque detected by the steering wheel torque detecting means is not less than a predetermined value, wherein the control suppressing means sets the predetermined value so that the predetermined value in a case where a direction of the steering torque for the driving support control determined by the controlling means agrees with a direction of the steering wheel torque detected by the steering wheel torque detecting means is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque.
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Accused Products
Abstract
A driving support system according to the present invention is provided with an actuator for steering steered wheels and performs a driving support control of a vehicle to apply an additional torque to a steering mechanism incorporating the steered wheels, by means of the actuator to steer the steered wheels. The driving support system has an image taking device for taking a forward image ahead the vehicle, a controller for driving the actuator to generate the torque on the steering mechanism on the basis of the forward image acquired by the image taking device, to perform the driving support control, a steering wheel torque detector for detecting a steering wheel torque on a steering wheel, and a control suppressor for prioritizing a steering operation by a driver to the driving support control when a magnitude of the steering wheel torque is not less than a predetermined value. The control suppressor sets the predetermined value so that the predetermined value in a case where a direction of the steering torque for the driving support control agrees with a direction of the steering wheel torque by the driver is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque. This configuration enables the system to accurately grasp a driver'"'"'s intension and to prioritize the steering operation by the driver more accurately when the steering operation by the driver should be prioritized to the driving support control.
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Citations
16 Claims
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1. A driving support system with an actuator for steering a steered wheel, which performs a driving support control of a vehicle to apply an additional torque to a steering mechanism incorporating the steered wheel, by means of the actuator to steer the steered wheel, the driving support system comprising:
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image taking means for taking a forward image ahead the vehicle;
controlling means for determining the additional torque to be applied to the steering mechanism on the basis of the forward image acquired by the image taking means and for driving the actuator so as to generate the determined torque, thereby performing the driving support control;
steering wheel torque detecting means for detecting a steering wheel torque applied on a steering wheel by a driver; and
control suppressing means for prioritizing a steering operation by the driver to the driving support control when a magnitude of the steering wheel torque detected by the steering wheel torque detecting means is not less than a predetermined value, wherein the control suppressing means sets the predetermined value so that the predetermined value in a case where a direction of the steering torque for the driving support control determined by the controlling means agrees with a direction of the steering wheel torque detected by the steering wheel torque detecting means is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A driving support method with an actuator for steering a steered wheel by means of an actuator to apply an additional torque to a steering mechanism incorporating the steered wheel;
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wherein a forward image ahead the vehicle is taken;
the additional torque to be applied to the steering mechanism is determined on the basis of the forward image acquired and thereby the driving support control is performed so as to generate the determined torque with the actuator;
a steering wheel torque applied on a steering wheel by a driver is detected; and
a steering operation by the driver to the driving support control is prioritized when a magnitude of the steering wheel torque detected by the steering wheel torque detecting means is not less than a predetermined value, wherein the predetermined value is set so that the predetermined value in a case where a direction of the steering torque for the driving support control agrees with a direction of the steering wheel torque is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification