Vehicle steering control system using navigation system
First Claim
1. A vehicle control system comprising:
- a map information outputting means for outputting map information including a road on which a subject vehicle travels;
a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;
a steering means for steering a steering control wheel of the vehicle;
a steering-torque applying means for applying a steering torque to said steering means;
means for determining an azimuth change quantity of the road on which the vehicle is traveling;
means for determining an azimuth change quantity of the vehicle;
means for determining a deviation between a determined azimuth change quantity of the road on which the vehicle is traveling and a determined azimuth change quantity of the vehicle, and for driving said steering-torque applying means such as to decrease said deviation;
a yaw rate detecting means for detecting a yaw rate of the vehicle; and
a vehicle speed detecting means for detecting a vehicle speed, whereinsaid azimuth change quantity of the vehicle is determined based on the yaw rate and the vehicle speed.
1 Assignment
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Accused Products
Abstract
An azimuth change quantity θ of a road during traveling of a vehicle for a time δt is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity Θ of the vehicle is calculated by integrating a yaw rate γ obtained from a yaw rate sensor over the time δt (at step S5). A deviation D between the azimuth change quantity θ of the road and the azimuth change quantity Θ of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value β, it is determined that there is a possibility that the vehicle will depart from the road (at step S9), and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).
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Citations
18 Claims
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1. A vehicle control system comprising:
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a map information outputting means for outputting map information including a road on which a subject vehicle travels; a subject-vehicle position detecting means for detecting a subject-vehicle position on a map; a steering means for steering a steering control wheel of the vehicle; a steering-torque applying means for applying a steering torque to said steering means; means for determining an azimuth change quantity of the road on which the vehicle is traveling; means for determining an azimuth change quantity of the vehicle; means for determining a deviation between a determined azimuth change quantity of the road on which the vehicle is traveling and a determined azimuth change quantity of the vehicle, and for driving said steering-torque applying means such as to decrease said deviation; a yaw rate detecting means for detecting a yaw rate of the vehicle; and a vehicle speed detecting means for detecting a vehicle speed, wherein said azimuth change quantity of the vehicle is determined based on the yaw rate and the vehicle speed. - View Dependent Claims (3, 6, 7, 8)
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2. A vehicle control system comprising:
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a map information outputting means for outputting map information including a road on which a subject vehicle travels; a subject-vehicle position detecting means for detecting a subject-vehicle position on a map; a steering means for steering a steering control wheel of the vehicle; a steering-torque applying means for applying a steering torque to said steering means; means for determining an azimuth chance quantity of the road on which the vehicle is traveling; means for determining an azimuth change quantity of the vehicle; means for determining a deviation between a determined azimuth change quantity of the road on which the vehicle is traveling and a determined azimuth change quantity of the vehicle, and for driving said steering-torque applying means such as to decrease said deviation; a steering angle detecting means for detecting a steering angle of the steering control wheel of the vehicle; and a vehicle speed detecting means for detecting a vehicle speed, wherein said azimuth change quantity of the vehicle is determined based on the steering angle and the vehicle speed. - View Dependent Claims (4, 5)
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9. A vehicle control system comprising:
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a map information outputting means for outputting map information including a road on which a subject vehicle travels; a subject-vehicle position detecting means for detecting a subject-vehicle position on a map; a steering means for steering a steering control wheel of the vehicle; a steering-torque applying means for applying a steering torque to said steering means; a reference yaw rate determining means for estimating a yaw rate generated during traveling of the vehicle based on the shape of a road ahead of the subject-vehicle position on the map to determine the estimated yaw rate as a reference yaw rate of the vehicle; actual yaw rate detecting means for detecting an actual yaw rate of the vehicle; and a control means for determining a deviation between the reference yaw rate and the actual rate, and for controlling said steering-torque applying means such as to decrease said deviation. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A vehicle control system comprising:
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a map information outputting means for outputting map information including a road on which a subject vehicle travels; a subject-vehicle position detecting means for detecting a subject-vehicle position on a map; a steering means for steering a steering control wheel of the vehicle; a steering-torque applying means for applying a steering torque to the steering means; a steering angular velocity detecting means for detecting a steering angular velocity input to said steering means; and a steerage control means which determines a steering-torque application quantity based on a traveling state of the vehicle and a shape of a road ahead of said subject-vehicle position on the map to drive said steering-torque applying means, and which corrects said steering-torque application quantity when a steering angular velocity equal to or larger than a predetermined value is detected by said steering angular velocity detecting means. - View Dependent Claims (18)
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Specification