DRIVING ASSISTANCE CONTROL APPARATUS FOR VEHICLE
First Claim
1. A driving assistance control apparatus for a vehicle including a steering assist mechanism in a steering device in which steered wheels and a steering wheel are mechanically directly coupled to each other, the driving assistance control apparatus comprising:
- a steering assist torque determination unit that determines a steering assist torque on the basis of a steering angle deviation, the steering angle deviation being obtained by subtracting an actual steering angle from a target steering angle, the target steering angle being determined irrespective of driver'"'"'s steering so as to achieve a target path of the vehicle, the steering assist torque including a first component that varies with a variation in the steering angle deviation and that acts in a direction to reduce the steering angle deviation; and
a steering assist torque control unit that controls the steering assist mechanism such that the steering assist torque is applied to the steering device, whereinthe steering assist torque determination unit includes an interference degree determination unit and a first component ratio determination unit, the interference degree determination unit determines an interference degree on the basis of a magnitude of a steering torque deviation between the steering assist torque in a past predetermined period and a driver'"'"'s steering torque applied by the driver of the vehicle, the interference degree increases as the magnitude of the steering torque deviation increases, the first component ratio determination unit determines the ratio of a magnitude of the first component of the steering assist torque to the steering angle deviation on the basis of the interference degree.
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Accused Products
Abstract
An apparatus includes a steering assist torque determination unit and a steering assist torque control unit. The steering assist torque determination unit determines a steering assist torque including a first component that is determined on the basis of a deviation between an actual steering angle and a target steering angle for achieving a target path determined irrespective of driver'"'"'s steering. The steering assist torque control unit controls a steering assist mechanism such that the steering assist torque is applied. The ratio of the magnitude of the first component of the steering assist torque to the deviation between the target steering angle and the actual steering angle is determined on the basis of the magnitude of the deviation between the steering assist torque and the driver'"'"'s steering torque in a past predetermined period.
41 Citations
10 Claims
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1. A driving assistance control apparatus for a vehicle including a steering assist mechanism in a steering device in which steered wheels and a steering wheel are mechanically directly coupled to each other, the driving assistance control apparatus comprising:
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a steering assist torque determination unit that determines a steering assist torque on the basis of a steering angle deviation, the steering angle deviation being obtained by subtracting an actual steering angle from a target steering angle, the target steering angle being determined irrespective of driver'"'"'s steering so as to achieve a target path of the vehicle, the steering assist torque including a first component that varies with a variation in the steering angle deviation and that acts in a direction to reduce the steering angle deviation; and a steering assist torque control unit that controls the steering assist mechanism such that the steering assist torque is applied to the steering device, wherein the steering assist torque determination unit includes an interference degree determination unit and a first component ratio determination unit, the interference degree determination unit determines an interference degree on the basis of a magnitude of a steering torque deviation between the steering assist torque in a past predetermined period and a driver'"'"'s steering torque applied by the driver of the vehicle, the interference degree increases as the magnitude of the steering torque deviation increases, the first component ratio determination unit determines the ratio of a magnitude of the first component of the steering assist torque to the steering angle deviation on the basis of the interference degree. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification