# US 10,501,116 B2 · Automatic steering control device

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- Number: US 10,501,116 B2
- Document ID: US10501116B2
- Status: Granted
- Kind: B2
- Application number: 15/889,601
- Filed: 2018-02-06
- Published: 2018-10-04
- Granted: 2019-12-10
- Earliest claimed: 2017-03-31
- Assignees: Subaru Corporation
- Applicants: Subaru Corporation
- Inventors: Masato Mizoguchi
- Web page: https://patentgrep.com/patent/US10501116B2

## CPC

- B62D 6/04: responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
- B62D 1/286: {Systems for interrupting non-mechanical steering due to driver intervention}
- B62D 5/0481: {monitoring the steering system, e.g. failures}
- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

An automatic steering control device includes: a steering assist device; and a steering control unit. The steering control unit includes an input-output unit, a memory unit, a first abnormality detection unit, a second abnormality detection unit, an instruction value computation unit, and a switching unit. The steering assist device calculates a first instruction value to be output to a steering device included in a vehicle to make the vehicle travel along a target travel road shape calculated based on at least one of external environment information or map information of the vehicle based on the target travel road shape and a state quantity output from a state quantity detection device that detects behavior of the vehicle. The steering control unit controls the steering device based on the first instruction value during automatic driving of the vehicle.

## Claims

### Claim 1

An automatic steering control device comprising:
a steering assist device configured to calculate, on a basis of a target travel road shape and a state quantity, a first instruction value to be output to a steering device mounted on a vehicle to cause the vehicle to travel along the target travel road shape, the target travel road shape being calculated on a basis of one or both of external environment information of the vehicle and map information, the state quantity being output from a state quantity detection device configured to detect the state quantity including a vehicle speed and an acceleration of the vehicle; and
a steering control unit configured to control the steering device on the basis of the first instruction value during automatic driving of the vehicle,
wherein the steering control unit comprises
an input-output unit configured to communicate with the steering assist device and the state quantity detection device,
a memory unit configured to store a future travel road shape that is the target travel road shape for a predetermined time period from a present time and the state quantity at the present time,
a first abnormality detection unit configured to detect occurrence of a failure in one or both of operation of the steering assist device or communication between the steering assist device and the input-output unit,
a second abnormality detection unit configured to detect occurrence of a failure in one or both of the operation of the state quantity detection device or the communication between the steering assist device and the input-output unit,
an instruction value computation unit configured to
calculate, on the basis of the state quantity input from the state quantity detection device and the future travel road shape stored in the memory unit, a second instruction value to be output to the steering device to cause the vehicle to travel along the future travel road shape when a first failure state is entered in which the occurrence of the failure is detected by the first abnormality detection unit during the automatic driving, and
calculate, on a basis of the latest vehicle speed and acceleration and an elapsed time from the occurrence of a second failure state, a current estimated vehicle speed of the vehicle and a travel distance of the vehicle from a position of the occurrence of the second failure state and calculate, on a basis of a comparison of the current estimated vehicle speed and the travel distance with the future travel road shape stored in the memory unit, a third instruction value to be output to the steering device to cause the vehicle to travel along the future travel road shape when the second failure state is entered in which the occurrence of the failure is detected by the first abnormality detection unit and the second abnormality detection unit during the automatic driving, and
a switching unit configured to control the steering device on the basis of the first instruction value output from the steering assist device in a normal state in which no failure is detected by the first abnormality detection unit and the second abnormality detection unit during the automatic driving, control the steering device on the basis of the second instruction value output from the instruction value computation unit in the first failure state, and control the steering device on the basis of the third instruction value output from the instruction value computation unit in the second failure state.

### Claim 2 (depends on 1)

The automatic steering control device according to claim 1, wherein
the steering assist device calculates a lateral position deviation and a yaw angle deviation that indicate a current displacement of a position of the vehicle from the target travel road shape;
the memory unit further stores, as the state quantity, the lateral position deviation and the yaw angle deviation, and upon the occurrence of the second failure state, the instruction value computation unit adds to the third instruction value a first correction yaw rate necessary for returning the vehicle to a position along the future travel road, when a latest value of the lateral position deviation and a latest value of the yaw angle deviation stored in the memory unit respectively exceed predetermined values.

### Claim 3 (depends on 2)

The automatic steering control device according to claim 2, wherein
upon the occurrence of the first failure state, the instruction value computation unit adds to the second instruction value a second correction yaw rate necessary for returning the vehicle to a position along the future travel road, when the latest value of the lateral position deviation and the latest value of the yaw angle deviation stored in the memory unit respectively exceed predetermined values.