Vehicle steering control apparatus

• US 6,263,270 B1
• Filed: 11/14/1997
• Issued: 07/17/2001
• Est. Priority Date: 11/26/1996
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kubota, Yuichi, Goto, Takeshi, Sato, Kunihito
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/970,421
• Time in Patent Office: 1,341 Days
• Field of Search: 701/41, 701/42, 701/43, 701/36, 701/23, 701/45, 701/28, 701/24, 180/412, 180/416, 180/443, 180/446, 180/415, 180/167, 180/168, 180/169, 340/438, 340/441, 340/901, 340/903, 340/904, 340/937
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• 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 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A steering control apparatus prevents interference between a steering operation of a driver and a steering control operation of the steering control apparatus by detecting a steering operation so as to decrease an amount of the steering control operation when the steering operation is performed by the driver. A guide line provided on a vehicle moving lane on which the vehicle is moving is recognized so as to set a target position on the vehicle moving lane based on a result of recognition of the guide line. A steering control operation is performed so that the vehicle moves to trace the target position. An amount of each component of a steering operation applied to a steering wheel is detected by a steering angle sensor and a steering torque sensor. An amount of the steering control operation is corrected so that the amount of the steering control operation is decreased in accordance with the amount of each component of the steering operation.

Claims

1. A steering control apparatus for a driver-operable vehicle which performs a steering control operation comprising:

guide-line recognizing means for recognizing a guide line provided on a vehicle moving lane on which said vehicle is moving so as to set a target position on the vehicle moving lane based on a result of recognition of said guide line, said guide line recognizing means including;

a camera which takes an image of a forward view of said vehicle; and

a guide line recognizing unit which processes an image taken by said camera so as to recognize the guide line and set the target position, said guide line recognizing unit calculating a distance between said vehicle and the guide line and an amount of offset of a present position of said vehicle from the target position;

steering control means for performing a steering control operation so that said vehicle moves to trace said target position;

steering operation detecting means for detecting an amount of a component of a steering operation applied to a steering wheel by the driver; and

correcting means for calculating an amount of the steering control operation to be achieved by said steering control means based on the distance between said vehicle and the guideline and the amount of offset of the present position of said vehicle from the target position, and for decreasing the calculated amount of the steering control operation in accordance with the amount of the component of the steering operation detected by said steering operation detecting means.

2. The steering control apparatus as claimed in claim 1, wherein said steering control means includes:

a steering mechanism operated by an electric motor;

steering calculating means for calculating an amount of steering to be achieved by said steering mechanism in accordance with the offset amount of said vehicle; and

a drive circuit which controls said electric motor so that the amount of steering calculated by said steering calculating means is achieved.

3. The steering control apparatus as claimed in claim 1, wherein said steering operation detecting means includes:

a steering angle sensor which detects a steering angle and an angular velocity generated by the steering operation applied to said steering wheel; and

a steering torque sensor which detects a steering torque generated by the steering operation applied to said steering wheel.

4. A steering control apparatus for a vehicle which performs a steering control operation, comprising:

guide line recognizing means for recognizing a guide line provided on a vehicle moving lane on which said vehicle is moving so as to set a target position on the vehicle moving lane based on a result of recognition of said guide line;

steering control means for performing a steering control operation so that said vehicle moves to trace said target position;

steering operation detecting means including;

a steering angle sensor which detects a steering angle and an angular velocity generated by a steering operation applied to said steering wheel, and

a steering torque sensor which detects a steering torque generated by the steering operation applied to said steering wheel; and

correcting means for correcting an amount of the steering control operation, said correcting means determining a factor for each of the steering angle, the angular velocity and the steering torque generated by the steering operation applied to said steering wheel, the amount of the steering control operation being corrected in accordance with a value obtained from the factors.

5. The steering control apparatus as claimed in claim 4, wherein the factor obtained from the steering angle is set to one when the steering angle is zero and is decreased to zero as the steering angle is increased;

the factor obtained from the angular velocity is set to one when the angular velocity is zero and decreased to zero when the angular velocity is increased to a predetermined value;

the factor obtained from the steering torque is set to one when the steering torque is zero and starts to decrease to zero when the steering torque exceeds a predetermined value.

6. A steering control apparatus for a vehicle which performs a steering control operation;

comprising

guide line recognizing means for recognizing a guide line provided on a vehicle moving lane in which such vehicle is moving so as to set a target position in the vehicle moving lane based on a result of recognition of said guide line;

steering control means for performing a steering control operation so that said vehicle moves to trace said target position;

steering operation detecting means for detecting an amount of a component of a steering operation applied to a steering wheel by a driver; and

correcting means for decreasing an amount of the steering control operation in accordance with the amount of the component of the steering operation detected by said steering operation detecting means.

7. A steering control apparatus for a driver-operable vehicle which performs a steering control operation, comprising:

guide line recognizing means for recognizing a guide line provided on a vehicle moving lane on which said vehicle is moving so as to set a target position on the vehicle moving lane based on a result of recognition of said guide line;

steering control means for performing a steering control operation so that said vehicle moves to trace said target position;

steering operation detecting means including;

a steering angle sensor which detects a steering angle and an angular velocity generated by a steering operation applied to said steering wheel, and a steering torque sensor which detects a steering torque generated by the steering operation applied to said steering wheel, and

correcting means for calculating an amount of the steering control operation based on recognition of said guide line, said correcting means determining a factor for each of the steering angle, the angular velocity and the steering torque generated by the steering operation applied to said steering wheel, the amount of the steering control operation being decreased in accordance with a value obtained from the factors.

8. A steering control apparatus for a vehicle which performs a steering control operation;

comprising

guide line recognizing means for recognizing a guide line provided on a vehicle moving lane in which such vehicle is moving so as to set a target position in the vehicle moving lane based on a result of recognition of said guide line;

steering control means for performing a steering control operation so that said vehicle moves to trace said target position;

steering operation detecting means for detecting an amount of a component of a steering operation applied to a steering wheel by a driver;

calculating means for calculating an amount of the steering control operation to be achieved by said steering control means based on the result of recognition of said guide line; and

correcting means for decreasing the calculated amount of the steering control operation in accordance with the amount of the component of the steering operation detected by said steering operation detecting means.

9. The steering control apparatus as claimed in claim 8, wherein said correcting means increases an amount of decrease of the calculated amount of the steering control operation as the amount of the steering operation by the driver increases.