# US 10,870,448 B2 · Driving support control system

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- Number: US 10,870,448 B2
- Document ID: US10870448B2
- Status: Granted
- Kind: B2
- Application number: 16/106,156
- Filed: 2018-08-21
- Published: 2019-04-11
- Granted: 2020-12-22
- Earliest claimed: 2017-10-11
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Yoji Kunihiro; Masateru Amano
- Web page: https://patentgrep.com/patent/US10870448B2

## 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
- B60W 10/20: including control of steering systems
- B62D 15/021: {Determination of steering angle}
- 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 15/0255: {Automatic changing of lane, e.g. for passing another vehicle}
- B60W 30/18145: {Cornering}
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- B60W 2050/046: {involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B62D 5/046: {Controlling the motor}
- B62D 6/005: {treating sensor outputs to obtain the actual yaw rate}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- 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)
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A driving support control system includes a steering device and a control device. The control device performs a target value calculating process of calculating a target value; a first steering angle calculating process of calculating, as a first steering angle, a steering angle for causing a vehicle motion parameter to coincide with the target value; an actual value calculating process of calculating an actual value of the vehicle motion parameter; a second steering angle calculating process of calculating, as a second steering angle, a steering angle for cancelling out an external force based on a difference value between the actual value and the target value; a target steering angle calculating process of calculating, as a target steering angle, a summed value of the first and second steering angles; and a control process of controlling the steering device so that the steering angle coincides with the target steering angle.

## Claims

### Claim 1

A driving support control system that is mounted in a vehicle, the driving support control system comprising:
a steering device configured to adjust a steering angle of the vehicle; and
a control device including a processor programmed to control the steering device so that the vehicle travels to follow a target path,
wherein the control device is programmed to:
calculate a target value of a lateral acceleration or a yaw rate as a target value of a vehicle motion parameter that causes the vehicle to travel to follow the target path;
calculate a first steering angle that causes the vehicle motion parameter to coincide with the target value;
calculate an actual value of the vehicle motion parameter;
calculate a second steering angle based on a difference value between the actual value and the target value, wherein the second steering angle cancels out an external force acting on the vehicle from an outside;
calculate a target steering angle based on a summed value of the first steering angle and the second steering angle;
control the steering device so that the steering angle of the vehicle coincides with the target steering angle;
limit acceleration of the vehicle when the difference value is equal to or greater than a first prescribed determination value;
detect a vehicle speed of the vehicle and calculate a deceleration of the vehicle based on the vehicle speed and the difference value.

### Claim 2 (depends on 1)

The driving support control system according to claim 1, wherein the control device is further programmed to:
calculate, as the first steering angle, a value obtained by multiplying the vehicle motion parameter by a prescribed first gain; and
calculate, as the second steering angle, a value obtained by multiplying the difference value by a prescribed second gain.

### Claim 3 (depends on 1)

The driving support control system according to claim 1, wherein the control device is further programmed to:
include a first guarding process of providing an upper limit on an absolute value of the first steering angle or an absolute value of an amount of change in the first steering angle; and
include a second guarding process of providing an upper limit on an absolute value of the second steering angle or an absolute value of an amount of change in the second steering angle.

### Claim 4 (depends on 1)

The driving support control system according to claim 1, wherein the control device is further programmed to prohibit the acceleration of the vehicle when the difference value is equal to or greater than a second prescribed determination value.

### Claim 5 (depends on 1)

The driving support control system according to claim 1, wherein the target value is calculated based on an assumption that no external force acts on the vehicle from the outside, and the second steering angle is calculated to cancel out the external force that acts on the vehicle from the outside.

### Claim 6 (depends on 1)

The driving support control system according to claim 1, wherein the control device controls the steering device so that the vehicle autonomously travels to follow the target path.

### Claim 7 (depends on 6)

The driving support control system according to claim 6, wherein the external force acting on the vehicle causes a drift of the vehicle from the travel path.