公开(公告)号：US20180201307A1

公开(公告)日：2018-07-19

申请号：US15810702

申请日：2017-11-13

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yoshio KUDO ,  Yoji KUNIHIRO ,  Ryo IRIE ,  Satoru YABE

IPC: B62D5/04 ,  B62D6/10

CPC classification number: B62D5/0463 ,  B62D1/28 ,  B62D1/286 ,  B62D5/04 ,  B62D6/00 ,  B62D6/10 ,  B62D15/02 ,  B62D15/025

Abstract: When a steering intervention of the driver is performed during automated steering control, a driver assistance system for a vehicle determines a P control amount based on a non-linear characteristics and calculates an I control amount using a coefficient according to a characteristics (solid line). In an angle difference range R1, the P control amount based on the non-linear characteristics is determined such that the amount of increase of absolute value of the P control amount with respect to the amount of increase of absolute value of the angle difference becomes smaller as compared to a linear characteristics. The coefficient with the characteristics (solid line) indicates 1 in the angle difference range R1, and approaches zero when the absolute value of the angle difference is greater in an angle difference range R2. To calculate the I control amount, the coefficient is multiplied by the current value of the angle difference.

公开(公告)号：US20180201317A1

公开(公告)日：2018-07-19

申请号：US15838999

申请日：2017-12-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yoshio KUDO ,  Yoji KUNIHIRO ,  Satoru YABE

IPC: B62D15/02 ,  B60W30/12 ,  B60W10/20

CPC classification number: B62D15/025 ,  B60W10/20 ,  B60W30/12 ,  B60W2540/18 ,  B62D15/0255

Abstract: A driver assistance system for a vehicle executes, as steering control using an EPS device, automated steering control for causing an actual steering angle of a wheel to approach a target steering angle and steering angle return control for returning the actual steering angle to a neutral point in response to a steering operation by a driver being ended during non-automated steering control. Under comparison in a condition where a first angle difference is equal to a second angle difference, the driver assistance system is configured, in reverting to the automated steering control after a steering intervention of the driver is performed during the automated steering control and causing the actual steering angle to approach the target steering angle, to change the actual steering angle with a change rate that is lower than that in returning the actual steering angle to the neutral point during the steering angle return control.