CONTROL SYSTEM FOR VEHICLE

• US 20160075373A1
• Filed: 09/10/2015
• Published: 03/17/2016
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ishijima, Hironobu, FUKUKAWA, Shogi, ASAI, Takatomo, Obayashi, Motonari
• Granted Patent: US 9,828,027 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence

Abstract

A control system for a vehicle includes a steering control unit and an electronic control unit. The steering control unit is configured to control a steering angle of a wheel of the vehicle. The electronic control unit is configured to acquire a target steering angle set as a target to move the vehicle, adjust the acquired target steering angle such that the target steering angle does not exceed a first guard value determined in order to inhibit a change in the steering angle of the vehicle, larger than or equal to a first reference, output the adjusted target steering angle to the steering control unit in order for the steering control unit to control the steering angle to the adjusted target steering angle, and change the first guard value in response to a situation of the vehicle.

Claims

1. A control system for a vehicle, comprising:

a steering control unit configured to control a steering angle of a wheel of the vehicle; and

an electronic control unit configured to

acquire a target steering angle set as a target to move the vehicle,

adjust the acquired target steering angle such that the target steering angle does not exceed a first guard value determined in order to inhibit a change in the steering angle of the vehicle, larger than or equal to a first reference,

output the adjusted target steering angle to the steering control unit in order for the steering control unit to control the steering angle to the adjusted target steering angle, and

change the first guard value in response to a situation of the vehicle.

2. The control system according to claim 1, wherein

the electronic control unit is configured to change the first guard value on the basis of an actual steering angle of the vehicle, which is a controlled result of the steering control unit, as the situation of the vehicle.

3. The control system according to claim 2, wherein

the electronic control unit is configured to change the first guard value on the basis of a rate at which the actual steering angle of the vehicle changes in accordance with control of the steering control unit, as the situation of the vehicle.

4. The control system according to claim 2, wherein

the electronic control unit is configured to set the first guard value such that a variation in the first guard value per unit time increases as a variation in the actual steering angle per unit time controlled by the steering control unit increases.

5. The control system according to claim 3, wherein

the electronic control unit is configured to set the first guard value such that a variation in the first guard value per unit time increases as a variation in the actual steering angle per unit time controlled by the steering control unit increases.

6. The control system according to claim 1, wherein

the electronic control unit is configured to adjust the target steering angle such that the target steering angle does not exceed the first guard value determined in order to inhibit a change in the steering angle of the vehicle in a first direction, larger than or equal to the first reference, and then, at the time when a direction in which the target steering angle is changing switches from the first direction to a second direction that is a direction opposite to the first direction, adjust the target steering angle such that the target steering angle does not exceed a second guard value determined in order to inhibit a change in the steering angle of the vehicle in the second direction, larger than or equal to a second reference.

7. The control system according to claim 2, wherein

the electronic control unit is configured to adjust the target steering angle such that the target steering angle does not exceed the first guard value determined in order to inhibit a change in the steering angle of the vehicle in a first direction, larger than or equal to the first reference, and then, at the time when a direction in which the target steering angle is changing switches from the first direction to a second direction that is a direction opposite to the first direction, adjust the target steering angle such that the target steering angle does not exceed a second guard value determined in order to inhibit a change in the steering angle of the vehicle in the second direction, larger than or equal to a second reference.

8. The control system according to claim 3, wherein

the electronic control unit is configured to adjust the target steering angle such that the target steering angle does not exceed the first guard value determined in order to inhibit a change in the steering angle of the vehicle in a first direction, larger than or equal to the first reference, and then, at the time when a direction in which the target steering angle is changing switches from the first direction to a second direction that is a direction opposite to the first direction, adjust the target steering angle such that the target steering angle does not exceed a second guard value determined in order to inhibit a change in the steering angle of the vehicle in the second direction, larger than or equal to a second reference.

9. The control system according to claim 4, wherein

the electronic control unit is configured to adjust the target steering angle such that the target steering angle does not exceed the first guard value determined in order to inhibit a change in the steering angle of the vehicle in a first direction, larger than or equal to the first reference, and then, at the time when a direction in which the target steering angle is changing switches from the first direction to a second direction that is a direction opposite to the first direction, adjust the target steering angle such that the target steering angle does not exceed a second guard value determined in order to inhibit a change in the steering angle of the vehicle in the second direction, larger than or equal to a second reference.

10. The control system according to claim 5, wherein

the electronic control unit is configured to adjust the target steering angle such that the target steering angle does not exceed the first guard value determined in order to inhibit a change in the steering angle of the vehicle in a first direction, larger than or equal to the first reference, and then, at the time when a direction in which the target steering angle is changing switches from the first direction to a second direction that is a direction opposite to the first direction, adjust the target steering angle such that the target steering angle does not exceed a second guard value determined in order to inhibit a change in the steering angle of the vehicle in the second direction, larger than or equal to a second reference.