Vehicular travel control device

Patent metadata

Field	Value
Publication number	US-9499201-B2
Application number	US-201214441764-A
Country	US
Kind code	B2
Filing date	Nov 8, 2012
Priority date	Nov 8, 2012
Publication date	Nov 22, 2016
Grant date	Nov 22, 2016

Abstract

A vehicular steering control device which comprises a rudder angle varying device which changes a relationship between an operational position of steering wheel operated for steering by a driver and a rudder angle of front wheels; and a rudder angle control device which performs an automatic steering control of the front wheels for a trajectory control of a vehicle by controlling the rudder angle varying device. The rudder angle control device performs a termination control which removes a deviation in the relationship between an operational position and a rudder angle of the front wheels, namely, an N deviation when the automatic steering control is terminated. A speed of removing the N deviation is lowered when a magnitude of a steering operation speed is small, compared to when a magnitude of a steering operation speed is large.

First claim

The invention claimed is:

1. A vehicular steering control device which comprises:
a rudder angle varying device which changes a relationship between an operational position of a steering input device operated for steering by a driver and a rudder angle of steering wheels; and a rudder angle control device which performs an automatic steering control which controls the rudder angle of said steering wheels by controlling said rudder angle varying device; and said rudder angle control device performs a termination control which makes said relationship revert to a standard relationship when said automatic steering control is terminated, wherein
said rudder angle control device lowers a speed of making said relationship revert to said standard relationship by reducing a control amount for making said relationship revert to said standard relationship when a magnitude of a steering operation speed is small, compared to when a magnitude of a steering operation speed is large; and
said rudder angle control device does not lower a speed of making said relationship revert to said standard relationship when a magnitude of a curvature of a driving lane in front of a vehicle is equal to or smaller than a reference value for a curvature.

2. The vehicular steering control device according to claim 1 , wherein said rudder angle control device does not perform the control for making said relationship revert to said standard relationship by reducing a control amount for making said relationship revert to said standard relationship to 0 when a magnitude of a steering operation speed is equal to or less than a reference value of a steering operation speed.

3. The vehicular steering control device according to claim 2 , wherein said rudder angle control device makes the reference value for said steering operation speed large when a vehicle speed is high, compared to when a vehicle speed is low.

4. The vehicular steering control device according to claim 1 , wherein said rudder angle control device lowers a speed of making said relationship revert to said standard relationship when a vehicle speed is high, compared to when a vehicle speed is low.

5. The vehicular steering control device according to claim 1 , wherein said rudder angle control device makes the control amount for making said relationship revert to said standard relationsip small when a vehicle speed is high, compared to when a vehicle speed is low.

6. The vehicular steering control device according to claim 1 wherein said rudder angle control device makes the reference value for a curvature small when a vehicle speed is high, compared to when a vehicle speed is low.

Assignees

• MITSUMOTO Hisanori
• Kodaira Takahiro
• Toyota Motor Co Ltd

Inventors

• MITSUMOTO Hisanori
• Kodaira Takahiro

Classifications

• B62D5/008

  Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear · CPC title

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D5/0457

  characterised by control features of the drive means as such · CPC title

• B62D5/0481

  monitoring the steering system, e.g. failures · CPC title

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title