The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 24, 2023
Filed:
Dec. 30, 2019
Subaru Corporation, Tokyo, JP;
Satoru Akiyama, Tokyo, JP;
Eiichi Shiraishi, Tokyo, JP;
SUBARU CORPORATION, Tokyo, JP;
Abstract
An automatic steering control device includes a forward recognition device, a traveling state detector, a lateral positional deviation calculator, a steering angle controller. The lateral positional deviation calculator calculates a first lateral positional deviation that is the lateral positional deviation ahead of the vehicle by a first distance, and a second lateral positional deviation that is the lateral positional deviation ahead of the vehicle by a second distance larger than the first distance. The steering angle controller performs first control on the steering angle so that an absolute value of the first lateral positional deviation decreases, and second control on the steering angle based on the second lateral positional deviation so that a difference between a change amount of the steering angle in the first control and a change amount of an actual steered angle that is a steered angle of wheels of the vehicle decreases.