Automatic driving apparatus

• US 5,764,015 A
• Filed: 08/27/1996
• Issued: 06/09/1998
• Est. Priority Date: 09/04/1995
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Shimizu, Yasuo, Fukatsu, Tsunehiko
• Primary Examiner(s): Ip, Paul
• Application Number:
  US08/703,823
• Time in Patent Office: 651 Days
• Field of Search: 318/139, 318/560-587, 901/1, 901/3, 180/142, 180/160-170, 180/79.1, 180/141, 395/80-90, 364/424.02-424.06, 364/443, 364/449
• US Class Current: 318/587
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

In an automatic driving apparatus, a storage unit is responsive to a storing mode signal for storing as model driving data steering and running states of the vehicle corresponding to elapsed time in a storing mode. In response to an automatic driving mode signal, a setting unit compares the steering and running states stored in the storage unit and steering and running states of the vehicle detected in an automatic driving mode so as to set at least one automatic steering state data. In the automatic driving mode, the model driving data stored in the storage unit can be reproduced with the vehicle'"'"'s steering system set to an automatically operating state, and the vehicle can be steered automatically in accordance with the model driving data, so that highly convenient, efficient and reliable automatic driving are achieved in automatic garaging of the vehicle etc. with a simple structure that would otherwise require high-level skill of the vehicle driver. The apparatus further includes an electric power steering apparatus that is used for controlling steering of the vehicle on the basis of the automatic steering state data supplied by the setting unit. The use of the electric power steering apparatus substantially simplifies the structure of the automatic driving apparatus.

Claims

1. An automatic driving apparatus for an automotive vehicle comprising:

a storage unit, in response to a storing model signal for setting a storing mode of the vehicle, for storing as model driving data steering and running states of the vehicle corresponding to elapsed time in the storing mode;

a setting unit, in response to an automatic driving mode signal for setting an automatic driving mode of the vehicle, for comparing the steering and running states stored in said storage unit and steering and running states of the vehicle detected in the automatic driving mode for each predetermined time point, so as to set at least one automatic steering state data to allow the vehicle to be steered automatically in accordance with said model driving data; and

an AND section for generating said automatic driving mode signal if vehicle operation signals are consistent with automatic steering.

2. An automatic driving apparatus as defined in claim 1 which further comprises an electric power steering apparatus for controlling steering of the vehicle on the basis of the automatic steering state data supplied by said setting unit.

3. An automatic driving apparatus as defined in claim 1 wherein said storage unit includes a travelled-distance calculating section that is responsive to the storing mode signal for calculating a travelled distance of the vehicle, as said running state, on the basis of a velocity of the vehicle and elapsed time detected in the storing mode, and a steering data storing section for storing a standard steering position or standard steering angle as said steering state in correspondence with the travelled distance calculated by said travelled-distance calculating section.

4. An automatic driving apparatus as defined in claim 3 wherein said setting unit includes an automatically-travelled-distance calculating section responsive to the automatic driving mode signal for calculating an automatically travelled distance of the vehicle on the basis of the velocity and elapsed time, a data accessing section for reading out from said steering data storing section the standard steering position or standard steering angle that corresponds to the automatically travelled distance calculated by said automatically-travelled-distance calculating section, and a steering target signal determining section for determining a steering target signal on the basis of an offset between the standard steering position or standard steering angle read out by said data accessing section and a steering position or steering angle detected in the automatic driving mode,

and wherein the electric power steering apparatus in said driving apparatus is driven by the steering target signal determined by said determining section.

5. An automatic driving apparatus as defined in claim 1 wherein said storing mode signal is generated by a storing mode switch for setting the storing mode, and said automatic driving mode signal is generated by the AND section for computing an AND condition among a signal generated by an automatic mode switch for setting the automatic driving mode, a signal indicating that a brake pedal has been stepped on and a signal indicating that there is a match between shift lever positions in the storing and automatic driving modes.

6. An automatic driving apparatus as defined in claim 1 which further comprises a deactivating section for deactivating the automatic driving mode when a vehicle velocity signal from a vehicle velocity sensor, a steering torque signal from a steering torque sensor, or a steering position signal from a steering position sensor or steering angle signal from a steering angle sensor exceeds a predetermined value.

7. An automatic driving apparatus as defined in claim 1 which further comprises a display section responsive to the storing mode signal or automatic driving mode signal for informing various states in the storing or automatic driving mode.

8. An automatic driving apparatus as defined in claim 1 wherein the steering target signal output from said setting unit is supplied to an offset determining section constituting a control unit of said electric power steering apparatus, so as to effect automatic steering in the automatic driving mode on the basis of an offset between said steering target signal and a motor current signal indicative of a current flowing in an electric motor of the vehicle.