Driving support system and method
First Claim
1. A driving support system with an actuator for steering a steered wheel of a vehicle, which performs a driving support control for supporting driving of the vehicle by making use of steering by means of the actuator, the driving support system comprising:
- image taking means for taking a forward image ahead the vehicle;
determining means for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking means;
limiting means for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determining means is off a predetermined range; and
controlling means for controlling the actuator, wherein the limiting means sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start of the driving support control is different from the limit value in continuation of the driving support control.
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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 of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator. The driving support system has an image taking device for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking device, a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determiner is off a predetermined range, and a controller for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.
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Citations
24 Claims
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1. A driving support system with an actuator for steering a steered wheel of a vehicle, which performs a driving support control for supporting driving of the vehicle by making use of steering by means of the actuator, the driving support system comprising:
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image taking means for taking a forward image ahead the vehicle;
determining means for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking means;
limiting means for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determining means is off a predetermined range; and
controlling means for controlling the actuator, wherein the limiting means sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start of the driving support control is different from the limit value in continuation of the driving support control. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A driving support system with an actuator for steering a steered wheel of a vehicle, which performs a driving support control for supporting driving of the vehicle by making use of steering by means of the actuator, the driving support system comprising:
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image taking means for taking a forward image ahead the vehicle;
determining means for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking means;
limiting means for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determining means is off a predetermined range; and
controlling means for controlling the actuator, wherein the limiting means sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at an end of the driving support control is different from the limit value in continuation of the driving support control. - View Dependent Claims (9, 10, 11, 12)
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13. A driving support method for steering a steered wheel of a vehicle by means of an actuator, which performs a driving support control,
wherein a forward image ahead the vehicle is taken; -
a controlled variable of the actuator is determined on the basis of the forward image acquired; and
the actuator is controlled with a limitation of the controlled variable when a time change of the controlled variable of the actuator determined is off a predetermined range, wherein a limit value is set for limiting the time change of the controlled variable of the actuator so that the limit value at a start of the driving support control is different from the limit value in continuation of the driving support control. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A driving support method for steering a steered wheel of a vehicle by means of an actuator, which performs a driving support control,
wherein a forward image ahead the vehicle is taken; -
a controlled variable of the actuator is determined on the basis of the forward image acquired; and
the actuator is controlled with a limitation of the controlled variable when a time change of the controlled variable of the actuator determined is off a predetermined range, wherein a limit value is set for limiting the time change of the controlled variable of the actuator so that the limit value at an end of the driving support control is different from the limit value in continuation of the driving support control. - View Dependent Claims (21, 22, 23, 24)
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Specification