CN100465041C - Steering assistant device and method for vehicle - Google Patents

Steering assistant device and method for vehicle Download PDF

Info

Publication number
CN100465041C
CN100465041C CNB2004100575698A CN200410057569A CN100465041C CN 100465041 C CN100465041 C CN 100465041C CN B2004100575698 A CNB2004100575698 A CN B2004100575698A CN 200410057569 A CN200410057569 A CN 200410057569A CN 100465041 C CN100465041 C CN 100465041C
Authority
CN
China
Prior art keywords
speed
turn
motor vehicle
path
around zone
Prior art date
Application number
CNB2004100575698A
Other languages
Chinese (zh)
Other versions
CN1736786A (en
Inventor
田中优
岩田良文
岩切英之
里中久志
久保田有一
远藤知彦
松井章
杉山亨
河上清治
岩崎克彦
片冈宽晓
Original Assignee
爱信精机株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 爱信精机株式会社 filed Critical 爱信精机株式会社
Priority to CNB2004100575698A priority Critical patent/CN100465041C/en
Publication of CN1736786A publication Critical patent/CN1736786A/en
Application granted granted Critical
Publication of CN100465041C publication Critical patent/CN100465041C/en

Links

Abstract

Disclosed is an auxiliary device for driving vehicle, which can guide the vehicle traveling at a correct speed according to the way. A valarm, which is used to tell the driver that it is overspeed, in variation transition area is set below that in fixation transition area. Set a lower valarm before entering into the variation transition area. Thus, in the variation transition area, the vehicle speed can decrease adequately to complete the set steering value. And in the fixation transition area, the vehicle speed increases to shorten running time.

Description

The drive assistance device and the method that are used for vehicle

Technical field

The present invention relates to auxiliary (driving assist) apparatus and method of vehicular drive, be used to be determined to the driving trace and the driver assistance vehicle of a target location, so that this vehicle advances along this driving trace.

Background technology

Be used for for example, being disclosed among the open publication No. 10-278825 of Japanese patent application by using the related-art technology of guiding vehicles such as automatic steering (steering), steering order to the target location.In this correlation technique, the reference quantity of the operation of default brake pedal with during automatic steering, is regulated the speed of a motor vehicle according to the speed of response of steering actuator.Deviation between the quantity of the reference quantity of operation and the practical operation that caused by chaufeur is calculated, and is instructed to chaufeur.Thereby, can prevent that the speed of a motor vehicle from becoming too high or too low, so that the control of suitable automatic train stop becomes possibility.

In this technology, the speed of a motor vehicle is that unified (uniformly) is provided with.Yet, in working control, do not need identical by the speed of a motor vehicle that drives under the situation that steering actuator changes the speed of a motor vehicle and maintenance deflection angle under the deflection angle situation.If the speed of a motor vehicle is unified the setting, such possibility is just arranged, that is: drive the long period that may consume inconvenience to the target location, even perhaps chaufeur wants raising speed also can't obtain enough speed of a motor vehicle, thereby controllability is reduced.

Summary of the invention

An object of the present invention is to provide a kind of drive assistance device and method that is used for vehicle, can guide vehicle and move along the path with the suitable speed of a motor vehicle.

For achieving the above object, provide a kind of according to vehicle parking assistance device of the present invention and method thereof.Drive assistance device of the present invention is characterised in that it comprises: computer device, be used to calculate the path that extends to the vehicle target position from the vehicle initial position, and this path comprise that deflection angle changes one change the fixing fixing turn-around zone of turn-around zone and deflection angle; Autosteerer is used to carry out the automatic steering of vehicle, marches to the target location with the guiding vehicle along this path; Alarm device was used in autosteerer operating period, if the speed of a motor vehicle surpasses the predetermined alarm speed of a motor vehicle, then gave the alarm to chaufeur; Alarm speed of a motor vehicle setting device is used to be provided with the alarm speed of a motor vehicle; And transfer device, be used in the alarm speed of a motor vehicle of fixing turn-around zone and change between the alarm speed of a motor vehicle of turn-around zone carrying out conversion, wherein this alarm speed of a motor vehicle setting device fixedly the alarm speed of a motor vehicle of turn-around zone be set to be higher than the alarm speed of a motor vehicle that changes turn-around zone, and this transfer device is according to the path changing alarm speed of a motor vehicle, thereby fixing turn-around zone change into change turn-around zone before, the fixing alarm speed of a motor vehicle of turn-around zone is changed into the alarm speed of a motor vehicle of variation turn-around zone.

Driving assistance method of the present invention is characterised in that it comprises the following steps: to calculate a path, this path extends to the vehicle target position from the vehicle initial position, and this path comprise that deflection angle changes one change the fixing fixing turn-around zone of turn-around zone and deflection angle; This vehicle of automatic steering marches to the target location so that guide this vehicle along this path; During the automatic steering part operation,, then give the alarm to chaufeur if the speed of a motor vehicle surpasses a predetermined alarm speed of a motor vehicle; This alarm speed of a motor vehicle is set; And in the alarm speed of a motor vehicle of fixing turn-around zone and change between the alarm speed of a motor vehicle of turn-around zone and carry out conversion, wherein fixedly the alarm speed of a motor vehicle of turn-around zone is set to be higher than the alarm speed of a motor vehicle that changes turn-around zone, and according to the path changing alarm speed of a motor vehicle, thereby fixing turn-around zone change into change turn-around zone before, the fixing alarm speed of a motor vehicle of turn-around zone is changed into the alarm speed of a motor vehicle of variation turn-around zone.

According to this drive assistance device and method, for this fixedly turn-around zone with change turn-around zone the different alarm speed of a motor vehicle be set.In this changed turn-around zone, the actuating device of autosteerer drove a steering swivel system, and the alarm speed of a motor vehicle is set to lower.Therefore, reduced the load on this actuating device, and realized that high precision turns to.And fixedly in the turn-around zone, this actuating device does not drive this steering swivel system at this, and the alarm speed of a motor vehicle is set to higher, thereby allows with than changing the speed motion of turn-around zone Nei Genggao.Therefore, can reduce the time that moves to the target location.Owing to change the alarm speed of a motor vehicle according to the path, controllability strengthens.

This layout makes chaufeur just reduce the speed of a motor vehicle before changing turn-around zone changing into from fixing turn-around zone.Therefore, just may stop basically during the initial portion that changes turn-around zone and surmount the generation of the situation of the alarm speed of a motor vehicle, and reduce the load on the actuating device, accurately to turn to.

Aforesaid device can further comprise the restricted speed setting device, is used to be provided with a restricted speed, so that if the speed of a motor vehicle has surpassed this restricted speed then to stop to drive auxiliary, wherein this this restricted speed of restricted speed setting device is set to be higher than the alarm speed of a motor vehicle.Aforesaid method can further comprise a restricted speed is set, with if the speed of a motor vehicle has surpassed this restricted speed and has then stopped driving auxiliary step, wherein this restricted speed is set to be higher than the alarm speed of a motor vehicle.

In this device, this restricted speed setting device can should be fixedly the restricted speed of turn-around zone be set to be higher than the restricted speed of this variation turn-around zone.In the method, fixedly the restricted speed of turn-around zone is set to be higher than the restricted speed of this variation turn-around zone.

Arrange that according to this speed that stops to drive aux. controls is set to be similar to this alarm speed of a motor vehicle.Therefore, guaranteed that high precision turns to, thereby can strengthen controllability.

And in aforesaid device, the restricted speed that this restricted speed setting device can this variation turn-around zone is set to be higher than this fixedly alarm speed of a motor vehicle of turn-around zone.In aforesaid method, restricted speed that can this variation turn-around zone is set to be higher than this fixedly alarm speed of a motor vehicle of turn-around zone.

From the situation that surpasses the fixing turn-around zone alarm speed of a motor vehicle, be converted to change turn-around zone after, what this layout had been avoided controlling stops at once.

In aforesaid device, if the speed of a motor vehicle has surpassed restricted speed, then this autosteerer can stop the automatic steering to vehicle.In aforesaid method,, then can stop automatic steering to vehicle if the speed of a motor vehicle has surpassed restricted speed.

And, in aforesaid device, if be essentially 0 at the deflection angle of initial position, but this computer device calculating path then.And, in aforesaid method, if be essentially 0 at the deflection angle of initial position, but calculating path then.

According to this layout because when deflection angle is essentially 0 executed the path setting, the influence of the factor except that the azimuth can be got rid of from path computing.Therefore, improved design accuracy, and improved guidance accuracy to the target location.

And, in aforesaid device, this calculating section can calculate an elementary path based on angle of inclination and at an initial actual steering angle of the actual steering angle of initial position vehicle, wherein, this elementary path is changed into the direction of traffic of target location with direction of traffic from the direction of traffic of initial position, and these angle of inclination are that the direction of traffic by the direction of traffic of initial position and target location forms; This computer device can amplify this elementary path by similarity subsequently, calculates a destination path.And, in aforesaid method, can be by calculating an elementary path based on angle of inclination and at an initial actual steering angle of the actual steering angle of the vehicle of initial position, wherein this elementary path is changed into direction of traffic the direction of traffic of target location from the direction of traffic of initial position, these angle of inclination are that the direction of traffic by the direction of traffic of initial position and target location forms, amplify this elementary path by similarity more subsequently, calculate this path.

Arrange that according to this owing to amplify for the similarity of elementary path, steering rate has reduced, and the angle of inclination that will change along whole amplification path are identical with the angle of inclination maintenance along this elementary path.Therefore, can reduce load on the autosteerer.And, suppressed the generation of turn-around delay, thereby further improved guidance accuracy to the target location.

Description of drawings

Consult down the specific descriptions that regard to representative embodiment of the present invention in conjunction with the drawings, can understand above-mentioned and other embodiment, purpose, feature, advantage, technology and commercial value of the present invention better, wherein:

Fig. 1 illustrates the block scheme according to the framework of the parking aid 100 of one embodiment of the invention;

Fig. 2 illustrates the scheme drawing of garage shut-down operation, and it is that parking under first control forms of device as shown in Figure 1 is auxiliary;

Fig. 3 is illustrated in the diagram of circuit of the control under first control forms of installing as shown in Figure 1;

Fig. 4 shows the scheme drawing that concerns between steering angle sigma in device as shown in Figure 1 and the turning curvature γ;

Fig. 5 A to Fig. 5 C is the diagram of curves with respect to the turning curvature about the operating range on the secondary path, alarm speed and the limited speed that are provided with by control forms shown in Figure 3;

Fig. 6 illustrates by the secondary path of control forms setting shown in Figure 3 and the scheme drawing of the relation of the position between the vehicle-to-target position;

Fig. 7 illustrates the diagram of circuit of the characteristic of second control forms of device as shown in Figure 1;

Fig. 8 is the scheme drawing that shows the position relation in the path that is provided with by second control forms shown in Figure 7;

Fig. 9 A and Fig. 9 B are the diagram of curves with respect to the turning curvature about the operating range on the secondary path, alarm speed and the limited speed that are provided with by control forms shown in Figure 7.

The specific embodiment

In the following description, will the present invention more specifically be described according to representative embodiment.

As an example, describe according to drive assistance device of the present invention with reference to a parking aid below.Fig. 1 illustrates the block scheme according to the framework of the parking aid 100 of one embodiment of the invention.Parking aid 100 has autosteerer 20, and is controlled by the auxiliary ECU 1 that stops by one of control setup.The auxiliary ECU 1 that stops is made of CPU, ROM, RAM, incoming signal circuit, output signal circuit, power circuit etc.And the auxiliary ECU 1 that stops has image processing section 10 and turns to control part 11, and wherein this image processing section 10 is handled the image that obtains by following rear pick up camera 32, and this turns to control part 11 control autosteerers 20.Image processing section 10 and turn to can stop hardware in the auxiliary ECU 1 and separated from one another of control part 11 perhaps can be separated by software, but shares the CPU, the ROM that being arranged in the auxiliary ECU 1 that stops, RAM etc.

Steering angle sensor 23 and steering actuator 24 are connected to steering shaft 21, wherein this steering angle sensor 23 is used to detect the steering volume of steering shaft 21, to steered wheel (steering tire wheel) 25, this steering actuator 24 provides steering effort to this steering shaft 21 with the Motion Transmission of bearing circle 22.Except provide steering effort during the automatic steering pattern, steering actuator 24 also can be used as power steering gear, and assisted diversion power is provided when chaufeur turns to.Turn to the driving of control part 11 controls for steering actuator 24.

Turn to control part 11 to receive the output signal of steering angle sensor 23, and the output signal of reception vehicle-wheel speed sensor 41 and the output signal of acceleration pick-up 42, wherein this vehicle-wheel speed sensor 41 is to be provided with for independent wheel, to detect its rotative speed, and this acceleration pick-up 42 detects the acceleration/accel of vehicle.

Aforesaid image processing section 10 receives picture signals, i.e. the output signal of rear pick up camera 32, and this rear pick up camera 32 is arranged at the rear portion of vehicle, is used to obtain the image of backward directions.Image processing section 10 is connected to: be used in conjunction with the input operation of parking auxiliary reception chaufeur input media 31, be used for information being shown to the monitoring device 34 of chaufeur and being used for representing the loud speaker 33 of information with sound and speech form with graphicform.

Below, will specify the non-productive operation of parking aid.At first, will first control forms of non-productive operation be described.In this first control forms, so-called garage shut-down operation is as shown in Figure 2 assisted, wherein vehicle 200 is got back to the garage 220 towards road 210.Fig. 3 is the diagram of circuit of the control in first control forms.Fig. 4 shows the scheme drawing that concerns between deflection angle and the turning curvature in this device.Fig. 5 A to Fig. 5 C is the diagram of curves with respect to the turning curvature about the operating range on the secondary path, alarm speed and the limited speed that are provided with in this control.

Along with the operation of chaufeur for input media 31, to stop auxiliary ECU 1 output command with start stop auxiliary after, beginning control as shown in Figure 3, and by the auxiliary ECU 1 continuation execution of stopping, up to: near i) target parking position of vehicle arrival appointment is put, or determined that ii) can't arrive target parking position by a unidirectional back to this vehicle of operation puts.Remove non-driver and use input media 31 to cancel non-productive operation, this controls continuation.

Especially, any reference position that the chaufeur actuating vehicle is assisted to parking, and in the back target location of in image, identifying of obtaining and being presented at by rear pick up camera 32 in the monitoring device 34.After this, driver's operation input media 31 is to start parking aux. controls as shown in Figure 3.If can't see the target location in the read-out of monitoring device 34, chaufeur is with regard to the position of actuating vehicle to visual target position in read-out, and startup subsequently should be auxiliary.In the following description, suppose the to stop R point of vehicle 200 of auxiliary reference position is an A.R point A can be in other position, for example, and the front end of the central authorities of rear vehicle end, the center of gravity of vehicle, sidepiece, the rear end of sidepiece etc.The vehicle that is in R point A is marked as 200a.

Stopping auxiliary ECU 1 will be from the absolute value of the steering angle sigma that turns to angle transducer 23 outputs compare with threshold value δ th (step S1).If steering angle sigma is less than or equal to threshold value δ th, and thereby enough little, the auxiliary ECU 1 that stops just judges that vehicle is (neutral) deflection angle state that mediates, and allows to be transformed into the parking aux. controls.Subsequently, this process proceeds to step S2.As shown in Figure 4, middle deflection angle state the zone and near, the turning amount of steered wheel 25 is curvature γ, is set to less than steering angle sigma, i.e. the rotation amount of bearing circle 22 and steering shaft 21.Therefore, threshold value δ th is set aptly to stipulate that a curvature γ is 0 scope substantially.For example, threshold value δ th is set to about 15 degree.On the contrary, if judge the deflection angle state that do not mediate, this process marches to step S30 in step S1.In step S30, be in outside the range of control to chaufeur indication deflection angle by loud speaker 33 and monitoring device 34.In the case, the auxiliary ECU 1 prompting driver's operation bearing circle 22 that stops is with deflection angle state in the middle of it is back to.After this, this process is back to step S1.Therefore, if chaufeur is back to intermediateness by fixing steering operation or similar basically with deflection angle, this process promptly changes to the parking aux. controls.

In step S2, driver's operation input media 31 is watched being presented at image in the monitoring device 34, that rear pick up camera 32 is obtained simultaneously.At this moment, put by in read-out the parking frame that shows being moved to target parking position, chaufeur promptly is provided with target parking position and puts.

By image recognition processes, the auxiliary ECU 1 that stops judges and is in the vehicle location 200g that target parking position is put, more particularly, i.e. and the position of R point G and be in the direction of traffic (step S4) of R point G position.

For example, the position of some G can be confirmed as the relative coordinate with respect to the R point A of current vehicle location.Below describing will be with reference to system of axes as shown in Figure 2, and wherein target location G is confirmed as initial point, and the direction of traffic that is in the target location is confirmed as the direction of Z axle, and its vertical direction is confirmed as X-direction.Hereinafter, the current direction of vehicle is called as deflection angle theta with respect to the angle of Z axle.And, with coordinate (X 0, Z 0) position of expression point A.

Next, by current location (initial position point A), current deflection angle theta 0Calculate one for deflection angle theta being decreased to zero needed shortest path (hereinafter being called " elementary path ") P with current steering angle sigma 0(step S6).

Driving trace P 0Be set to change turning curvature (inverse of=turn radius) with respect to the distance of travelling.Fig. 5 A illustrates shortest path P 0Operating range-turning curvature curve figure.

Shortest path P 0Comprise the stretch footpath (first path) that deflection angle increases, keep the stretch footpath (second path) of this deflection angle that has increased and the deflection angle stretch footpath (Third Road footpath) in the middle of being back to.In each bar among first path and Third Road footpath, be set to fixed value with respect to the variable quantity (rate of change of turning curvature) of the turning curvature of operating range.The rate of change of turning curvature is set to: even make when the speed of a motor vehicle equals to drive auxiliary higher limit the curvature change amount that the variable quantity of turning curvature also obtains less than the maximum steering rate by steering actuator 24.Therefore, can calculate the path that allows not have the error steering operation.

In this case, it is as follows the representative illustration of track to be set.At first, deflection angle increases, keep simultaneously from initial position point B to put C, deflection angle with respect to the rate of change of operating range be fixed value.In this case, when destination point C, deflection angle and the maxim that turning curvature becomes with it is provided with separately equate, and turn radius becomes the minimum turning radius (Rmin) (curvature γ max=1/Rmin) (first path) that equals to be provided with.To putting D, keep this deflection angle (turning curvature, turn radius) (second path) from a C.From a D, deflection angle reduces, and keeps deflection angle to fix with respect to the rate of change of operating range simultaneously.In this case, when destination point E, deflection angle becomes intermediateness, is that deflection angle is 0 (Third Road footpath).Driving trace P forms a clothoid curve (clothoid curve), and wherein the BC section is the circular arc (arc) with radius R min; The CD section is one section curve, and an end has curvature γ 0, and have curvature 1/Rmin at the other end; The DE section is one section curve, and an end has curvature 1/Rmin, and to have at the other end be 0 curvature.

In the less situation of deflection angle theta, driving trace does not have arc section.Equation (1) has been represented the variation delta θ of deflection angle theta in the BC section.

Δθ = ∫ R E γ ( p ) dp - - - ( 1 )

In equation (1), γ (p) represents the curvature of operating range p.That is to say that the variation delta θ of angle of inclination equals the area S shown in Fig. 5 A 0If this path comprises an arc section, this area can be by γ max * (L 1+ L 2) expression, wherein L 1Be that (path of DE section also is L for the path of BC section 1), L 2It is the path of CD section.If Δ θ is less, this area can be by L 1* w 2Expression as long as curvature is constant with respect to the variable quantity of operating range, is w in the increase process, in reducing process is-w.Therefore, can determine the path by simple calculating.

Next, determine elementary path P 0In the length of directions X and in the length (step S8) of Z direction.In equation (2) and (3), can determine elementary path P 0Length X f, Zf in X, Z direction.

Xf = ∫ B E sin ( θ ( p ) ) dp - - - ( 2 )

Zf = ∫ B E cos ( θ ( p ) ) dp - - - ( 3 )

In these equatioies, θ (p) is the angle of inclination at operating range p.

Subsequently, straight line path is added to elementary path P 0On, so that destination path P to be set 1(step S10).

That is to say, as shown in Figure 6, extendible portion is increased to elementary path P 0Two opposite ends, so that the path that extends to a G from an A to be provided.Particularly, when from an A to elementary path P 0The path of straight line path of initial point B be expressed as L 0, and, from elementary path P 0Terminal point E be expressed as L to the path of the straight line path of putting G 3, following equation (4) and (5) are then arranged.

X 0=L 0×sinθ 0+Xf (4)

Z 0=L 0×cosθ 0+Zf+L 3 (5)

Because remove L 0And L 3Outer all are all known, can determine L easily by equation (4) and (5) 0And L 3

Fig. 5 B represents along the destination path P as above-mentioned setting 1Curvature and the relation between the operating range.Fig. 6 represents by destination path P 1The track of determining.For path P 1, this destination path is independent of car speed and acceleration/accel thereof.Therefore, an advantage is: during vehicular drive, can be simplified the control of travelling along this path.

Subsequently, in step S12, determine whether successfully to be provided with the path.

Particularly, if L 0And L 3In do not have one to bear, L even 0And L 3Be 0 or positive, just determine to be provided with the path.L 0For negative situation means such situation: elementary path P wherein 0The length X f of directions X greater than directions X on distance (x between some A and the some G 0).L 3For negative situation is such situation: elementary path P wherein 0At the length Zf of Z direction, greater than the distance z between the G from Z direction point A and point 0In deduct the length L in initial straight path on the Z direction 0The resulting length of * sin θ.If in step S12, determine the path that arrives some G in target location from an A can not suitably be set, carry out step S50.In step S50, can't arrive target location point G from current some A to chaufeur indication vehicle by monitoring device 34 and loud speaker 33.After this, end of program.If necessary, behind moving vehicle 200, chaufeur can restart this parking non-productive operation.

Next, based on the target driving trace that is provided with, the alarm speed Valarm and the limited speed Vlimit (step S14) of vehicle diverse location on driving trace is set.

Alarm speed Valarm is a speed of a motor vehicle threshold value, is used for when if the speed of a motor vehicle surpasses this value, by loud speaker 33 and monitoring device 34 indication chaufeurs decelerations.Limited speed Vlimit is a speed of a motor vehicle threshold value, is used for then stopping control if the speed of a motor vehicle surpasses this value.Therefore, alarm speed and limited speed are arranged to: make Vlimit the Valarm establishment.

This embodiment is characterised in that alarm speed Valarm and limited speed Vlimit change according to the path is set.When turning curvature γ with respect to being in variable quantity from the unit operating range of the vehicle of the operating range p of initial position (curvature speed (the turning curvature rate) ω (p) that is defined as turning of d γ/dp), limited speed Vlimit (p) and alarm speed Valarm (p) on following equation (6) and (7) expression operating range p.

Vlimit ( p ) = V 1 . . . . . . . . . . . . . ω ( p ) = 0 V 2 . . . . . . . . . . . . . ω ( p ) ≠ 0 . . . . . . . ( 6 )

In these equatioies, V is set 1, V 2, V 3And V 4Make V 1V 2And V 3V 4

Fig. 5 C represents operating range p on the target driving trace and the relation between limited speed Vlimit (p) and the alarm speed Valarm (p).Specifically, be constant, promptly turn to the situation (fixedly turn-around zone) of constant (ω (p)=0), limited speed Vlimit (p) is set to higher vehicle velocity V at turning curvature γ 1On the contrary, change, promptly turn to the situation (variation turn-around zone) of change (ω (p) ≠ 0) at turning curvature γ, limited speed Vlimit (p) is set to be lower than V 1V 2Vehicle speed value V is set 2Make: as long as actual vehicle speed is less than or equal to this value V 2,, can sufficiently obtain the turning curvature speed maxim ω max that is provided with by being less than or equal to steering rate by steering actuator 24 obtainable maximum rates.With vehicle speed value V 1Be set to be higher than V 2At the preset distance (p before turn to beginning 0) during turn to terminal point, alarm speed Valarm (p) is set to V 4, V 4Be lower than an alarm speed V who is provided with the situation during above-mentioned 3Though V in the example shown in Fig. 5 C 2V 3, V 2≤ V 3Setting also be possible.

Change alarm speed Valarm and limited speed Vlimit by steering state as described above, just prevented the speed of a motor vehicle to surpass the vehicle speed range that performance limited by steering actuator 24.Therefore, can carry out the driving aux. controls reliably.When turning to when constant, promptly do not carry out steering operation, allow the speed of a motor vehicle to become and be higher than aforesaid alarm speed, thereby can reduce the time that moves to the target location.And, because the position at the preset distance place before the steering operation starting point, finish with the alarm rapid change most the steering operation purpose reduce value, the speed of a motor vehicle will become enough low before steering operation begins.Therefore, controllability strengthens.

Limited speed Vlimit and alarm speed Valarm are set, and are the actual aux. controls setting that begins at step S16 afterwards.At this moment, be preferably, when shifter bar was set at car backing position, the auxiliary ECU1 that stops ordered a propulsive effort system (not shown) to carry out engine torque growth control.This moment of torsion growth is controlled to be a control, promptly is in the rotating speed that is higher than normal idle running (idling) speed by the operation driving engine, causes to the variation of high drive state (increasing the state of moment of torsion).Vehicle speed range has been expanded in this control, and wherein, chaufeur can the inoperation accelerator be regulated the speed of a motor vehicle by an apply the brakes pedal, to improve the operability of vehicle.If the driver's operation brake pedal, the braking force that is applied to each wheel can be regulated according to the degree that pedal forces down, therefore the corresponding speed of a motor vehicle of having regulated.

To the control of target location, at first determine the current location (step S16) of vehicle at the guiding vehicle.

Can determine current location according to moving of the unique point in the image of obtaining by rear pick up camera 32 (characteristic point).Also can be according to determining current location based on the variation of the operating range of the output signal of vehicle-wheel speed sensor 41 and accelerator sensor 42 with based on the variation of the deflection angle of the output signal of steering angle sensor 23.

Next, compare current vehicle speed V and limited speed Vlimit (p) (step S18).

If determine that vehicle velocity V is higher than limited speed Vlimit (p), carry out step S50.In step S50, be higher than the higher limit of setting to the chaufeur indication speed of a motor vehicle, and stop aux. controls.

On the contrary, if determine that current vehicle speed V is less than or equal to limited speed Vlimit (p), just compare current vehicle speed V and alarm speed Valarm (p) (step S20).

If determine that vehicle velocity V is higher than alarm speed Valarm (p), carry out step S40, wherein slow down by loud speaker 33 and monitoring device 34 prompting chaufeurs.If determine that in step S20 vehicle velocity V is less than or equal to alarm speed Valarm (p), program jumps to step S40.

Subsequently, turn to control,, wherein this operating range-turning curvature relationship (step S22) is set according to the current location of in step S16, determining (operating range) to obtain the turning curvature that track is provided with that is provided with according to operating range-turning curvature relationship.

Specifically, when monitoring the output of steering angle sensor 23, turn to control part 11 control steering actuators 24, to drive steering shaft 21 and to change the steering angular displacement of the deflection angle of steered wheel 25 to setting.Be difficult to directly measure turning curvature γ.Therefore, can pre-determine the relation between Vehicular turn angle δ and the turning curvature γ, and control, to obtain steering angle sigma corresponding to required turning curvature γ according to this relation.

Because vehicle along as the destination path of above-mentioned setting move, chaufeur can be absorbed in the safety inspection environment on the road and the adjusting of the speed of a motor vehicle.And, the amount of depressing of the brake pedal of finishing corresponding to chaufeur because each wheel and accept braking force, even have obstacle, pedestrian or other or the like to exist on road, chaufeur also can slow down safely or stop vehicle.

And, if vehicle velocity V has surpassed alarm speed Valarm, just point out chaufeur to slow down.If vehicle velocity V surpasses limited speed Vlimit, and thereby determines to be difficult to carry out route guidance, i.e. shut down procedure by parking aid 100.Like this, the failure-free guiding becomes possibility.

In this embodiment, the limited speed Vlimit in steering operation stage is set to a numerical value, makes the steering rate restriction of steering actuator 24 can not be exceeded.On the contrary, during the not driven non-steering operation of steering actuator 24, this limited speed Vlimit is provided with higherly, so that vehicle velocity V can be higher and can be shortened time of run.Yet,,, just can't obtain required the turning to of vehicle ' if do not increase the steering rate of steering actuator 24 if the speed of a motor vehicle uprises.Therefore, according to the steering rate of steering actuator 24, determine limited speed Vlimit and alarm speed Valarm during the steering operation.

Say that further the preset distance place before the position that begins on the destination path to turn to reduces alarm speed Valarm, turning to reference position to be provided for the amount (margin) of fully slowing down.

For example, the situation below considering: wherein turn to initial before the position of enough distances, the speed of a motor vehicle is near V 3In this case, if at the time point change alarm speed Valarm that begins to turn to, owing to descending, driving engine output variation etc., it is V that the speed of a motor vehicle just may surpass 2Limited speed Vlimit, and thereby stop control, even before beginning to turn to speed of a motor vehicle no show alarm speed Valarm.

On the contrary, in this embodiment, before turning to beginning, alarm speed Valarm is reduced to V 4Therefore, before turning to beginning, allow chaufeur that the speed of a motor vehicle is reduced to and be lower than limited speed Vlimit V fully 2Thereby, avoid frequently stopping control.Therefore, controllability strengthens, and has also increased the reliability that arrives the target location.

After turning to control, determine whether current location deviates from destination path.If very big departing from arranged, need then to determine the path to proofread and correct (step S24).

For example, green phase is for the distance of travelling, the accumulation current location from the target location depart from or the actual steering amount from the departing from of target diversion amount, can determine departing from from destination path.If need the path to proofread and correct, program line proceeds to step S6, and wherein the path is reset.

On the contrary, if having only one to depart from for a short time from destination path, program then marches to step S26, wherein determine vehicle whether arrived target parking position put a G near.

If determine that in this step still the no show target parking position is put, program is back to step S16, to continue aux. controls.On the contrary, if determine that having arrived target parking position puts, program line proceeds to step S28.In step S28, arrived target parking position by monitoring device 34 and loud speaker 33 to the chaufeur indication and put.After this, end of program.

Like this, determine an elementary path, and a straight line path is increased to an end or each end in these elementary path two ends, so that a path to be set.Therefore, simplified the algorithm of path computing.And because simplified calculating, calculated amount is less, can realize real-time calculating easily by the computer resource that uses reduction.And,, can realize high precision guiding to the target location because in calculating, do not reduce precision (accuracy deterioration).

Second control forms of this non-productive operation will be described below.Be similar to aforesaid first control forms, provide this second control forms to be used to carry out the garage and stop auxiliary.This embodiment is only by elementary path P 0Be provided with on the method for destination path and be different from previous embodiment.Specifically, shown in the diagram of circuit that step is set among Fig. 7, by straight line path being increased to the path P that similarity is amplified 2And generation destination path P 3, rather than straight line path increased to elementary path P 0, this similarity path P of amplifying wherein 2Be to amplify elementary path P by similarity 0Obtain (step S11).

Fig. 8 shows the position relation that the path is set.Represent the proportion factor of similarity amplification with ε, and use B ' and E ' to represent the path P of similarity conversion respectively 2Starting point and terminal point.When using L 0Representative from an A to the straight line path of putting B ' path and use L 3During the path of representative from an E ' to the straight line path of putting G, set up following equation (8) and (9).

X 0=L 0×sinθ 0+ε×Xf (8)

Z 0=L 0×cosθ 0+ε×Zf+L 3 (9)

For ε, if Zf/Xf is less than or equal to z 0/ x 0, that is to say, if elementary path P on the Z direction 0Length and directions X on ratio between its length less than the ratio between its length on the length of destination path on the Z direction and the directions X, and side direction is (at the directions X) of elongation, just compatibly ε is set to satisfy ε≤x 0/ Xf.On the contrary, if this elementary path is longitudinal tensile strain (in the Z direction), for example, ε=x is set 0/ Xf, the terminal point that then causes similarity to amplify the path exceeds target parking position and puts a G, thus ε need be set to smaller value.In this case, the maxim of ε is to work as L 3Be the numerical value that occurred in 0 o'clock, and be illustrated in the equation (10) based on equation (8) and (9).

ϵ = x 0 - z 0 tan θ 0 Xf - Zf tan θ 0 - - - ( 10 )

The ε value of using is not required to be maxim, can be the arbitrary value less than it.If be provided with similarity amplification factor ε, by equation (8) and (9) length in energy calculated line path just.Like this, then destination path P can be set 3

For the destination path P that is provided with as mentioned above 3In similarity amplify path P 2, if be positioned at from elementary path P 0On the curvature of operating range p of some A be expressed as γ (p), then be positioned at from the curvature of the operating range ε p of an A and be expressed as γ (p)/ε.Shown in Fig. 9 A, it is elementary path P that similarity is amplified path P2 0Follow and sail range direction, and compress (amplifying turn radius) with factor 1/ ε by factor ε along the direction of curvature with factor ε amplification.Therefore, similarity is amplified path P 2Operating range-turning curvature curve figure on area equal elementary path P 0Operating range-turning curvature curve figure on area so that the variable quantity of angle of inclination keep to equate.The position that the alarm speed of a motor vehicle and restricted speed be set also can be amplified the path according to similarity and be changed.

By the similarity conversion, the maxim of curvature is reduced to 1/ ε γ max doubly from the γ max on the elementary path, i.e. γ max/ ε, and steering rate w is decreased to 1/ ε 2Thus, the load on the steering actuator 24 reduces, and turns to the controllability of control to strengthen.

In this embodiment, because restricted speed Vlimit and alarm speed of a motor vehicle Valarm also can be according to the path change that is provided with, the speed of a motor vehicle can be controlled in autosteerer and can accurately follow in the scope of (follow) speed of a motor vehicle.And because the similarity conversion, this embodiment can be limited to steering rate than in the lower scope of first embodiment.Therefore, in a second embodiment, the restricted speed Vlimit and the alarm speed of a motor vehicle Valarm that are provided with for the steering operation time can be set to than speed side (side) higher among first embodiment.Thus, can shorten the time of vehicle operating to the target location.

In the aforementioned embodiment, before being transformed into the variation turn-around zone, changed the alarm speed of a motor vehicle.Yet, in destination path, can when being transformed into the variation turn-around zone, change alarm speed basically.In this case, be preferably velocity amplitude V 3Specific rate value V 2Enough low.If before being transformed into the variation turn-around zone, changed alarm speed, just can be as mentioned above with V 3Be set to be higher than V 2, that is to say, can improve the speed of a motor vehicle that changes turn-around zone.

And, in the aforementioned embodiment, then stop control if surpass upper limit vehicle velocity V limit.Also can set up a system, wherein, if actual vehicle speed may surpass Vlimit, then by limiting engine output, the control speed of a motor vehicle is so that it is less than or equal to Vlimit.Therefore, can reliably the speed of a motor vehicle be limited in the preset range, and vehicle can arrive the target location reliably.

In the aforementioned embodiment, similarity conversion elementary path is used for the garage parking.Yet if appropriate combination, above-mentioned technology is driven auxiliary applicable to auxiliary parallel parking (parallel parking) and other basically.

In the aforementioned embodiment,, a path just is set, and, does not just carry out setting the path if initial steer angle (turning curvature) is very big if initial steer angle (turning curvature) is essentially 0.Yet if the initial steer angle is very big, but also instruction driving person fixedly turns to, and is essentially 0 so that the initial steer angle is decreased to.Arrange in view of the above,, also can not stop and continuing aux. controls even the initial steer angle is not to be 0 substantially.Therefore, the operability during the aux. controls improves.

Determine this elementary path though can pass through to calculate, also can assist the number of states of ECU 1 stored in parking with the form of mapping (maps) with respect to deflection angle theta.This layout has been eliminated and has been improved the demand of auxiliary ECU1 computing power of stopping, and can determine the path quickly.

Previous embodiment is the embodiment with parking aid of auto-steering function.Yet the present invention is not only applicable to the automatic steering technology, and is applicable to that similarly the realization by indicate suitable steering volume to chaufeur turns to guidance technology.And the present invention is not only applicable to parking aid, also is applicable to the drive assistance device that moves according to guiding such as path, course line (lane) maintenance systems.

Reference example embodiment has described the present invention, is not limited to exemplary embodiment or structure but need to understand the present invention.On the contrary, the present invention is intended to contain various change examples and equivalent device.In addition, though only show the various elements of representative embodiment with various combinations and structure, it only is exemplary, comprises that other combination more, a still less or only single element is also contained in the spirit and scope of the present invention with structure.

Claims (16)

1. a drive assistance device that is used for vehicle is characterized in that, comprising:
Computer device (1) is used to calculate a path, and this path extends to the vehicle target position from the vehicle initial position, and this path comprise that deflection angle (δ) changes one change the fixing fixing turn-around zone of turn-around zone and deflection angle;
Autosteerer (20) is used to carry out the automatic steering of vehicle, so as to guide this vehicle along this path to the target location;
Alarm device (33,34) was used in autosteerer operating period, if the speed of a motor vehicle surpasses a predetermined alarm speed of a motor vehicle (Valarm), then gave the alarm to chaufeur;
Alarm speed of a motor vehicle setting device (1) is used to be provided with this alarm speed of a motor vehicle; And
Transfer device is used for fixedly carrying out conversion between the alarm speed of a motor vehicle of the alarm speed of a motor vehicle of turn-around zone and this variation turn-around zone at this;
Wherein, the fixing alarm speed of a motor vehicle (V of turn-around zone of this alarm speed of a motor vehicle setting device 3) be set to be higher than the alarm speed of a motor vehicle (V of this variation turn-around zone 4); And this transfer device is according to this alarm speed of a motor vehicle of this path changing, with before fixedly turn-around zone is changed into this variation turn-around zone from this, with this fixing alarm speed of a motor vehicle (V of turn-around zone 3) change into the alarm speed of a motor vehicle (V of this variation turn-around zone 4).
2. drive assistance device as claimed in claim 1 is characterized in that, also comprises restricted speed setting device (1), is used to be provided with a restricted speed (Vlimit), so that if the speed of a motor vehicle surpasses this restricted speed, then stops to drive auxiliary;
Wherein, this this restricted speed of restricted speed setting device is set to be higher than this alarm speed of a motor vehicle.
3. drive assistance device as claimed in claim 2 is characterized in that, this restricted speed setting device (1) is the restricted speed (V of turn-around zone fixedly 1) be set to be higher than the restricted speed (V of this variation turn-around zone 2).
4. drive assistance device as claimed in claim 2 is characterized in that, this restricted speed setting device (1) will change the restricted speed (V of turn-around zone 2) be set to be higher than this fixedly alarm speed of a motor vehicle (V of turn-around zone 3).
5. drive assistance device as claimed in claim 3 is characterized in that, this restricted speed setting device (1) will change the restricted speed (V of turn-around zone 2) be set to be higher than this fixedly alarm speed of a motor vehicle (V of turn-around zone 3).
6. as the arbitrary described drive assistance device of claim 2 to 5, it is characterized in that if the speed of a motor vehicle surpasses this restricted speed (Vlimit), this autosteerer (20) stops the automatic steering of vehicle.
7. as the arbitrary described drive assistance device of claim 1 to 5, it is characterized in that, if the deflection angle (δ) of initial position is essentially 0, this computer device (1) calculating path then.
8. as the arbitrary described drive assistance device of claim 1 to 5, it is characterized in that this calculating section calculates an elementary path (P based on angle of inclination (θ) and at an initial actual steering angle (δ) of the actual steering angle of the vehicle of initial position 0), wherein, this elementary path (P 0) direction of traffic is changed into the direction of traffic of target location from the direction of traffic of initial position, these angle of inclination (θ) are to be formed by the direction of traffic of initial position and the direction of traffic of target location; This computer device amplifies this elementary path and calculating path by similarity subsequently.
9. a driving assistance method that is used for vehicle is characterized in that, comprises step:
Calculate a path, this path extends to the vehicle target position from the vehicle initial position, and this path comprise that deflection angle changes one change the fixing fixing turn-around zone of turn-around zone and deflection angle;
This vehicle of automatic steering, so as to guide this vehicle along this path to this target location;
During the automatic steering part operation,, then give the alarm to chaufeur if the speed of a motor vehicle surpasses a predetermined alarm speed of a motor vehicle (Valarm);
This alarm speed of a motor vehicle is set; And
At this fixing alarm speed of a motor vehicle (V of turn-around zone 3) change the alarm speed of a motor vehicle (V of turn-around zone with this 4) between carry out conversion;
Wherein, with this fixing alarm speed of a motor vehicle (V of turn-around zone 3) be set to be higher than the alarm speed of a motor vehicle (V of this variation turn-around zone 4); And according to this alarm speed of a motor vehicle of path changing, with before fixedly turn-around zone is changed into this variation turn-around zone from this, with this fixedly the alarm speed of a motor vehicle of turn-around zone change into the alarm speed of a motor vehicle of this variation turn-around zone.
10. driving assistance method as claimed in claim 9 is characterized in that, also comprises the step that a restricted speed (Vlimit) is set, so that if the speed of a motor vehicle surpasses this restricted speed, then stops to drive auxiliary;
Wherein, this restricted speed is set to be higher than this alarm speed of a motor vehicle (Valarm).
11. driving assistance method as claimed in claim 10 is characterized in that, with this fixing restricted speed (V of turn-around zone 1) be set to be higher than the restricted speed (V of this variation turn-around zone 2).
12. driving assistance method as claimed in claim 10 is characterized in that, this is changed the restricted speed (V of turn-around zone 2) be set to be higher than this fixedly alarm speed of a motor vehicle (V of turn-around zone 3).
13. driving assistance method as claimed in claim 11 is characterized in that, this is changed the restricted speed (V of turn-around zone 2) be set to be higher than this fixedly alarm speed of a motor vehicle (V of turn-around zone 3).
14. as the arbitrary described driving assistance method of claim 10 to 13, it is characterized in that,, then stop the automatic steering of vehicle if the speed of a motor vehicle surpasses this restricted speed.
15. as the arbitrary described driving assistance method of claim 9 to 13, it is characterized in that, if the deflection angle (δ) of initial position is essentially 0, calculating path then.
16. as the arbitrary described driving assistance method of claim 9 to 13, it is characterized in that this path computing is as follows: by calculating an elementary path (P based on angle of inclination (θ) and at an initial actual steering angle (δ) of the actual steering angle of the vehicle of initial position 0), wherein, this elementary path (P 0) direction of traffic is changed into the direction of traffic of target location from the direction of traffic of initial position, these angle of inclination (θ) are to be formed by the direction of traffic of initial position and the direction of traffic of target location, similarity is amplified this elementary path more subsequently.
CNB2004100575698A 2004-08-20 2004-08-20 Steering assistant device and method for vehicle CN100465041C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2004100575698A CN100465041C (en) 2004-08-20 2004-08-20 Steering assistant device and method for vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2004100575698A CN100465041C (en) 2004-08-20 2004-08-20 Steering assistant device and method for vehicle

Publications (2)

Publication Number Publication Date
CN1736786A CN1736786A (en) 2006-02-22
CN100465041C true CN100465041C (en) 2009-03-04

Family

ID=36079804

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2004100575698A CN100465041C (en) 2004-08-20 2004-08-20 Steering assistant device and method for vehicle

Country Status (1)

Country Link
CN (1) CN100465041C (en)

Families Citing this family (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0606087D0 (en) * 2006-03-27 2006-05-03 Airbus Uk Ltd Aircraft steering angle warning system
CN101900815B (en) * 2010-06-25 2014-12-24 深圳市元征软件开发有限公司 Work method of anti-jamming reversing radar
US8930081B2 (en) * 2012-03-21 2015-01-06 Steering Solutions Ip Holding Corporation System for indicating an impending vehicle maneuver
EP2907730B1 (en) 2014-01-29 2017-09-06 Steering Solutions IP Holding Corporation Hands on steering wheel detect
JP6129800B2 (en) * 2014-09-12 2017-05-17 アイシン精機株式会社 Parking assistance device
KR20160056181A (en) * 2014-11-11 2016-05-19 현대모비스 주식회사 Method and apparatus for vehicle driving assistance
KR102036050B1 (en) * 2014-12-30 2019-10-24 주식회사 만도 Apparatuses and Methods for line changing
US10351159B2 (en) 2015-05-01 2019-07-16 Steering Solutions Ip Holding Corporation Retractable steering column with a radially projecting attachment
US10589774B2 (en) 2015-05-01 2020-03-17 Steering Solutions Ip Holding Corporation Counter rotation steering wheel
US9919724B2 (en) 2015-05-29 2018-03-20 Steering Solutions Ip Holding Corporation Retractable steering column with manual retrieval
US10343706B2 (en) 2015-06-11 2019-07-09 Steering Solutions Ip Holding Corporation Retractable steering column system, vehicle having the same, and method
DE102016110791A1 (en) 2015-06-15 2016-12-15 Steering Solutions Ip Holding Corporation Gesture control for a retractable steering wheel
US10577009B2 (en) 2015-06-16 2020-03-03 Steering Solutions Ip Holding Corporation Retractable steering column assembly and method
US9828016B2 (en) 2015-06-24 2017-11-28 Steering Solutions Ip Holding Corporation Retractable steering column system, vehicle having the same, and method
DE102016111473A1 (en) 2015-06-25 2016-12-29 Steering Solutions Ip Holding Corporation STATIONARY STEERING WHEEL ASSEMBLY AND METHOD
US20160375931A1 (en) 2015-06-25 2016-12-29 Steering Solutions Ip Holding Corporation Rotation control system for a steering wheel and method
US10112639B2 (en) 2015-06-26 2018-10-30 Steering Solutions Ip Holding Corporation Vehicle steering arrangement and method of making same
US9840271B2 (en) 2015-06-29 2017-12-12 Steering Solutions Ip Holding Corporation Retractable steering column with rake limiter
US9849904B2 (en) 2015-07-31 2017-12-26 Steering Solutions Ip Holding Corporation Retractable steering column with dual actuators
US9845106B2 (en) 2015-08-31 2017-12-19 Steering Solutions Ip Holding Corporation Overload protection for belt drive mechanism
US10160472B2 (en) 2015-10-20 2018-12-25 Steering Solutions Ip Holding Corporation Steering column with stationary hub
US9809155B2 (en) 2015-10-27 2017-11-07 Steering Solutions Ip Holding Corporation Retractable steering column assembly having lever, vehicle having retractable steering column assembly, and method
US10029725B2 (en) 2015-12-03 2018-07-24 Steering Solutions Ip Holding Corporation Torque feedback system for a steer-by-wire vehicle, vehicle having steering column, and method of providing feedback in vehicle
US10496102B2 (en) 2016-04-11 2019-12-03 Steering Solutions Ip Holding Corporation Steering system for autonomous vehicle
DE102017108692A1 (en) 2016-04-25 2017-10-26 Steering Solutions Ip Holding Corporation Control of electric power steering using system state predictions
US10351161B2 (en) 2016-05-27 2019-07-16 Steering Solutions Ip Holding Corporation Steering column with manual retraction
CN107521547B (en) 2016-06-21 2020-03-10 操纵技术Ip控股公司 Self-locking telescopic actuator for steering column assembly
US10457313B2 (en) 2016-06-28 2019-10-29 Steering Solutions Ip Holding Corporation ADAS wheel locking device
WO2018011872A1 (en) * 2016-07-12 2018-01-18 本田技研工業株式会社 Drive assistance device
US10363958B2 (en) 2016-07-26 2019-07-30 Steering Solutions Ip Holding Corporation Electric power steering mode determination and transitioning
US10160477B2 (en) 2016-08-01 2018-12-25 Steering Solutions Ip Holding Corporation Electric power steering column assembly
US10189496B2 (en) 2016-08-22 2019-01-29 Steering Solutions Ip Holding Corporation Steering assembly having a telescope drive lock assembly
US10384708B2 (en) 2016-09-12 2019-08-20 Steering Solutions Ip Holding Corporation Intermediate shaft assembly for steer-by-wire steering system
US10160473B2 (en) 2016-09-13 2018-12-25 Steering Solutions Ip Holding Corporation Steering column decoupling system
US10399591B2 (en) 2016-10-03 2019-09-03 Steering Solutions Ip Holding Corporation Steering compensation with grip sensing
US10239552B2 (en) 2016-10-14 2019-03-26 Steering Solutions Ip Holding Corporation Rotation control assembly for a steering column
US10481602B2 (en) 2016-10-17 2019-11-19 Steering Solutions Ip Holding Corporation Sensor fusion for autonomous driving transition control
US10421475B2 (en) 2016-11-15 2019-09-24 Steering Solutions Ip Holding Corporation Electric actuator mechanism for retractable steering column assembly with manual override
US10310605B2 (en) 2016-11-15 2019-06-04 Steering Solutions Ip Holding Corporation Haptic feedback for steering system controls
US9862403B1 (en) 2016-11-29 2018-01-09 Steering Solutions Ip Holding Corporation Manually retractable steering column assembly for autonomous vehicle
US10351160B2 (en) 2016-11-30 2019-07-16 Steering Solutions Ip Holding Corporation Steering column assembly having a sensor assembly
US10780915B2 (en) 2016-12-07 2020-09-22 Steering Solutions Ip Holding Corporation Vehicle steering system having a user experience based automated driving to manual driving transition system and method
US10370022B2 (en) 2017-02-13 2019-08-06 Steering Solutions Ip Holding Corporation Steering column assembly for autonomous vehicle
US10385930B2 (en) 2017-02-21 2019-08-20 Steering Solutions Ip Holding Corporation Ball coupling assembly for steering column assembly
US10449927B2 (en) 2017-04-13 2019-10-22 Steering Solutions Ip Holding Corporation Steering system having anti-theft capabilities
US10875566B2 (en) 2018-03-22 2020-12-29 Steering Solutions Ip Holding Corporation Stow release assembly for a manually adjustable steering column assembly
CN109002040A (en) * 2018-08-07 2018-12-14 湖北汽车工业学院 Vehicle automatic control method, device and computer readable storage medium

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10030449A1 (en) * 1999-06-22 2001-01-04 Honda Motor Co Ltd Automatic vehicle steering system has speed limiter for limiting vehicle speed to equal to or less than locus curve-dependent vehicle speed limit during control of steering actuator element
WO2004050458A1 (en) * 2002-12-05 2004-06-17 Bayerische Motoren Werke Aktiengesellschaft Method for steering a vehicle that is to be reversed into a parking space

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10030449A1 (en) * 1999-06-22 2001-01-04 Honda Motor Co Ltd Automatic vehicle steering system has speed limiter for limiting vehicle speed to equal to or less than locus curve-dependent vehicle speed limit during control of steering actuator element
JP2001001929A (en) * 1999-06-22 2001-01-09 Honda Motor Co Ltd Automatic steering device for vehicle
WO2004050458A1 (en) * 2002-12-05 2004-06-17 Bayerische Motoren Werke Aktiengesellschaft Method for steering a vehicle that is to be reversed into a parking space

Also Published As

Publication number Publication date
CN1736786A (en) 2006-02-22

Similar Documents

Publication Publication Date Title
CN107054459B (en) Lane keeping method and lane keeping assist system for a motor vehicle
CN105163994B (en) Drive support apparatus and driving support method
JP5527382B2 (en) Driving support system and control device
EP2907726B1 (en) Vehicular steering controller
CN103813950B (en) Method for improving riding stability
KR100939039B1 (en) Vehicle control device
JP5130638B2 (en) Avoidance operation calculation device, avoidance control device, vehicle including each device, avoidance operation calculation method, and avoidance control method
US8150581B2 (en) Driving assistance system and driving assistance method
US6879896B2 (en) System and method for using vehicle operator intent to adjust vehicle control system response
JP4124213B2 (en) Vehicle departure prevention device
JP6179820B2 (en) Vehicle driving support control device
JP4369198B2 (en) Vehicle steering control device
JP4684698B2 (en) Vehicle steering control device
US6886656B2 (en) Electric power steering apparatus
US20140121930A1 (en) Method and Apparatus for Controlling a Parking Process of a Vehicle
EP2199169B1 (en) Travel control device
JP3828663B2 (en) Vehicle obstacle avoidance control device
US8170739B2 (en) Path generation algorithm for automated lane centering and lane changing control system
US10046802B2 (en) Driving assistance control apparatus for vehicle
JP3539362B2 (en) Lane following travel control device
US7729840B2 (en) Vehicle brake control system and method
JP3982503B2 (en) Vehicle travel control device
US9090285B2 (en) Method for providing a lanekeeping assistance based on modifying mechanical sources of steering torques
EP1818231B1 (en) Vehicle control system
JP4865727B2 (en) Method for maneuvering vehicle in parking area and parking assist device

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090304

Termination date: 20190820

CF01 Termination of patent right due to non-payment of annual fee