Vehicle steering control system using navigation system

• US 5,854,987 A
• Filed: 03/22/1996
• Issued: 12/29/1998
• Est. Priority Date: 02/22/1995
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Sekine, Hiroshi, Asanuma, Nobuyoshi
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/620,193
• Time in Patent Office: 1,012 Days
• Field of Search: 701/208, 701/213, 701/205, 701/41, 701/23, 180/443, 180/446
• 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: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles

Abstract

An azimuth change quantity θ of a road during traveling of a vehicle for a time δt is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity Θ of the vehicle is calculated by integrating a yaw rate γ obtained from a yaw rate sensor over the time δt (at step S5). A deviation D between the azimuth change quantity θ of the road and the azimuth change quantity Θ of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value β, it is determined that there is a possibility that the vehicle will depart from the road (at step S9), and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).

Claims

1. A vehicle control system comprising:

a map information outputting means for outputting map information including a road on which a subject vehicle travels;

a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;

a steering means for steering a steering control wheel of the vehicle;

a steering-torque applying means for applying a steering torque to said steering means;

means for determining an azimuth change quantity of the road on which the vehicle is traveling;

means for determining an azimuth change quantity of the vehicle;

means for determining a deviation between a determined azimuth change quantity of the road on which the vehicle is traveling and a determined azimuth change quantity of the vehicle, and for driving said steering-torque applying means such as to decrease said deviation;

a yaw rate detecting means for detecting a yaw rate of the vehicle; and

a vehicle speed detecting means for detecting a vehicle speed, wherein

said azimuth change quantity of the vehicle is determined based on the yaw rate and the vehicle speed.

3. A vehicle control system according to any of claims 1 or 2, wherein when a driver of the vehicle changes a steering angular velocity of the steering control wheel by a predetermined value or more during operation of said steering torque applying means, the operation of said steering torque applying means is stopped.

6. A vehicle control system according to any of claims 1 or 2, wherein when a driver of the vehicle operates a brake of the vehicle during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

7. A vehicle control system according to any of claims 1 or 2, wherein when a driver of the vehicle operates a winker of the vehicle during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

8. A vehicle control system according to any of claims 1 or 2, further including a regulating means for regulating the steering torque of the steering torque applying means in accordance with a road district.

2. A vehicle control system comprising:

a map information outputting means for outputting map information including a road on which a subject vehicle travels;

a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;

a steering means for steering a steering control wheel of the vehicle;

a steering-torque applying means for applying a steering torque to said steering means;

means for determining an azimuth chance quantity of the road on which the vehicle is traveling;

means for determining an azimuth change quantity of the vehicle;

means for determining a deviation between a determined azimuth change quantity of the road on which the vehicle is traveling and a determined azimuth change quantity of the vehicle, and for driving said steering-torque applying means such as to decrease said deviation;

a steering angle detecting means for detecting a steering angle of the steering control wheel of the vehicle; and

a vehicle speed detecting means for detecting a vehicle speed, wherein

said azimuth change quantity of the vehicle is determined based on the steering angle and the vehicle speed.

4. A vehicle control system according to any of claims 2 or 3, wherein when a driver of the vehicle changes a torque of said steering control wheel by a predetermined value or more during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

5. A vehicle control system according to any of claims 2 or 3, wherein when a driver of the vehicle changes an accelerator opening degree of the vehicle by a predetermined value or more during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

9. A vehicle control system comprising:

a map information outputting means for outputting map information including a road on which a subject vehicle travels;

a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;

a steering means for steering a steering control wheel of the vehicle;

a steering-torque applying means for applying a steering torque to said steering means;

a reference yaw rate determining means for estimating a yaw rate generated during traveling of the vehicle based on the shape of a road ahead of the subject-vehicle position on the map to determine the estimated yaw rate as a reference yaw rate of the vehicle;

actual yaw rate detecting means for detecting an actual yaw rate of the vehicle; and

a control means for determining a deviation between the reference yaw rate and the actual rate, and for controlling said steering-torque applying means such as to decrease said deviation.

10. A vehicle control system according to claim 9, wherein when a driver of the vehicle changes a steering angular velocity of the steering control wheel by a predetermined value or more during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

11. A vehicle control system according to claim 9, wherein when a driver of the vehicle changes a steering torque of the steering control wheel by a predetermined value or more during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

12. A vehicle control system according to claim 9, wherein when a driver of the vehicle changes an accelerator opening degree of the vehicle by a predetermined value or more during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

13. A vehicle control system according to claim 9, wherein when a driver of the vehicle operates a brake of the vehicle during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

14. A vehicle control system according to claim 9, wherein when a driver of the vehicle operates a winker of the vehicle during operation of said steering-torque applying means, the operation of said steering-torque applying means is stopped.

15. A vehicle control system according to claim 9, wherein when the driver does not grasp the steering control wheel during operation of said steering torque applying means, the operation of said steering torque applying means is stopped.

16. A vehicle control system according to claim 9, further including a regulating means for regulating the steering torque of the steering torque applying means in accordance with a road district.

17. A vehicle control system comprising:

a map information outputting means for outputting map information including a road on which a subject vehicle travels;

a subject-vehicle position detecting means for detecting a subject-vehicle position on a map;

a steering means for steering a steering control wheel of the vehicle;

a steering-torque applying means for applying a steering torque to the steering means;

a steering angular velocity detecting means for detecting a steering angular velocity input to said steering means; and

a steerage control means which determines a steering-torque application quantity based on a traveling state of the vehicle and a shape of a road ahead of said subject-vehicle position on the map to drive said steering-torque applying means, and which corrects said steering-torque application quantity when a steering angular velocity equal to or larger than a predetermined value is detected by said steering angular velocity detecting means.

18. A vehicle control system according to claim 17, wherein said steerage control means determines a correction quantity for the steering torque application quantity in accordance with said steering angular velocity when the steering angular velocity equal to or larger than the predetermined value is detected.