Lane following vehicle control and process
First Claim
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1. A lane following vehicle control apparatus for a vehicle, comprising:
- a lane sensing section to collect information on a lane of a road ahead of the vehicle;
a steering angle sensing section to sense an actual steering angle of the vehicle;
a longitudinal acceleration sensing section to sense a longitudinal acceleration of the vehicle;
a steering torque producing section to produce an actual steering torque in accordance with a target steering torque to follow the lane;
a steering torque controlling section to set the target steering torque required for the vehicle to follow the lane, in accordance with the information on the lane and the actual steering angle; and
a target steering torque limiting section to limit the target steering torque by setting a target torque limit in accordance with the longitudinal acceleration, wherein the target steering torque limiting section decreases the target torque limit when the longitudinal acceleration is higher than or equal to a first level.
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Abstract
In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in accordance with a sensed longitudinal acceleration of the vehicle.
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Citations
10 Claims
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1. A lane following vehicle control apparatus for a vehicle, comprising:
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a lane sensing section to collect information on a lane of a road ahead of the vehicle;
a steering angle sensing section to sense an actual steering angle of the vehicle;
a longitudinal acceleration sensing section to sense a longitudinal acceleration of the vehicle;
a steering torque producing section to produce an actual steering torque in accordance with a target steering torque to follow the lane;
a steering torque controlling section to set the target steering torque required for the vehicle to follow the lane, in accordance with the information on the lane and the actual steering angle; and
a target steering torque limiting section to limit the target steering torque by setting a target torque limit in accordance with the longitudinal acceleration, wherein the target steering torque limiting section decreases the target torque limit when the longitudinal acceleration is higher than or equal to a first level. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A lane following vehicle control process comprising:
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collecting input information on a vehicle running condition of a vehicle running along a lane, and an actual steering angle of the vehicle;
obtaining a sensed actual longitudinal acceleration of the vehicle;
producing a control signal to produce an actual steering torque in accordance with a target steering torque to follow the lane;
setting the target steering torque to achieve a target steering angle determined in accordance with the vehicle running condition and the actual steering angle to follow the lane; and
limiting the target steering torque by setting a target torque limit in accordance with the longitudinal acceleration, the target torque limit being decreased when the longitudinal acceleration is higher than or equal to a first level.
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9. A lane following vehicle control apparatus comprising:
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means for collecting input information on a vehicle running condition of a vehicle in relation to a lane;
means for sensing an actual steering angle of the vehicle;
means for sensing a longitudinal acceleration of the vehicle;
means for producing an actual steering torque in accordance with a target steering torque to follow the lane;
means for determining a target steering angle in accordance with the vehicle running condition and the actual steering angle to follow the lane;
means for setting the target steering torque to achieve the target steering angle; and
means for limiting the target steering torque by setting a target torque limit in accordance with the longitudinal acceleration, wherein the target steering torque limiting means decreases the target torque limit in accordance with the absolute value of longitudinal acceleration, and wherein the target steering torque limiting means decreases the target torque limit from a normal limit value to a minimum limit value when the absolute value of the longitudinal acceleration increases from a first level to a second level. - View Dependent Claims (10)
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Specification