# US 12,179,852 B2 · Moving body > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,852 B2 - Document ID: US12179852B2 - Status: Granted - Kind: B2 - Application number: 17/529,568 - Filed: 2021-11-18 - Published: 2022-06-30 - Granted: 2024-12-31 - Earliest claimed: 2020-12-25 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Hideki Imafuku; Yoshinori Izumi; Ryota Mose - Web page: https://patentgrep.com/patent/US12179852B2 ## CPC - B62D 5/046: {Controlling the motor} - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 5/0409: {Electric motor acting on the steering column} - B62D 5/0481: {monitoring the steering system, e.g. failures} - B62D 5/0484: {for reaction to failures, e.g. limp home} - 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 A moving body having a steering device and a steering control device which controls the steering device to control steering of the moving body. The steering control device selectively performs a first steering control which controls the steering of the moving body based on a movement status of the moving body and a second steering control which limits the steering of the moving body. The steering control device performs the second steering control based on a steering state of the moving body by the first steering control before occurrence of a failure when the failure related to execution of the first steering control occurs in a state where the first steering control is performed. ## Claims ### Claim 1 A moving body having a steering device and a steering control device which controls the steering device to control steering of the moving body, wherein the moving body includes a traveling support system configured to perform traveling support including automatic steering, the steering control device is configured to selectively perform a first steering control which controls the steering of the moving body based on a movement status of the moving body and a second steering control which limits the steering of the moving body, and perform the second steering control based on a steering state of the moving body by the first steering control before occurrence of a failure when the failure related to execution of the first steering control occurs in a state where the first steering control is performed, the second steering control includes a steering angle maintenance control for maintaining a steering angle of a wheel of the moving body to a value based on a steering state of the moving body by the first steering control, and the steering control device is further configured to perform a torque maintenance control for maintaining torque of an actuator included in the steering device to a value based on the steering state of the moving body by the first steering control based on the failure occurring and the steering angle maintenance control not being possible. ### Claim 2 (depends on 1) The moving body according to claim 1, wherein the steering control device is further configured to end the second steering control after a predetermined time period elapses from a start of the second steering control. ### Claim 3 (depends on 2) The moving body according to claim 2, wherein the steering device is configured to change the steering of the moving body according to a manual operation, and the steering control device is further configured to end the second steering control after a lapse of the predetermined time period even when the manual operation is not performed after starting the second steering control. ### Claim 4 (depends on 2) The moving body according to claim 2, wherein the predetermined time period is determined based on curvature information of a moving path of the moving body. ### Claim 5 (depends on 2) The moving body according to claim 2, wherein the predetermined time period is determined based on a moving speed of the moving body. ### Claim 6 (depends on 1) The moving body according to claim 1, wherein the steering control device is further configured to perform the second steering control only when the failure occurs. ### Claim 7 (depends on 1) The moving body according to claim 1, wherein the steering device is configured to change the steering of the moving body according to a manual operation, and the steering control device is further configured to end the second steering control with the manual operation as a trigger, when the manual operation is performed. ### Claim 8 (depends on 1) The moving boy according to claim 1, wherein the steering device is configured to change the steering of the moving body according to a manual operation.