Automatic steering apparatus for vehicles
First Claim
1. An automatic steering apparatus for a vehicle, comprising:
- a movement locus determining means for one of storing and calculating a locus of movement of the vehicle to a target position;
an actuator for steering wheels of the vehicle based on the locus of movement determined by said movement locus determining means;
a braking force detecting means for detecting a braking force applied to the vehicle; and
an actuator driving control means for driving said actuator when the detected braking force is within a predetermined range,wherein said braking force detecting means detects a braking force applied to the vehicle based on a sum of a braking force generated by a brake input means operated by a driver and a braking force generated due to at least one factor other than the braking input means.
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Accused Products
Abstract
When an automatic parking control operation is carried out, while allowing a vehicle to creep at a low speed, a net braking force applied to the vehicle is appropriately estimated. That is, not only a braking force generated by operation of a brake pedal but also a braking force generated due to an inclination or unevenness of a road surface or the like are taken into consideration. When the vehicle speed is, for example, in a range of 3 km/hr to 10 km/hr, it is determined that a suitable braking force has been generated for carrying out the automatic parking control operation. To bring the vehicle speed into the predetermined range, it is necessary a) to generate a braking force by operation of the brake pedal on a flat road, b) to generate a negative braking force (a driving force) by operation of an accelerator pedal on a steep ascending slope and c) to generate a larger braking force by operation of the brake pedal on a descending slope.
37 Citations
6 Claims
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1. An automatic steering apparatus for a vehicle, comprising:
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a movement locus determining means for one of storing and calculating a locus of movement of the vehicle to a target position; an actuator for steering wheels of the vehicle based on the locus of movement determined by said movement locus determining means; a braking force detecting means for detecting a braking force applied to the vehicle; and an actuator driving control means for driving said actuator when the detected braking force is within a predetermined range, wherein said braking force detecting means detects a braking force applied to the vehicle based on a sum of a braking force generated by a brake input means operated by a driver and a braking force generated due to at least one factor other than the braking input means. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification