Steering assist apparatus and method for vehicle

• US 7,373,230 B2
• Filed: 05/27/2005
• Issued: 05/13/2008
• Est. Priority Date: 06/02/2004
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kataoka, Hiroaki, Iwazaki, Katsuhiko, Rattapon, Chumsamutr, Niwa, Satoru, Kawakami, Seiji
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US11/138,432
• Publication Number:
  US 20050273234A1
• Time in Patent Office: 1,082 Days
• Field of Search: None
• US Class Current: 701/41
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: B62D 6/001 the torque NOT being among the input parameters
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel

Abstract

Characteristic lines A to D of lateral acceleration G-required torque T in determination of required torque T are used as switched according to increase/decrease of the absolute value of the lateral acceleration, and the direction thereof. The lines A, C used in increase of the absolute value of the lateral acceleration G are so set that the absolute value of required torque T becomes larger at the same lateral acceleration G (G≠0) than that with the lines B, D used in decrease of the absolute value of the lateral acceleration G. The difference between line A and line B (the difference between line C and line D as well) at the same lateral acceleration G is so set that the difference near the lateral acceleration of 0 is smaller than that in the other regions. Particularly, it is preferable to set the required torque T to 0 at the lateral acceleration G of 0.

Claims

1. A steering assist apparatus for a vehicle, comprising a controller that:

receives input from a sensor; and

controls a motor based on input from the sensor;

wherein the motor applies an assist torque;

wherein the assist torque at any given target lateral acceleration, the any given target lateral acceleration being less than or greater than 0, is so set that the assist torque in an increasing state of the target lateral acceleration is larger than the assist torque in a decreasing state of the target lateral acceleration, and

wherein in a region near a target lateral acceleration of 0, a difference at any given target lateral acceleration between the assist torque applied in the increasing state of the target lateral acceleration and the assist torque applied in the decreasing state of the target lateral acceleration becomes smaller as the any given target lateral acceleration approaches 0.

2. The steering assist apparatus according to claim 1, wherein at the target lateral acceleration of 0, the difference between the assist torque applied in the increasing state of the target lateral acceleration and the assist torque applied in the decreasing state of the target lateral acceleration is set to 0.

3. The steering assist apparatus according to claim 1, wherein on the basis of a transition of time change of the target lateral acceleration, it is determined that a switch of an increase/decrease direction of the target lateral acceleration was made, if either an increase tendency of the target lateral acceleration further continues after a switch from a decrease tendency to an increase tendency for a predetermined period of time, or a decrease tendency of the target lateral acceleration further continues after a switch from an increase tendency to a decrease tendency for a predetermined period of time.

4. The steering assist apparatus according to claim 1, wherein the motor is an electric motor.

5. The steering assist apparatus according to claim 1, further comprising:

means for recognizing a future course of the vehicle and a driving lane, and

means for calculating a lateral acceleration necessary for keeping the vehicle running on the driving lane,

wherein the steering assist is performed according to the lateral acceleration calculated.

6. A steering assist method for a vehicle comprising:

determining a target lateral acceleration for a steering assist operation, and

applying an assist steering force for assisting a driver'"'"'s steering force in response to the target lateral acceleration,

wherein the assist torque at any given target lateral acceleration, the any given target lateral acceleration being less than or greater than 0, is so set that the assist torque in an increasing state of the target lateral acceleration is larger than the assist torque in a decreasing state of the target lateral acceleration, and

wherein in a region near a target lateral acceleration of 0, a difference at any given target lateral acceleration between the assist torque applied in the increasing state of the target lateral acceleration and the assist torque applied in the decreasing state of the target lateral acceleration becomes smaller as the any given target lateral acceleration approaches 0.

7. The steering assist method according to claim 6, wherein at the target lateral acceleration of 0, the difference between the assist torque applied in the increasing state of the target lateral acceleration and the assist torque applied in the decreasing state of the target lateral acceleration is set to 0.

8. The steering assist method according to claim 6, wherein on the basis of a transition of time change of the target lateral acceleration, it is determined that a switch of an increase/decrease direction of the target lateral acceleration was made, if either an increase tendency of the target lateral acceleration further continues after a switch from a decrease tendency to an increase tendency for a predetermined time, or a decrease tendency of the target lateral acceleration further continues after a switch from an increase tendency to a decrease tendency for a predetermined period of time.

9. The steering assist method according to claim 6, further comprising:

recognizing a future course of the vehicle and a driving lane, and

calculating a lateral acceleration necessary for keeping the vehicle traveling on the driving lane,

wherein the steering assist is performed according to the lateral acceleration calculated.