Driving Assistance System and Driving Assistance Method
First Claim
1. A driving assistance system that includes an actuator for steering steered wheels of a vehicle, comprising:
- a vehicle speed detecting unit that detects a speed of the vehicle;
an information acquiring unit that acquires information about the environment around the vehicle;
a positional deviation detecting unit that detects a deviation of a position of the vehicle from a forward travel path of the vehicle based on the information acquired by the information acquiring unit;
a steering control variable determination unit that determines a steering control variable to correct the deviation of the position of the vehicle from the forward travel path of the vehicle; and
a steering control unit for controlling the actuator based on the steering control variable,wherein, if the vehicle speed detected by the vehicle speed detecting unit is equal to or greater than a first predetermined speed, the steering control variable for the detected deviation of the position of the vehicle from the forward travel path decreases with increasing vehicle speed.
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Accused Products
Abstract
In a driving assistance system having an actuator (16) for steering steered wheels of a vehicle, a positional deviation detecting unit (9) detects a deviation of a position of the vehicle from a forward travel path of the vehicle based on information around the vehicle. A steering control variable determination unit (2) determines a steering control variable to cancel the deviation. If a vehicle speed detected by a vehicle speed detecting unit is equal to or greater than a predetermined speed, the steering control variable determined by a steering control variable determination unit (2) decreases with an increase of the vehicle speed under the condition that the deviation of the position of the vehicle from the forward travel path is same. The driving assistance system can reduce a driver'"'"'s discomfort caused by the steering control through the actuator (16) when the vehicle is running at a high speed.
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Citations
16 Claims
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1. A driving assistance system that includes an actuator for steering steered wheels of a vehicle, comprising:
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a vehicle speed detecting unit that detects a speed of the vehicle; an information acquiring unit that acquires information about the environment around the vehicle; a positional deviation detecting unit that detects a deviation of a position of the vehicle from a forward travel path of the vehicle based on the information acquired by the information acquiring unit; a steering control variable determination unit that determines a steering control variable to correct the deviation of the position of the vehicle from the forward travel path of the vehicle; and a steering control unit for controlling the actuator based on the steering control variable, wherein, if the vehicle speed detected by the vehicle speed detecting unit is equal to or greater than a first predetermined speed, the steering control variable for the detected deviation of the position of the vehicle from the forward travel path decreases with increasing vehicle speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A driving assistance method that assists a steering operation of a vehicle by controlling an actuator for steering steered wheels of the vehicle, comprising:
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detecting a speed of the vehicle; acquiring information about the environment around the vehicle; detecting a deviation of a position of the vehicle from a forward travel path of the vehicle based on the information; determining a steering control variable to correct the deviation of the position of the vehicle from the forward travel path of the vehicle; and controlling the actuator based on the steering control variable, wherein, if the vehicle speed is equal to or greater than a first predetermined speed, the steering control variable for the detected deviation of the position of the vehicle from the forward travel path decreases with increasing vehicle speed.
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Specification