Driving assist system

Patent metadata

Field	Value
Publication number	US-2018354552-A1
Application number	US-201816002283-A
Country	US
Kind code	A1
Filing date	Jun 7, 2018
Priority date	Jun 9, 2017
Publication date	Dec 13, 2018
Grant date	—

Abstract

A driving assist system includes: a first detection unit configured to detect first rotational information that is information about rotation of a left wheel of a vehicle; a second detection unit configured to detect second rotational information that is information about rotation of a right wheel of the vehicle; and a processing unit configured to estimate a running turning radius of a running turning circle on a running route on which the vehicle drives from the first rotational information and the second rotational information.

First claim

What is claimed is:

1 . A driving assist system comprising:
a first detection unit configured to detect first rotational information that is information about rotation of a left wheel of a vehicle; a second detection unit configured to detect second rotational information that is information about rotation of a right wheel of the vehicle; and a processing unit configured to estimate a running turning radius of a running turning circle on a running route on which the vehicle drives from the first rotational information and the second rotational information.

2 . The driving assist system according to claim 1 ,
wherein the processing unit calculates a correction value for correcting a steering angle of a steering unit configured to operate a steerable wheel of the vehicle based on the running turning radius.

3 . The driving assist system according to claim 2 ,
wherein the processing unit calculates the correction value based on a provisional correction value obtained by multiplying a steering angle increase/decrease rate or an average steering angle increase/decrease rate value by a first correction coefficient, the steering angle increase/decrease rate being a ratio of a set turning radius of a set turning circle on a set route to a target point to the running turning radius, the average steering angle increase/decrease rate value being an average value of a plurality of the steering angle increase/decrease rates, the first correction coefficient being less than 1.

4 . The driving assist system according to claim 3 ,
wherein the processing unit calculates the correction value based on the provisional correction value obtained by multiplying the steering angle increase/decrease rate or the average steering angle increase/decrease rate value by a second correction coefficient when a variation in the steering angle increase/decrease rate or the average steering angle increase/decrease rate value is equal to or greater than a preset variation threshold value, the second correction coefficient being smaller than the first correction coefficient.

5 . The driving assist system according to claim 1 ,
wherein the processing unit
sets a start point on the running route based on a target steering angle and a detected steering angle of a steering unit, the target steering angle being associated with a set turning radius of a set turning circle on a set route to a target point,
sets an end point to a point on the running route at which the set turning circle ends, and
estimates the running turning radius based on coordinates of the start point and the end point calculated from the first rotational information and the second rotational information.

6 . The driving assist system according to claim 5 ,
wherein the processing unit
sets a midpoint to a point on the running route at which an angle between a direction of the vehicle and a reference direction becomes an average angle of a start point angle and an end point angle based on the first rotational information and the second rotational information, the start point angle being an angle between the direction of the vehicle and the reference direction at the start point, the end point angle being an angle between the direction of the vehicle and the reference direction at the end point, and
estimates the running turning radius based on coordinates of the start point, the midpoint, and the end point calculated from the first rotational information and the second rotational information.

7 . The driving assist system according to claim 6 ,
wherein the processing unit
sets a plurality of sub-midpoints before and after the midpoint on the running route, and
estimates the running turning radius based on a plurality of virtual running turning radii calculated from coordinates of the start point, the midpoint, the plurality of sub-midpoints, and the end point calculated from the first rotational information and the second rotational information.

Assignees

• Aisin Seiki

Inventors

• Sassa Koichi
• Hirata Hironori
• Mizuno Yoshihito

Classifications

• B60W2552/30

  Road curve radius · CPC title

• B60W2520/28

  Wheel speed · CPC title

• B60W2510/205

  Steering speed · CPC title

• B62D6/001 Primary

  the torque NOT being among the input parameters · CPC title

• B60W2540/18

  Steering angle · CPC title