JPH0374256A - Electric power steering and concurrently automatic steering device for automobile - Google Patents
Electric power steering and concurrently automatic steering device for automobileInfo
- Publication number
- JPH0374256A JPH0374256A JP1145955A JP14595589A JPH0374256A JP H0374256 A JPH0374256 A JP H0374256A JP 1145955 A JP1145955 A JP 1145955A JP 14595589 A JP14595589 A JP 14595589A JP H0374256 A JPH0374256 A JP H0374256A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- automatic steering
- automatic
- electric motor
- vehicle
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 230000006870 function Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000000881 depressing effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は電動式パフステアリング装置兼自動操舵装置に
関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an electric puff steering device/automatic steering device.
従来の技術
自動車において、転舵時のハンドル操作の軽減をはかる
ために転舵操作時の操舵トルクを検出するトルクセンサ
を設け、これにより転舵トルクを電気量に変換して、こ
の電気量の変化に応じて電動装置の出力を可変的に制御
し操舵トルクに応じたパワアシストを行うようにした電
動式パワステアリング装置は既に開発されている（例え
ば特開昭５９−１９５４７０号公報参照）。Conventional technology In automobiles, in order to reduce the need for steering wheel operations during steering, a torque sensor is provided to detect the steering torque during steering operation, and this converts the steering torque into an electrical quantity. An electric power steering device has already been developed that variably controls the output of the electric device in response to changes in the steering torque and performs power assist in accordance with the steering torque (for example, see Japanese Patent Laid-Open No. 195470/1983).
発明が解決しようとする課題
本発明は上記のような電動式パワステアリング装置に用
いられる電動装置の制御が油圧装置によるものに比べて
簡単であることに着目してなされたもので、パブアシス
ト用の電動装置を、車庫入れ時や縦列駐車時等のように
ほぼ一定した走行軌跡を取ることが必要とされると共に
その操作に相当の熟練を要する場合に対する操舵の動力
源として利用することにより、車庫入れや縦列駐車を容
易に行い得る自動操舵装置を提供するこを目的とするも
のである。Problems to be Solved by the Invention The present invention was made by focusing on the fact that the control of the electric device used in the electric power steering device as described above is simpler than that of a hydraulic device. By using this electric device as a power source for steering in situations where it is necessary to take a nearly constant traveling trajectory and requires considerable skill to operate, such as when parking in a garage or parallel parking, It is an object of the present invention to provide an automatic steering device that can easily park the vehicle in a garage or parallel park.
課題を解決するための手段
本発明は電動式パフステアリング装置兼目動操舵装置を
、転舵操作に関連して電動モータへの電圧又は電流の制
御を行い該電動モータの回転により操舵機構へのパワア
シストを与えるパワアシスト用制御手段と、記憶モード
スイッチのオン操作により基準停車位置からの車両の移
動距離と該移動距離に応じた転舵角とを刻々検出して記
憶する信号処理および記憶手段と、自動操舵モードスイ
ッチのオン操作により」二記信号処理および記憶手段が
記憶した記憶内容に従って上記電動モータの制御を行い
該電動モータの回転により一定の操舵パターンに対する
自動操舵を行う自動操舵用制御手段とから構成すると共
に、上記自動操舵用制御手段による自動操舵は、該自動
操舵中に手動操舵が行われたとき或は車速が所定植以」
−となったとき解除されるようにしたものである。Means for Solving the Problems The present invention provides an electric puff steering device/eye steering device that controls the voltage or current to an electric motor in connection with a steering operation, and controls the voltage or current to a steering mechanism by the rotation of the electric motor. A power assist control means that provides power assist, and a signal processing and storage means that momentarily detects and stores the moving distance of the vehicle from the reference stopping position and the steering angle corresponding to the moving distance by turning on the memory mode switch. and automatic steering control for controlling the electric motor according to the stored contents stored in the signal processing and storage means by turning on an automatic steering mode switch, and automatically steering a certain steering pattern by rotating the electric motor. The automatic steering by the automatic steering control means is performed when manual steering is performed during the automatic steering or when the vehicle speed exceeds a predetermined speed.
It is designed to be canceled when - is reached.
作 用
上記により指定された駐車位置への駐車等のように操舵
方法が一定している場合、−度基準停車位置からの移動
距離と該移動距離に応じた転舵角とを記憶させれば、そ
の後は基準停車位置に停車し自動操舵モードスイッチを
オンとしアクセルペダルを踏込むという簡単な操作だけ
で自動操舵が可能となり煩わしいハンドル操作から解放
されると共に、自動操舵中にハンドルに手を触れたとき
或は車速が所定車速以上となったとき自動操舵は自動的
に解除され安全を確保できるだけでなく、自動操舵モー
ドスイッチをオフとすることにより通常の電動式パワス
テアリング装置の機能を果させることができる。Operation When the steering method is constant, such as when parking at the parking position specified above, if the moving distance from the -degree reference stopping position and the steering angle corresponding to the moving distance are memorized. After that, the vehicle can be automatically steered by simply stopping the vehicle at the standard stopping position, turning on the autopilot mode switch, and depressing the accelerator pedal, freeing the driver from having to operate the steering wheel in a cumbersome manner. or when the vehicle speed exceeds a predetermined vehicle speed, automatic steering is automatically canceled to ensure safety, and by turning off the automatic steering mode switch, the function of a normal electric power steering device can be performed. be able to.
実施例 以下本発明の実施例を附図を参照して説明する。Example Embodiments of the present invention will be described below with reference to the accompanying drawings.
第１図は本発明の実施例を示すブロックダイヤグラムで
あり、ｌは操舵トルクを検出する操舵トルクセンサ、２
は車速を検出し車速に応じたパルスを発する車速センサ
、３は電動式バクステアリング装置のコントローラであ
り、通常のパブアシスト作動ではコントローラ３は操舵
トルクセンサ１が検出した操舵トルクが大となるに従っ
て次第に大となるモータ電流指令値を発すると共に該モ
ータ電流指令値を車速センサが検出した車速に応じて可
変制御するよう構成されている。FIG. 1 is a block diagram showing an embodiment of the present invention, where l is a steering torque sensor that detects steering torque;
1 is a vehicle speed sensor that detects the vehicle speed and emits a pulse according to the vehicle speed, 3 is a controller for an electric back steering device, and in normal pub assist operation, the controller 3 increases as the steering torque detected by the steering torque sensor 1 increases. It is configured to issue a motor current command value that gradually increases and to variably control the motor current command value in accordance with the vehicle speed detected by the vehicle speed sensor.
４は上記コントローラ３のモータ電流指令値に基き回転
し操舵装置５にパワアシストを与える電動モータ、６は
該電動モータ４に流れるモータ電流を検出する電流検出
部であり、該電流検出部６を介してコントローラ３はフ
ィードバック制御を行う。4 is an electric motor that rotates based on the motor current command value of the controller 3 and provides power assist to the steering device 5; 6 is a current detection section that detects the motor current flowing through the electric motor 4; The controller 3 performs feedback control through this.
７は車両の移動距離を検出する車輪回転角センサ、８は
転舵角を検出する操舵角センサ、９は記憶モードスイッ
チ、１０は自動操舵モードスイッチである。コントロー
ラ３は上記記憶モードスイッチ９のオン操作により記憶
モードとした後において、運転者の操舵による車Ｊｉｌ
ｉ入れ或は縦列駐車時上記車輪回転角センサ７が検出し
た車両の移動距離および該移動距離に応じて操舵角セン
サ８が検出した転舵角を刻々コントローラ３の記憶装置
３ａに記憶するよう構成されている。7 is a wheel rotation angle sensor that detects the travel distance of the vehicle; 8 is a steering angle sensor that detects a turning angle; 9 is a memory mode switch; and 10 is an automatic steering mode switch. After setting the memory mode switch 9 to the memory mode by turning on the memory mode switch 9, the controller 3 controls the vehicle
The vehicle is configured to momentarily store the moving distance of the vehicle detected by the wheel rotation angle sensor 7 and the turning angle detected by the steering angle sensor 8 in accordance with the moving distance in the storage device 3a of the controller 3 when parking in i-in or parallel parking. has been done.
コントローラ３は上記自動操舵モードスイッチのオン操
作により自動操舵モードとした時車輪回転角センサ７が
検出した車両の移動距離と該移動距離に応じて操舵角セ
ンサ８から得られる転舵角とが上記コントローラ３の記
憶装置３ａから供給される車両の移動距離と該移動距離
に応じた転舵角とに等しくなるよう制御する。When the controller 3 is set to automatic steering mode by turning on the automatic steering mode switch, the vehicle travel distance detected by the wheel rotation angle sensor 7 and the steering angle obtained from the steering angle sensor 8 according to the travel distance are as described above. Control is performed so that the travel distance of the vehicle supplied from the storage device 3a of the controller 3 is equal to the steering angle corresponding to the travel distance.
コントローラ３の自動操舵モードは、第２図のフローチ
ャー１・に示すように自動操舵モード時であるにも拘ら
ず上記操舵トルクセンサ１が所定トルクＴｏ（例えば０
．２Ｋｇ−ｍ）以上の操舵トルクを検出したとき或は車
速センサ２か検出した車速が所定車速Ｖｏ （例えば
約５ Ｋｍ／ｈ）以」二となったとき自動的に解除され
通常のパワアシスト作動が行われるようになっている。In the automatic steering mode of the controller 3, the steering torque sensor 1 detects a predetermined torque To (for example, 0
．． When a steering torque of 2 Kg-m or more is detected, or when the vehicle speed detected by the vehicle speed sensor 2 becomes less than a predetermined vehicle speed Vo (for example, about 5 Km/h), the power assist is automatically released and the normal power assist operation resumes. is now being carried out.
第２図の下半分に示した制御ロジックは、記憶モートス
イッチ９および出動操舵モードスイッチ１０はいずれも
他方がオフのときオン作動を有効とし、且つ両スイッチ
が共にオフのときは通常のパワアシスト作動を行わせる
ためのものであり、詳細な説明は省略する。The control logic shown in the lower half of FIG. 2 is such that both the memory mote switch 9 and the dispatch steering mode switch 10 are turned on when the other is off, and when both switches are off, normal power assist is activated. This is for the purpose of operation, and detailed explanation will be omitted.
」二記のように構成された自動操舵装置の記憶モード時
および自動操舵モード時における作動は次の通りである
。The operation of the automatic steering system configured as described in Section 2 in the memory mode and automatic steering mode is as follows.
先ず車庫入れ或は縦列駐車作動を開始すべき基準停車位
置を設定し車両を該基準停車位置に停車させた後に記憶
モードスイッチ９をオン操作し記憶モードに切換える。First, a reference stopping position at which to start parking or parallel parking is set, and after the vehicle is stopped at the reference stopping position, the memory mode switch 9 is turned on to switch to the memory mode.
次に運転者の操舵による車庫入れ或は縦列駐車作動を開
始すると、上記基準停車位置からの車両の移動距離と該
移動距離に応じた転舵角とは車輪回転角センサ７および
操舵角センサ８により検出され割込処理によりコントロ
ーラ３の記憶装置３ａに刻々記憶されるが、このとき操
舵トルクセンサｌおよび車速センサ２が検出した操舵ト
ルクおよび車速に基くパワアシスト作動は通常通り行わ
れる。Next, when the driver starts parking the garage or parallel parking by steering, the distance traveled by the vehicle from the reference stopping position and the steering angle corresponding to the distance traveled are determined by the wheel rotation angle sensor 7 and the steering angle sensor 8. The power assist operation based on the steering torque and vehicle speed detected by the steering torque sensor 1 and the vehicle speed sensor 2 is performed as usual.
次に車庫入れ或は縦列駐車作動を自動操舵により行いた
いときは車両を予じめ設定した基準停車位置に停車させ
た後に自動操舵モードスイッチ１０のオン操作により自
動操舵モードとする。この状態で図示しない変速レバー
を後退側に切換え同じく図示しないアクセルペダルを踏
込むと車両は車庫入れ或は縦列駐車作動を開始する。Next, when it is desired to perform a garage parking operation or a parallel parking operation by automatic steering, the vehicle is stopped at a preset reference stopping position and then the automatic steering mode is set by turning on the automatic steering mode switch 10. In this state, when the gear shift lever (not shown) is switched to the reverse side and the accelerator pedal (also not shown) is depressed, the vehicle starts parking in a garage or parallel parking.
このときコントローラ３は、車輪回転角センサ７が検出
した車両の移動距離と該移動距離に応じて操舵角センサ
８から得られる転舵角とをコントローラ３の記憶装置３
ａから供給される車両の移動距離と該移動距離に応じた
転舵角とに等しくなるよう電動モータ４を制御するので
、該車両は記憶モード時にコントローラ３の記憶装置３
ａに記憶された車両の移動距離と該移動距離に応じた転
舵州道りに自動操舵されるが、このような自動操舵中に
伺等かの押出で運転者が自動操舵を中止したいと考えた
とき運転者がハンドルを握り所定トルクＴｏ以上の操舵
トルクを発生させるだけの簡単な操作を行うだけで、該
操舵トルクを検出して信号を発する操舵トルクセンサ１
の該信号により直ちに自動操舵モードは解除され、通常
の手動操作に基くパワアシスト作動に移行する。又自動
操舵中にアクセルペダルの踏込み過ぎにより車速が所定
車速Ｖｏ（例えば約５ Ｋｍ／ｈ）以上になったときも
自動操舵モードは直ちに解除され通常の手動操舵に基く
パワアシスト作動に移行するので安全性を確保すること
ができる。At this time, the controller 3 stores the moving distance of the vehicle detected by the wheel rotation angle sensor 7 and the steering angle obtained from the steering angle sensor 8 according to the moving distance in the storage device 3 of the controller 3.
Since the electric motor 4 is controlled so that the moving distance of the vehicle supplied from a is equal to the steering angle corresponding to the moving distance, the vehicle is in the storage mode in the storage device 3 of the controller 3.
The vehicle is automatically steered to the state road corresponding to the distance traveled by the vehicle stored in step a, but if the driver wishes to cancel the automatic steering by pushing the vehicle during such automatic steering. A steering torque sensor 1 that detects the steering torque and issues a signal when the driver grips the steering wheel and performs a simple operation to generate a steering torque greater than a predetermined torque To.
The automatic steering mode is immediately canceled by this signal, and the automatic steering mode is shifted to power assist operation based on normal manual operation. Also, if the vehicle speed exceeds a predetermined vehicle speed Vo (for example, approximately 5 km/h) due to excessive depression of the accelerator pedal during automatic steering, the automatic steering mode will be canceled immediately and the system will switch to power assist operation based on normal manual steering. Safety can be ensured.
上記において自動操舵モードから通常のパワアシスト作
動への復帰は車庫入れ或は縦列駐車作動が終了したとき
に運転者が自動操舵モードスイッチ１０をオフとしても
よく、又は記憶モード時にコントローラ３の記憶装置３
ａが記憶した記憶内容が終了したとき上記自動操舵モー
ドスイッチ１０が自動的にオフ作動するようにしてもよ
い。In the above, the return from the automatic steering mode to the normal power assist operation may be performed by the driver turning off the automatic steering mode switch 10 when the driver enters the garage or finishes the parallel parking operation, or by turning off the automatic steering mode switch 10 in the memory mode. 3
The automatic steering mode switch 10 may be automatically turned off when the storage contents stored by the controller a are completed.
尚上記実施例では車両の移動距離を求めるのに車輪回転
角センサ７を用いた例を述べたが、車速を検出し該車速
に応じたパルスを発する車速センサ２のパルス数から求
めてもよい。In the above embodiment, the wheel rotation angle sensor 7 is used to determine the travel distance of the vehicle, but it may also be determined from the number of pulses of the vehicle speed sensor 2, which detects the vehicle speed and emits pulses corresponding to the vehicle speed. .
又上記実施例では操舵トルクセンサと車速センサからの
信号に基きパワアシストを行う電動式パワステアリング
装置に適用した例を述べたが、転舵角を検出する操舵角
センサを設は該操舵角センサが検出した転舵角に応じて
復元制御を行う電動式パワステアリング装置にも適用し
得ることは言うまでもなく、この場合には操舵角センサ
の新設は不要となる。Further, in the above embodiment, an example was described in which the application is applied to an electric power steering device that performs power assist based on signals from a steering torque sensor and a vehicle speed sensor. Needless to say, the present invention can also be applied to an electric power steering device that performs restoration control according to the detected steering angle, and in this case, there is no need to newly install a steering angle sensor.
発明の効果
０
」二記のように本発明によれば、自動車用電動式パワス
テアリング装置兼自動操舵装置を、転舵操作に関連して
電動モータへの電圧又は電流の制御を行い該電動モータ
の回転により操舵機構へのパワアシストを与えるパワア
シスト用制御手段と、記憶モードスイッチのオン操作に
より基準停車位置からの車両の移動距離と該移動距離に
応じた転舵角とを刻々検出して記憶する信号処理および
記憶手段と、自動操舵モードスイッチのオン操作により
上記信号処理および記憶手段が記憶した記憶内容に従っ
て上記電動モータの制御を行い該電動モータの回転によ
り一定の操舵パターンに対する自動操舵を行う自動操舵
用制御手段とから構成すると共に、上記自動操舵用制御
手段による自動操舵は、該自動操舵中に手動操舵が行わ
れたとき或は車速が所定値以上となったとき解除される
ようにしたことにより、車庫入れ時や縦列駐車時等のよ
うに操舵方法が一定している場合、−度基準停車位置か
らの移動距離と該移動距離に応じた転舵角とを記憶させ
れば、その後は基準停車位置に停車し自動操舵モードス
イッチをオンとしアクセルペダルを踏込むという簡単な
操作だけで自動操舵が可能となり煩わしいハンドル操作
から解放されると共に、自動操舵中にハンドルに手を触
れたとき或は車速が所定車速以上となったとき自動的に
解除され安全を確保できるだけでなく、自動操舵モード
スイッチをオフとすることにより通常の電動式パワステ
アリング装置の機能を果させることができるもので、電
動式パワステアリング装置と自動操舵装置との間の部品
共用化が図れ構造が簡単となること等と相俟って実用上
多大なる効果をもたらし得るものである。Effect of the Invention 0 As described in section 2, according to the present invention, an electric power steering device/automatic steering device for an automobile is controlled by controlling the voltage or current to the electric motor in connection with a steering operation. A power assist control means that provides power assist to the steering mechanism by rotation of the vehicle, and a power assist control means that detects moment by moment the distance traveled by the vehicle from the reference stop position and the steering angle corresponding to the distance traveled by turning on the memory mode switch. The electric motor is controlled in accordance with the stored signal processing and storage means and the stored contents of the signal processing and storage means by turning on an automatic steering mode switch, and automatic steering is performed according to a certain steering pattern by rotating the electric motor. and an automatic steering control means that performs automatic steering, and the automatic steering by the automatic steering control means is canceled when manual steering is performed during the automatic steering or when the vehicle speed exceeds a predetermined value. By doing so, when the steering method is constant, such as when parking in a garage or parallel parking, it is possible to memorize the moving distance from the -degree reference stopping position and the turning angle corresponding to the moving distance. After that, the vehicle can be automatically steered by simply stopping the vehicle at the standard stopping position, turning on the autopilot mode switch, and depressing the accelerator pedal, freeing the driver from having to operate the steering wheel in a cumbersome manner. It is automatically released when the vehicle speed exceeds a predetermined speed, which not only ensures safety, but also enables the function of a normal electric power steering device to be performed by turning off the automatic steering mode switch. This, together with the fact that parts can be shared between the electric power steering device and the automatic steering device and the structure is simplified, can bring about great practical effects.
第１図は本発明の一実施例を示すブロックダイヤグラム
、第２図は本発明装置の制御ロジックの一例を示すブロ
ックダイヤグラムである。
１・・・操舵トルクセンサ、２・・・車速センサ、３・
・・コントローラ、３ａ・・・記憶装置、４・・・電動
１
２
モータ、５・・・操舵装置、６・・・電流検出部、７・
・・車輪回転角センサ、８・・・操舵角センサ、９・・
・記憶モードスイッチ、１０・・・自動操舵モードスイ
ッチ。
以 上FIG. 1 is a block diagram showing one embodiment of the present invention, and FIG. 2 is a block diagram showing an example of the control logic of the device of the present invention. 1... Steering torque sensor, 2... Vehicle speed sensor, 3...
...Controller, 3a...Storage device, 4...Electric 1 2 motor, 5...Steering device, 6...Current detection unit, 7.
...Wheel rotation angle sensor, 8...Steering angle sensor, 9...
- Memory mode switch, 10... automatic steering mode switch. that's all
Claims (1)
を行い該電動モータの回転により操舵機構へのパワアシ
ストを与えるパワアシスト用制御手段と、記憶モードス
イッチのオン操作により基準停車位置からの車両の移動
距離と該移動距離に応じた転舵角とを刻々検出して記憶
する信号処理および記憶手段と、自動操舵モードスイッ
チのオン操作により上記信号処理および記憶手段が記憶
した記憶内容に従って上記電動モータの制御を行い該電
動モータの回転により一定の操舵パターンに対する自動
操舵を行う自動操舵用制御手段とから構成すると共に、
上記自動操舵用制御手段による自動操舵は、該自動操舵
中に手動操舵が行われたとき或は車速が所定値以上とな
ったとき解除されるようになっている自動車用電動式パ
ワステアリング装置兼自動操舵装置。A power assist control means that controls the voltage or current to the electric motor in connection with the steering operation and provides power assist to the steering mechanism by the rotation of the electric motor, and a power assist control means that controls the voltage or current to the electric motor in connection with the steering operation, and provides power assist to the steering mechanism by the rotation of the electric motor; a signal processing and storage means for momentarily detecting and storing the moving distance of the vehicle and the turning angle corresponding to the moving distance; and according to the memory contents stored by the signal processing and storage means by turning on the automatic steering mode switch. an automatic steering control means that controls the electric motor and performs automatic steering according to a certain steering pattern by rotating the electric motor;
The automatic steering by the above-mentioned automatic steering control means is an electric power steering system for an automobile that is canceled when manual steering is performed during the automatic steering or when the vehicle speed exceeds a predetermined value. Autopilot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1145955A JPH0374256A (en) | 1989-06-08 | 1989-06-08 | Electric power steering and concurrently automatic steering device for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1145955A JPH0374256A (en) | 1989-06-08 | 1989-06-08 | Electric power steering and concurrently automatic steering device for automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0374256A true JPH0374256A (en) | 1991-03-28 |
Family
ID=15396897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1145955A Pending JPH0374256A (en) | 1989-06-08 | 1989-06-08 | Electric power steering and concurrently automatic steering device for automobile |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0374256A (en) |
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0455168A (en) * | 1990-06-15 | 1992-02-21 | Hitachi Ltd | Steering device and automatic steering system |
| JPH0586755U (en) * | 1992-04-28 | 1993-11-22 | 日本電気ホームエレクトロニクス株式会社 | Steering angle variable steering device |
| EP0849142A2 (en) | 1996-12-17 | 1998-06-24 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| EP0872402A2 (en) | 1997-04-15 | 1998-10-21 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| JPH1120726A (en) * | 1997-07-01 | 1999-01-26 | Honda Motor Co Ltd | Steering control device for vehicle |
| EP0900712A2 (en) * | 1997-09-05 | 1999-03-10 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering device for vehicules |
| JPH1178936A (en) * | 1997-08-29 | 1999-03-23 | Honda Motor Co Ltd | Automatic steering device for vehicle |
| EP0931712A2 (en) | 1998-01-26 | 1999-07-28 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system in vehicle |
| US5931252A (en) * | 1997-04-07 | 1999-08-03 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US5931253A (en) * | 1997-04-15 | 1999-08-03 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| EP0937627A1 (en) | 1998-02-23 | 1999-08-25 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US5945799A (en) * | 1996-10-09 | 1999-08-31 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US5957232A (en) * | 1997-04-15 | 1999-09-28 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| JPH11348800A (en) * | 1998-06-12 | 1999-12-21 | Honda Motor Co Ltd | Steering control device for vehicle |
| US6018692A (en) * | 1997-04-28 | 2000-01-25 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| US6059063A (en) * | 1997-04-28 | 2000-05-09 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6070684A (en) * | 1997-07-16 | 2000-06-06 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6170591B1 (en) | 1996-12-17 | 2001-01-09 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| US6186259B1 (en) | 1997-09-16 | 2001-02-13 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering device for vehicles |
| US6223847B1 (en) | 1997-04-15 | 2001-05-01 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicle |
| US6275754B1 (en) | 1996-10-09 | 2001-08-14 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6356828B1 (en) | 1996-10-09 | 2002-03-12 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6778891B2 (en) | 2001-09-28 | 2004-08-17 | Aisin Seiki Kabushiki Kaisha | Parking assistance device and method used therefor |
| JP2004284530A (en) * | 2003-03-24 | 2004-10-14 | Toyota Motor Corp | Automatic parking device |
| WO2006060040A1 (en) * | 2004-11-30 | 2006-06-08 | Trimble Navigation Limited | Method and system for implementing automatic vehicle control with parameter-driven disengagement |
| DE19922173B4 (en) * | 1998-05-15 | 2007-02-08 | Honda Giken Kogyo K.K. | Automatic steering device for a vehicle |
| DE19922284B4 (en) * | 1998-05-15 | 2007-05-03 | Honda Giken Kogyo K.K. | Automatic steering device for a vehicle |
| JP2007118804A (en) * | 2005-10-28 | 2007-05-17 | Aisin Seiki Co Ltd | Driving support device |
| DE10026237B4 (en) * | 1999-05-26 | 2008-01-10 | Honda Giken Kogyo K.K. | Vehicle steering system |
| JP2009236251A (en) * | 2008-03-27 | 2009-10-15 | Toyota Motor Corp | Gear shift control device and gear shift control method |
| WO2009131922A1 (en) * | 2008-04-22 | 2009-10-29 | Gm Global Technology Operations, Inc. | Autonomous parking strategy based on available parking space |
| JP2009286211A (en) * | 2008-05-28 | 2009-12-10 | Nsk Ltd | Electric power steering device |
| JP2010282344A (en) * | 2009-06-03 | 2010-12-16 | Toyota Motor Corp | Driving information recording apparatus |
| JP2011207407A (en) * | 2010-03-30 | 2011-10-20 | National Agriculture & Food Research Organization | Drive device for automatically steering running vehicle |
| FR2961462A1 (en) * | 2010-06-16 | 2011-12-23 | Bosch Gmbh Robert | AUTOMATIC FUNCTION STORAGE MANEUVER ASSIST SYSTEM |
| JP2013112187A (en) * | 2011-11-29 | 2013-06-10 | Kyb Co Ltd | Steering control device |
| JP2013112188A (en) * | 2011-11-29 | 2013-06-10 | Kyb Co Ltd | Steering control device |
| WO2014188779A1 (en) * | 2013-05-22 | 2014-11-27 | 日産自動車株式会社 | Parking assist device, and parking assist method |
-
1989
- 1989-06-08 JP JP1145955A patent/JPH0374256A/en active Pending
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0455168A (en) * | 1990-06-15 | 1992-02-21 | Hitachi Ltd | Steering device and automatic steering system |
| JPH0586755U (en) * | 1992-04-28 | 1993-11-22 | 日本電気ホームエレクトロニクス株式会社 | Steering angle variable steering device |
| US6356828B1 (en) | 1996-10-09 | 2002-03-12 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US5945799A (en) * | 1996-10-09 | 1999-08-31 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6275754B1 (en) | 1996-10-09 | 2001-08-14 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6424895B1 (en) | 1996-10-09 | 2002-07-23 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6170591B1 (en) | 1996-12-17 | 2001-01-09 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| EP0849142A2 (en) | 1996-12-17 | 1998-06-24 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| EP0849142A3 (en) * | 1996-12-17 | 2000-12-27 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| US6016881A (en) * | 1996-12-17 | 2000-01-25 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| US5931252A (en) * | 1997-04-07 | 1999-08-03 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US5957232A (en) * | 1997-04-15 | 1999-09-28 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| EP0872402A2 (en) | 1997-04-15 | 1998-10-21 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6102147A (en) * | 1997-04-15 | 2000-08-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US5931253A (en) * | 1997-04-15 | 1999-08-03 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6223847B1 (en) | 1997-04-15 | 2001-05-01 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicle |
| US6018692A (en) * | 1997-04-28 | 2000-01-25 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering apparatus for vehicles |
| US6059063A (en) * | 1997-04-28 | 2000-05-09 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| JPH1120726A (en) * | 1997-07-01 | 1999-01-26 | Honda Motor Co Ltd | Steering control device for vehicle |
| US6072293A (en) * | 1997-07-01 | 2000-06-06 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for vehicle |
| US6070684A (en) * | 1997-07-16 | 2000-06-06 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| JPH1178936A (en) * | 1997-08-29 | 1999-03-23 | Honda Motor Co Ltd | Automatic steering device for vehicle |
| US6212452B1 (en) | 1997-08-29 | 2001-04-03 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| US6154695A (en) * | 1997-09-05 | 2000-11-28 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering device for vehicles |
| EP0900712A3 (en) * | 1997-09-05 | 2000-05-24 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering device for vehicules |
| EP0900712A2 (en) * | 1997-09-05 | 1999-03-10 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering device for vehicules |
| US6186259B1 (en) | 1997-09-16 | 2001-02-13 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering device for vehicles |
| EP0931712A2 (en) | 1998-01-26 | 1999-07-28 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system in vehicle |
| EP0937627A1 (en) | 1998-02-23 | 1999-08-25 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| DE19922173B4 (en) * | 1998-05-15 | 2007-02-08 | Honda Giken Kogyo K.K. | Automatic steering device for a vehicle |
| DE19922284B4 (en) * | 1998-05-15 | 2007-05-03 | Honda Giken Kogyo K.K. | Automatic steering device for a vehicle |
| JPH11348800A (en) * | 1998-06-12 | 1999-12-21 | Honda Motor Co Ltd | Steering control device for vehicle |
| DE10026237B4 (en) * | 1999-05-26 | 2008-01-10 | Honda Giken Kogyo K.K. | Vehicle steering system |
| US6778891B2 (en) | 2001-09-28 | 2004-08-17 | Aisin Seiki Kabushiki Kaisha | Parking assistance device and method used therefor |
| JP2004284530A (en) * | 2003-03-24 | 2004-10-14 | Toyota Motor Corp | Automatic parking device |
| US7574290B2 (en) | 2004-11-30 | 2009-08-11 | Trimble Navigation Limited | Method and system for implementing automatic vehicle control with parameter-driven disengagement |
| WO2006060040A1 (en) * | 2004-11-30 | 2006-06-08 | Trimble Navigation Limited | Method and system for implementing automatic vehicle control with parameter-driven disengagement |
| JP2007118804A (en) * | 2005-10-28 | 2007-05-17 | Aisin Seiki Co Ltd | Driving support device |
| JP2009236251A (en) * | 2008-03-27 | 2009-10-15 | Toyota Motor Corp | Gear shift control device and gear shift control method |
| WO2009131922A1 (en) * | 2008-04-22 | 2009-10-29 | Gm Global Technology Operations, Inc. | Autonomous parking strategy based on available parking space |
| JP2009286211A (en) * | 2008-05-28 | 2009-12-10 | Nsk Ltd | Electric power steering device |
| JP2010282344A (en) * | 2009-06-03 | 2010-12-16 | Toyota Motor Corp | Driving information recording apparatus |
| JP2011207407A (en) * | 2010-03-30 | 2011-10-20 | National Agriculture & Food Research Organization | Drive device for automatically steering running vehicle |
| FR2961462A1 (en) * | 2010-06-16 | 2011-12-23 | Bosch Gmbh Robert | AUTOMATIC FUNCTION STORAGE MANEUVER ASSIST SYSTEM |
| JP2013112187A (en) * | 2011-11-29 | 2013-06-10 | Kyb Co Ltd | Steering control device |
| JP2013112188A (en) * | 2011-11-29 | 2013-06-10 | Kyb Co Ltd | Steering control device |
| WO2014188779A1 (en) * | 2013-05-22 | 2014-11-27 | 日産自動車株式会社 | Parking assist device, and parking assist method |
| CN105339239A (en) * | 2013-05-22 | 2016-02-17 | 日产自动车株式会社 | Parking assist device, and parking assist method |
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