Vehicle operating condition determining system, driving assist system, and operating condition determining method

• US 9,180,911 B2
• Filed: 09/29/2011
• Issued: 11/10/2015
• Est. Priority Date: 10/01/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yoshihama, Yuki
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): INGRAM, THOMAS P
• Application Number:
  US13/876,104
• Publication Number:
  US 20130197713A1
• Time in Patent Office: 1,503 Days
• Field of Search: 701/41, 701/43, 701/47
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60W 2510/202 Steering torque
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 5/003 Backup systems, e.g. for manual steering B62D5/30 takes precedence

Abstract

A vehicle operating condition determining system determines, when a turning angle of wheels or a steering angle of a steering wheel changes, that the turning angle of the wheels or the steering angle of the steering wheel changes due to a driver'"'"'s intention, under a condition that the magnitude of steering torque applied to a steering device is kept equal to or larger than a threshold value after the torque reaches a peak, for a period of time equal to or longer than a reference time.

Claims

1. A vehicle operating condition determining system for a vehicle, the vehicle operating condition determining system comprising:

an electronic control unit, the electronic control unit having control logic configured to cause the electronic control unit to;

detect steering torque or a physical quantity correlated with steering torque when a turning angle of wheels of a vehicle or a steering angle of a steering wheel of the vehicle changes; and

measure a length of time for which a magnitude of the steering torque or a magnitude of the physical quantity detected by the electronic control unit is kept equal to or larger than a first threshold value, after the magnitude of the steering torque or the magnitude of the physical quantity becomes equal to or larger than a second threshold value, the second threshold value being greater than the first threshold value, wherein

when the length of time measured by the electronic control unit is equal to or longer than a reference time, the electronic control unit determines that the turning angle of the wheels or the steering angle of the steering wheel changes due to a driver intentionally turning the steering wheel;

when the length of time measured by the electronic control unit is shorter than the reference time, the electronic control unit determines that the turning angle of the wheels or the steering angle of the steering wheel changes due to the driver unintentionally turning the steering wheel; and

the vehicle is controlled based upon a determination made by the electronic control unit.

2. The vehicle operating condition determining system according to claim 1, wherein when the peak of the magnitude of the steering torque or the peak of the magnitude of the physical quantity detected by the electronic control unit is equal to or larger than the second threshold value, and the length of time measured by the electronic control unit is equal to or longer than the reference time, the electronic control unit determines that the turning angle of the wheels or the steering angle of the steering wheel changes due to the driver'"'"'s intention.

3. A vehicle driving assist system comprising a vehicle operating condition determining system for a vehicle, the vehicle operating condition determining system comprising:

an electronic control unit, the electronic control unit having control logic configured to cause the electronic control unit to;

detect steering torque or a physical quantity correlated with steering torque when a turning angle of wheels of a vehicle or a steering angle of a steering wheel of the vehicle changes; and

measure a length of time for which a magnitude of the steering torque or a magnitude of the physical quantity detected by the electronic control unit is kept equal to or larger than a first threshold value, after the magnitude of the steering torque or the magnitude of the physical quantity becomes equal to or larger than a second threshold value, the second threshold value being greater than the first threshold value, wherein

when the length of time measured by the electronic control unit is equal to or longer than a reference time, the electronic control unit determines that the turning angle of the wheels or the steering angle of the steering wheel changes due to a driver intentionally turning the steering wheel;

when the length of time measured by the electronic control unit is shorter than the reference time, the electronic control unit determines that the turning angle of the wheels or the steering angle of the steering wheel changes due to the driver unintentionally turning the steering wheel;

the vehicle is controlled based upon a determination made by the electronic control unit; and

when it is determined by the electronic control unit that the turning angle of the wheels or the steering angle of the steering wheel changes due to the driver intentionally turning the steering wheel, execution of a driving assisting process is restricted.

4. A method of determining an operating condition of a vehicle, the vehicle including an electronic control unit having control logic configured to cause the electronic control unit to carry out the method, the method comprising:

detecting a steering torque or a physical quantity when a turning angle of wheels of a vehicle or a steering angle of a steering wheel changes;

measuring a length of time for which a magnitude of the steering torque or a magnitude of the physical quantity detected is kept equal to or larger than a first threshold value after the magnitude of the steering torque or the magnitude of the physical quantity becomes equal to or larger than a second threshold value, the second threshold value being greater than the first threshold value;

determining, when the length of time measured is equal to or longer than a reference time, that the turning angle of the wheels or the steering angle of the steering wheel changes due to the driver intentionally turning the steering wheel;

determining, when the length of time measured is shorter than the reference time, that the turning angle of the wheels or the steering angle of the steering wheel changes due to the driver unintentionally turning the wheel; and

controlling the vehicle based upon a determination made by the electronic control unit.