Vehicle steering control apparatus for assisting a steering effort to move a vehicle along a line desired by a driver
First Claim
1. A vehicle steering control apparatus for recognizing a lane on which a vehicle is moving and controlling a steering torque of the vehicle so that the vehicle moves along the lane the vehicle steering apparatus comprising:
- reference line setting means for setting a plurality of reference lines which extend along the lane and are arranged parallel to each other in a direction of a width of the lane;
target moving line selecting means for selecting a target moving line from among the plurality of reference lines in accordance with a state of movement of the vehicle; and
returning steering torque generating means for generating a steering torque for shifting a moving line of the vehicle toward the target moving line, wherein said target moving line selecting means selects one of the reference lines which approximates a steering operation line achieved by a steering effort performed by a driver of the vehicle as the target moving line.
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Accused Products
Abstract
A vehicle steering control apparatus which controls a steering torque to move the vehicle toward a line desired by a driver or appropriate for circumstances of the vehicle. The vehicle steering control apparatus recognizes a lane on which a vehicle is moving, and controls a steering torque of the vehicle so that the vehicle moves along the lane. A plurality of reference lines, which extend along the lane and are arranged parallel to each other in a direction of a width of the lane, are set. A target moving line is selected from among the plurality of reference lines in accordance with a state of movement of the vehicle. A steering torque is generated for shifting a moving line of the vehicle toward the target moving line.
319 Citations
5 Claims
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1. A vehicle steering control apparatus for recognizing a lane on which a vehicle is moving and controlling a steering torque of the vehicle so that the vehicle moves along the lane the vehicle steering apparatus comprising:
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reference line setting means for setting a plurality of reference lines which extend along the lane and are arranged parallel to each other in a direction of a width of the lane;
target moving line selecting means for selecting a target moving line from among the plurality of reference lines in accordance with a state of movement of the vehicle; and
returning steering torque generating means for generating a steering torque for shifting a moving line of the vehicle toward the target moving line, wherein said target moving line selecting means selects one of the reference lines which approximates a steering operation line achieved by a steering effort performed by a driver of the vehicle as the target moving line.
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2. A vehicle steering control apparatus for recognizing a lane on which a vehicle is moving and controlling a steering torque of the vehicle so that the vehicle moves along the lane, the vehicle steering control apparatus comprising:
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reference line setting means for setting a plurality of reference lines which extend along the lane and are arranged parallel to each other in a direction of a width of the lane;
target moving line selecting means for selecting a target moving line from among the plurality of reference lines in accordance with a state of movement of the vehicle; and
returning steering torque generating means for generating a steering torque for shifting a moving line of the vehicle toward the target moving line, deviation preventing area setting means for setting a deviation preventing area on a side of the lane; and
deviation preventing torque generating means for generating a steering torque for moving the vehicle toward a middle of the lane when the moving line of the vehicle overlaps with the deviation preventing area. - View Dependent Claims (3, 4, 5)
circumstances recognizing means for recognizing circumstances of a moving path of said vehicle; and
control gain changing means for changing a magnitude of the steering torque generated by said deviation preventing torque generating means in accordance with the circumstances of the moving path.
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4. The vehicle steering control apparatus as claimed in claim 2, further comprising:
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circumstances recognizing means for recognizing circumstances of a moving path of said vehicle, wherein said deviation preventing area setting means includes area width setting means for setting a width of said deviation preventing area in accordance with the circumstances of the moving path.
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5. The vehicle steering control apparatus as claimed in claim 4, further comprising:
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steering operation line learning means for learning a steering operation line with respect to each circumstance of the moving path, the steering operation line being achieved by a steering effort performed by a driver of said vehicle, wherein said area width setting means includes learning result reflecting means for reflecting a result of learning of said steering operation line learning means in the width of said deviation preventing area.
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Specification