Automatic steering apparatus for vehicles
First Claim
1. An automatic steering apparatus having an automatic steering control operation and a capable of automatically parking a vehicle in a parking space while controlling said a steering actuator based on a predetermined locus of movement, said apparatus comprising:
- said steering actuator that controls a steering angle of a wheel of the vehicle;
object detecting means for detecting an object around the vehicle and for determining if an object detected by the object detecting means is located in a path of the vehicle along the predetermined estimated locus of movement and for interrupting said automatic steering control operation when the detected object is located in the path of the vehicle along the predetermined estimated locus of movement;
storage means for storing the predetermined estimated locus of movement of the vehicle from a starting position to a target parking position in the parking space;
control means for automatically controlling said steering actuator based on said predetermined locus of movement stored in said storage means; and
judging means for judging whether the automatic steering control operation is continued based on the predetermined locus of movement stored in said storage means and a position of the object detected by the object detecting means when the automatic steering control operation by said control means is interrupted.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus is provided to correctly judge whether an automatic parking control operation can be accomplished when an obstacle exists in the path of movement of a vehicle, and thus enables the vehicle to be parked easily and reliably. In order that the vehicle can be parked along the locus of movement, an automatic steering operation is carried out on the basis of a relation between a traveling distance of the vehicle stored in advance and a reference steering angle. When the automatic parking control operation is interrupted due to the existence of the obstacle, a judgment whether or not the continuation of the automatic parking control operation is possible is made on the basis of the condition of the obstacle detected by a sonar, radar, a television camera, and the like and the locus of movement of the vehicle. When the continuation of this operation is impossible, the steering angle of the vehicle is reproduced in a reverse direction, and the vehicle is thereby returned to the starting position. The position of the vehicle is thereafter corrected to again start the parking operation by the driver'"'"'s steering operation or by automatic parking operation.
66 Citations
13 Claims
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1. An automatic steering apparatus having an automatic steering control operation and a capable of automatically parking a vehicle in a parking space while controlling said a steering actuator based on a predetermined locus of movement, said apparatus comprising:
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said steering actuator that controls a steering angle of a wheel of the vehicle;
object detecting means for detecting an object around the vehicle and for determining if an object detected by the object detecting means is located in a path of the vehicle along the predetermined estimated locus of movement and for interrupting said automatic steering control operation when the detected object is located in the path of the vehicle along the predetermined estimated locus of movement;
storage means for storing the predetermined estimated locus of movement of the vehicle from a starting position to a target parking position in the parking space;
control means for automatically controlling said steering actuator based on said predetermined locus of movement stored in said storage means; and
judging means for judging whether the automatic steering control operation is continued based on the predetermined locus of movement stored in said storage means and a position of the object detected by the object detecting means when the automatic steering control operation by said control means is interrupted. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification