Honda Giken Kogyo Kabushiki Kaisha

Honda Motor Co., Ltd.

Shinnosuke Ishida

Hiroyuki Kawagoe

Satoshi Kondo

Hiroshi Hasegawa

Jun Tanaka

Nobuyoshi Asanuma

Daisuke Hanzawa

Tomoaki Teramoto

Kaoru Matsuno

Kentaro Yamada

Akihiko Takei

Hiroyasu Kubota

Makoto Ito

Masao Nishikawa

Yoshimi Furukawa

Shun Iwasaki

Nobuyuki Oono

Manabu Ikegaya

Kenshiro Hashimoto

Hiroyuki Kamiya

Kenshirou Hashimoto

Provided are a travel assist device capable of producing, in a preferred manner, warning vibrations notifying deviation of a vehicle with respect to a travel path, and a method of controlling the same. A travel assist device includes a travel assist control device that notifies a driver about an anti-deviation direction or a deviation direction by making a steering angular acceleration in the deviation direction and the steering angular acceleration in the anti-deviation direction different from each other when producing warning vibrations, wherein a time-derivative value of a steering angle of a steering wheel is defined as a steering angular velocity, and a time-derivative value of the steering angular velocity is defined as the steering angular acceleration.

Travel assist device and method of controlling travel assist device

A lane outward deviation avoidance assist apparatus includes: a recognition device configured to recognize a travel lane of a vehicle; a deviation recognition part configured to recognize a deviation from the travel lane recognized by the recognition device or a deviation prediction from the travel lane; a control part configured to perform a deviation avoidance control for avoiding the deviation from the travel lane at least by a steering; and a deviation number count part configured to count the number of deviations from the travel lane recognized by the deviation recognition part within a predetermined duration or the number of deviation predictions from the travel lane, wherein the control part performs at least any one of the deviation avoidance control and an alarm output control when the number counted by the deviation number count part reaches n, n being a natural number more than 1.

Lane outward deviation avoidance assist apparatus and lane outward deviation avoidance assist method

The driving support device includes: a recognition section configured to recognize each positions of a specific object and a road marking with reference to peripheral information of a own vehicle acquired by a sensor section configured to acquire the peripheral information; and a control section configured to perform different controls on the own vehicle, with reference to recognition results of the recognition section, depending on whether the specific object is present in a first state or a second state, the first state being a state where the specific object is present in a region more outside than a traveling lane with respect to an imaginary line that extends along a traveling direction of the own vehicle, the second state being a state where the specific object is present in a region on a more central side of the traveling lane with respect to the imaginary line.

Driving support device

A vehicle steering control device which prevents overshoot or a phase delay of a vehicle position from a target position when an actuator of a steering mechanism is controlled so that an integral control reduces a positional deviation of a vehicle from the reference position of a traffic lane. An FB control unit () which calculates a corrected steering assist torque (Tb) of a motor so as to reduce a positional deviation (Yd) and an angular deviation (Ah) includes an integral element determination unit (), which determines an integral gain (Ki), by which the positional deviation (Yd) is multiplied in an integral gain operation unit (), according to the positional deviation (Yd) and which determines a limit value (Icnt_lmt) of an integral controlled variable (Icnt) according to the positional deviation (Yd), and an integral controlled variable limiting unit () which limits the integral controlled variable (Icnt) to within a range set by the limit value (Icnt_lmt) and outputs the current integral controlled variable (Icnt_rel).

Steering control device for vehicles

The invention carries out appropriate travel control so that a vehicle travels along recognized lane markings, and at the same time, prevents making the driver feel discomfort during travel control. In the case that the white line recognition becomes not possible, the delay time TD is shortened depending on a previous continuous time interval of a recognition state. In the case that the white line recognition flag becomes possible, the delay time TD is extended depending on the previous continuous time interval. In the case that the count value of the ON time measuring counter TON is equal to or greater than the delay time TD and the white line recognizing is possible, the compensation control is permitted, and reversion to the ON state of the travel control based on recognized white lines is permitted.

Vehicle travel control apparatus

Whether a driver is driving intentionally is determined rapidly and accurately when steering control is performed such that a vehicle travels along recognized travel partitioning lines. A torque value deviation absolute value is calculated using the absolute value of a difference between the torque value from the previous processing and the torque value from the current processing, and is stored in a ring buffer. A torque value deviation sum value is calculated by adding all the torque value deviation absolute values stored in the ring buffer, and when a state in which the torque value deviation sum value is equal to or less than a predetermined driving intention determination threshold continues for a predetermined first threshold time (for example, several seconds; e.g. 5 seconds) or longer, it is determined that there is a decrease in the driving intention.

Steering control apparatus for a vehicle

A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases. In the system, the second steering control means transfers to the first steering control means an index indicative of a condition under which the steering assist torque was calculated, or an index indicative of an order in which the values of the steering assist torque are tansferred, thereby ensuring appropriate and highly reliable communication between the two control means.

Steering control system for vehicle

A vehicle steering control system for conducting a steering assistance control in which a basic steering assist torque is determined based on a structural parameter relating to the lane structure such as its curvature. In parallel, corrective steering assist torques are determined based on positional parameters of the vehicle relating to the lane such as a lateral deviation from the lane center line and a vehicle heading angle, and are added to the basic steering assist torque to correct the same. Since the positional parameters are determined based on the image information at or close to the vehicle, this enables to determine the steering assist torque adequately, thereby enhancing the accuracy of the steering assistance control.

Vehicle steering control system

A system for controlling steering of a vehicle, including an electric motor used for power-steering torque assist control. In the system, the lane-keeping-steering assist torque TLK for causing the vehicle to run along the center of a road existing ahead of the vehicle is calculated, while the power-steering assist torque TPS for assisting the vehicle driver's steering is calculated. Then, ratios RTO,and RTO,are calculated based on the detected steering torque. The assist torques TLK, TPS are corrected by multiplication with the ratios RTO,RTO,respectively and are added together to determine a final assist torque TA, and based on the final assist torques TA, a motor current to be supplied to the electric motor is determined, thereby enabling to effectively prevent the two kinds of control from interfering with each other so as not to adversely affect the vehicle driver's perception of vehicle steering response. Additional ratios are determined based on the detected steering torque change and the vehicle speed.

A system for controlling steering of a vehicle, including a steering device such as a steering wheel with an electric motor which assists steering of driven wheels of the vehicle, first steering control unit for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating unit for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering device by the driver, and second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the actuator such that the torque command decreases. In the system, a switching device is provided for switching between modes of control by the first steering control unit and the second steering control unit gradually with respect to time, thereby ensuring to switch the mode of control smoothly and preventing the occurrence of disadvantages including that the vehicle driver experiences annoyance upon sensing a change in steering assist.

A system for controlling steering of a vehicle, including a steering unit having an electric motor which steers driven wheels of the vehicle, a first steering control unit (EPS ECU 76) for controlling the actuator, a CCD camera for detecting a condition of a lane on a road on which the vehicle travels, a steering assist torque determining unit for determining a steering assist torque necessary for holding a positional relationship between the vehicle and the lane condition, a torque sensor for detecting a steering torque manually applied to the steering unit by the driver, second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the motor such that the torque command decreases. In the system, a failure detecting unit is provided for detecting whether a failure has occurred at least in determination of the steering assist torque, and the control by the second control unit is discontinued, or is switched to the control by the first control unit when the failure is detected, thereby enabling to detect or discriminate the occurrence of failure with accuracy and to take a necessary countermeasure to cope with the failures condition.

In a steering angle correcting system, a steering amount required to maintain a positional relationship of a subject vehicle to a road lane ahead of the subject vehicle is calculated in a steering amount calculating device based on outputs from a first detecting device for detecting the state of a lane of a road ahead of the vehicle or which the vehicle is traveling, and a second detecting device for detecting a current positional relationship of the subject vehicle to the road lane. A steering device is driven by a driving device mounted between a grasping portion of a steering wheel and the steering device so as to decrease the difference between a steering amount detected by a steering amount detecting device and a steering amount calculated in the steering amount calculating device. Whenever a driver's intention and the determination by the system are different from each other, a driver can operate the steering wheel to intervene in the steering. In addition, the driver can immediately intervene in the steering at all times, while normally maintaining a cooperating relationship with the system. Thus, the steering angle correcting system has a semi-automatic steering concept.

Steering angle correcting system in vehicle

An anti-collision system detects conditions of an object preceding a source vehicle, and parameters indicative of operating conditions of the source vehicle, and controls the source vehicle so as to prevent a collision with the object, based on the detected conditions of the object and the detected operating conditions of the source vehicle. The system estimates a path of travel of the source vehicle, based on the detected parameters, and sets an area of travel of the source vehicle to a first predetermined area lying about the estimated path of travel. Further, the system estimates a path of movement of the object, based on the detected conditions of the object, and sets an area of movement of the object to a second predetermined area lying the estimated path of movement. The system calculates a possibility of collision, based on the set area of travel and area of movement, to thereby control the velocity of the source vehicle.

Anti-collision system for vehicles

Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle by an image pick-up means attached to the vehicle; sampling and processing the image data to extract therefrom continuous line segments; determining a permissible travelling area ahead of the vehicle on the basis of the continuous line segments extracted; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle; estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount, and furthermore of renewing, on the basis of the instantaneous running condition during a period of image sampling, the preceding position of the vehicle in the permissible travelling area and reset a target course in the permissible travelling area in relation to the renewed position.

Apparatus and method for improving accuracy of an automatic travelling

A mobile body such as an automobile is controlled to move substantially along a target path by a control system. The control system determines a target point on the target path, a control quantity such as a yaw rate to reach the target point to cause the mobile body to reach the target point from an optional position, the direction in which the mobile body moves at the target point based on the control quantity to reach the target point, the angular difference between the direction and the target path at the target point as a target point angular difference, and a target control quantity such as a target yaw rate for the mobile body by correcting the control quantity to reach the target point based on the target point angular difference. The mobile body is controlled based on the target control quantity.

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Tokorozawa, Japan

Shinnosuke Ishida