Steering control apparatus for a vehicle
First Claim
Patent Images
1. A steering control apparatus for a vehicle, comprising:
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
a torque detector that detects steering torque input by a driver;
a travel route recognizing section that recognizes a travel route of the vehicle; and
a steering assistance section that outputs a signal that drives the actuator such that the vehicle travels along the travel route recognized by the travel route recognizing section,wherein the steering control apparatus for a vehicle is provided with;
a steering torque change state calculation section that calculates a moving integral value of a squared value of an amount of change in the steering torque detected by the torque detector;
a driving intention determination section that determines whether there has been a decrease in the driving intention of the driver based on a result of a calculation by the steering torque change state calculation section;
a notification section that outputs a warning to the driver; and
an execution section that executes at least one of stopping the driving of the actuator by the steering assistance section and outputting the warning by the notification section when it is determined by the driving intention determination section that there has been a decrease in the driving intention.
1 Assignment
0 Petitions
Accused Products
Abstract
Whether a driver is driving intentionally is determined rapidly and accurately when steering control is performed such that a vehicle travels along recognized travel partitioning lines. A torque value deviation absolute value is calculated using the absolute value of a difference between the torque value from the previous processing and the torque value from the current processing, and is stored in a ring buffer. A torque value deviation sum value is calculated by adding all the torque value deviation absolute values stored in the ring buffer, and when a state in which the torque value deviation sum value is equal to or less than a predetermined driving intention determination threshold continues for a predetermined first threshold time (for example, several seconds; e.g. 5 seconds) or longer, it is determined that there is a decrease in the driving intention.
47 Citations
36 Claims
-
1. A steering control apparatus for a vehicle, comprising:
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
a torque detector that detects steering torque input by a driver;
a travel route recognizing section that recognizes a travel route of the vehicle; and
a steering assistance section that outputs a signal that drives the actuator such that the vehicle travels along the travel route recognized by the travel route recognizing section,wherein the steering control apparatus for a vehicle is provided with;
a steering torque change state calculation section that calculates a moving integral value of a squared value of an amount of change in the steering torque detected by the torque detector;
a driving intention determination section that determines whether there has been a decrease in the driving intention of the driver based on a result of a calculation by the steering torque change state calculation section;
a notification section that outputs a warning to the driver; and
an execution section that executes at least one of stopping the driving of the actuator by the steering assistance section and outputting the warning by the notification section when it is determined by the driving intention determination section that there has been a decrease in the driving intention. - View Dependent Claims (2, 3, 4, 5, 6, 7, 17)
wherein when it is determined by the driving intention determination section that there has been a decrease in the driving intention, the deviation warning notification section alters the reference position such that it is frequently determined that a possibility exists that the vehicle has deviated from the travel route. -
17. The steering control apparatus for a vehicle according to claim 6, wherein the first driving intention determination section determines that there has been a decrease in the driving intention when a state in which the result of a calculation by the steering torque change state calculation section is less than or equal to a first predetermined value continues for a first predetermined time or longer, and the second driving intention determination section determines that there has been a decrease in the driving intention when a state in which the result of a calculation by the steering torque difference calculation section is less than or equal to a second predetermined value continues for a second predetermined time or longer.
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
-
8. A steering control apparatus for a vehicle, comprising:
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
a torque detector that detects steering torque input by a driver;
a travel route recognizing section that recognizes a travel route of the vehicle; and
a steering assistance section that outputs a signal that drives the actuator such that the vehicle travels along the travel route recognized by the travel route recognizing section, wherein the steering control apparatus for a vehicle is provided with;a steering torque difference calculation section that calculates a difference between a maximum value and a minimum value in a predetermined period of the steering torque detected by the torque detector;
a driving intention determination section that determines whether there has been a decrease in the driving intention of the driver based on a result of a calculation by the steering torque difference calculation section;
a notification section that outputs a warning to the driver; and
an execution section that executes at least one of stopping the driving of the actuator by the steering assistance section and outputting the warning by the notification section when it is determined by the driving intention determination section that there has been a decrease in the driving intention. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
wherein when it is determined by the driving intention determination section that there has been a decrease in the driving intention, the deviation warning notification section alters the reference position such that it is frequently determined that a possibility exists that the vehicle has deviated from the travel route.
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
-
16. A steering control apparatus for a vehicle, comprising:
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
a torque detector that detects steering torque input by a driver;
a travel route recognizing section that recognizes a travel route of the vehicle; and
a steering assistance section that outputs a signal that drives the actuator such that the vehicle travels along the travel route recognized by the travel route recognizing section,wherein the steering control apparatus for a vehicle is provided with;
a steering torque change state calculation section that calculates one of a moving integral value of an amount of change in the steering torque detected by the torque detector and a moving integral value of a squared value of an amount of change in the steering torque detected by the torque detector;
a steering torque difference calculation section that calculates a difference between a maximum value and a minimum value of the steering torque detected by the torque detector in a predetermined period;
a first driving intention determination section that determines whether there has been a decrease in the driving intention of the driver based on a result of a calculation by the steering torque change state calculation section;
a second driving intention determination section that determines whether there has been a decrease in the driving intention of the driver based on a result of a calculation by the steering torque difference calculation section;
a driving intention determination section that determines whether there has been a decrease in the driving intention in accordance with at least the determination result by either of the first or second driving intention determination sections;
a notification section that outputs a warning to the driver; and
an execution section that executes at least one of stopping the driving of the actuator by the steering assistance section and outputting the warning by the notification section when it is determined by the driving intention determination section that there has been a decrease in the driving intention. - View Dependent Claims (18, 19, 20, 21, 22)
wherein when it is determined by the driving intention determination section that there has been a decrease in the driving intention, the deviation warning notification section alters the reference position such that it is frequently determined that a possibility exists that the vehicle has deviated from the travel route.
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
-
23. A steering control apparatus for a vehicle, comprising:
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
a torque detector that detects steering torque input by a driver;
a travel route recognizing section that recognizes a travel route of the vehicle; and
a steering assistance section that outputs a signal that drives the actuator such that the vehicle travels along the travel route recognized by the travel route recognizing section,wherein the steering control apparatus for a vehicle is provided with;
a standard deviation calculation section that calculates any of a standard deviation in the steering torques detected by the torque detector and a standard deviation in change amounts of the steering torque;
a driving intention determination section that determines whether there has been a decrease in the driving intention of the driver based on a result of a calculation by the standard deviation calculation section;
a notification section that outputs a warning to the driver; and
an execution section that executes at least one of stopping the driving of the actuator by the steering assistance section and outputting the warning by the notification section when it is determined by the driving intention determination section that there has been a decrease in the driving intention. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30)
the driving intention determination section determines that there has been a decrease in the driving intention when the size of the steering torque in the result of the determination by the determination section is less than or equal to a predetermined value, and the result of the calculation by the standard deviation calculation section is less than or equal to a predetermined value. -
26. The steering control apparatus for a vehicle according to claim 23, wherein the execution section outputs the warning over a predetermined time from when it is determined by the driving intention determination section that there has been a decrease in the driving intention.
-
27. The steering control apparatus for a vehicle according to claim 23, wherein the execution section stops the driving of the actuator after the output of the warning by the notification section.
-
28. The steering control apparatus for a vehicle according to claim 23, wherein, after the driving of the actuator has been stopped, the driving of the actuator is recommenced when it is determined by the driving intention determination section that there has been no decrease in the driving intention.
-
29. The steering control apparatus for a vehicle according to claim 28, wherein the driving intention determination section determines whether there has been a decrease in the driving intention after a predetermined time has passed from when the driving of the actuator was stopped.
-
30. The steering control apparatus for a vehicle according to claim 23, wherein there is provided with a deviation warning notification section that recognizes a position of the vehicle in the widthwise direction on the travel route based on a result of a recognition made by the travel route recognizing section, and when the position of the vehicle reaches a predetermined reference position that shows a deviation from the travel route, the deviation warning notification section determines that a possibility exists that the vehicle has deviated from the travel route and outputs a deviation warning, and
wherein when it is determined by the driving intention determination section that there has been a decrease in the driving intention, the deviation warning notification section alters the reference position such that it is frequently determined that a possibility exists that the vehicle has deviated from the travel route.
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
-
31. A steering control apparatus for a vehicle, comprising:
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
a torque detector that detects steering torque input by a driver;
a travel route recognizing section that recognizes a travel route of the vehicle; and
a steering assistance section that outputs a signal that drives the actuator such that the vehicle travels along the travel route recognized by the travel route recognizing section,wherein the steering control apparatus for a vehicle is provided with;
a steering torque change state calculation section that calculates a moving integral value of an amount of change in the steering torque detected by the torque detector;
a driving intention determination section that determines whether there has been a decrease in the driving intention of the driver based on a result of a calculation by the steering torque change state calculation section;
a notification section that outputs a warning to the driver; and
an execution section that executes at least one of stopping the driving of the actuator by the steering assistance section and outputting the warning by the notification section when it is determined by the driving intention determination section that there has been a decrease in the driving intention, wherein, after the driving of the actuator has been stopped, the driving of the actuator is recommenced when it is determined by the driving intention determination section that there has been no decrease in the driving intention. - View Dependent Claims (32, 33, 34, 35, 36)
wherein when it is determined by the driving intention determination section that there has been a decrease in the driving intention, the deviation warning notification section alters the reference position such that it is frequently determined that a possibility exists that the vehicle has deviated from the travel route.
- an actuator that drives a steering mechanism capable of steering wheels of the vehicle;
Specification
-
- Resources
Litigation Campaign Assessment
Thank you for your request. You will receive a custom alert email when the Litigation Campaign Assessment is available.
×
-
Current AssigneeHonda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
-
Original AssigneeHonda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
-
InventorsTanaka, Jun, Kondo, Satoshi, Ishida, Shinnosuke
-
Primary Examiner(s)Marc-Coleman, Marthe Y.
-
Application NumberUS10/231,165Publication NumberTime in Patent Office529 DaysField of Search701/41, 701/42, 701/43, 180/410, 180/412, 180/413, 180/422, 180/446, 340/438, 340/439, 340/575, 340/576US Class Current701/41CPC Class CodesB60T 2201/08 Lane monitoring; Lane Keepi...B60T 2201/082 using alarm actuationB60T 2201/087 using active steering actua...B62D 1/28 non-mechanical , e.g. follo...
