# US 2018/0022382 A1 · Apparatus for controlling steering device of vehicle

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- Number: US 2018/0022382 A1
- Document ID: US20180022382A1
- Status: Published application
- Kind: A1
- Application number: 15/653,339
- Filed: 2017-07-18
- Published: 2018-01-25
- Earliest claimed: 2016-07-19
- Assignees: Denso Corporation
- Applicants: Denso Corporation
- Inventors: Hisaya AKATSUKA; Hiroshi INOU
- Web page: https://patentgrep.com/patent/US20180022382A1

## CPC

- B62D 6/003: {in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence)}
- B60T 8/1755: Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02)
- B60W 10/20: including control of steering systems
- B60W 30/045: Improving turning performance
- B60W 30/18145: {Cornering}
- B60W 50/0097: {Predicting future conditions}
- B62D 5/008: {Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear}
- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B60T 2201/16: Curve braking control, e.g. turn control within ABS control algorithm
- B60T 2260/02: Active Steering, Steer-by-Wire
- B60W 2050/0008: {Feedback, closed loop systems or details of feedback error signal}
- B60W 2050/0024: {Variable gains}
- B60W 2520/10: Longitudinal speed
- B60W 2540/18: Steering angle
- B60W 2552/30: Road curve radius
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2555/60: Traffic rules, e.g. speed limits or right of way
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2710/207: Steering angle of wheels
- 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)
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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

## Abstract

A target steering angle calculator calculates, based on a target curvature, a target steering angle representing a steering angle of the vehicle at a target position. A current steering-angle obtainer obtains a current steering angle representing a steering angle of the vehicle at a current position. A steering controller controls the steering of the vehicle to cause the current steering angle to follow the target steering angle. A distance estimator estimates, based on at least one of the environmental information around the vehicle and control information about the vehicle, a visible distance representing a distance visibly recognizable by the driver of the vehicle to a front of the vehicle. The target curvature obtainer uses the visible distance as the target distance to obtain the target curvature at the predetermined target position that has the visible distance away from the current position along the road in the travelling direction.

## Claims

### Claim 1

An apparatus for controlling a steering of a vehicle, the apparatus comprising:
a position obtainer configured to obtain a current position of the vehicle;
a road information obtainer configured to obtain road information about a road on which the vehicle is travelling, the road information including information indicative of a shape of the road extending in a travelling direction of the vehicle;
a target curvature obtainer configured to obtain a target curvature at a predetermined target position on the road, the target curvature being estimated based on the current position of the vehicle and the road information, the target position having a predetermined target distance away from the current position along the road in the travelling direction;
a target steering angle calculator configured to calculate, based on the target curvature, a target steering angle representing the steering angle of the vehicle at the target position;
a current steering-angle obtainer configured to obtain a current steering angle representing the steering angle of the vehicle at the current position;
a steering controller configured to control the steering of the vehicle to cause the current steering angle to follow the target steering angle; and
a distance estimator configured to:
obtain at least one of environmental information around the vehicle and control information about the vehicle; and
estimate, based on the at least one of the environmental information around the vehicle and control information about the vehicle, a visible distance representing a distance visibly recognizable by the driver of the vehicle to a front of the vehicle,
the target curvature obtainer being configured to use the visible distance as the target distance to obtain the target curvature at the predetermined target position that has the visible distance away from the current position along the road in the travelling direction.

### Claim 2 (depends on 1)

The apparatus according to claim 1, wherein:
the distance estimator is configured to:
obtain a driver's visibility to a front of the vehicle as the environmental information, the driver's visibility representing a numerical value of a visibility of a driver of the vehicle to the front; and
estimate, based on the obtained driver's visibility, the visible distance.

### Claim 3 (depends on 1)

The apparatus according to claim 1, further comprising:
a distance obtainer configured to obtain a travelled distance that represents a distance that the vehicle has travelled since the current position,
wherein the steering controller is configured to control the steering of the vehicle to reduce a deviation between the current steering angle and the target steering angle with an increase of the travelled distance.

### Claim 4 (depends on 2)

The apparatus according to claim 2, wherein:
the driver's visibility increases as a driver's front sight becomes better, the apparatus further comprising:
a visibility-distance information obtainer configured to obtain visibility-distance information, the visibility-distance information being configured such that the visible distance monotonically increases with an increase of the driver's visibility,
the distance estimator being configured to:
estimate, based on the obtained driver's visibility and the visibility-distance information, the visible distance corresponding to the obtained driver's visibility.

### Claim 5 (depends on 2)

The apparatus according to claim 2, further comprising:
a vehicle speed obtainer configured to obtain a speed of the vehicle; and
a time setter configured to set a visible time that represents time depending on the driver's visibility, the time setter being configured to set the visible time such that the visible time increases with an increase of the driver's visibility,
wherein the distance estimator is configured to calculate a product of the speed of the vehicle and the visible time, and estimate the product of the speed of the vehicle and the visible time as the visible distance.

### Claim 6 (depends on 1)

The apparatus according to claim 1, wherein:
the road information includes a curvature at any point on the road, the apparatus further comprising:
a steering angle calculator configured to:
estimate, from the road information, a curvature at the current position on the road; and
calculate, based on the extracted curvature, a recommended steering angle of the vehicle at the current position,
the current steering-angle calculator is configured to obtain the recommended steering angle as the current steering angle.

### Claim 7 (depends on 1)

The apparatus according to claim 1, wherein:
the road information includes coordinates of interpolation points and connection information representing that each of the interpolation points is connected to which of the other interpolation points, the interpolation points on the road representing respective positions on the road, the positions being arranged at regular intervals, connection of the interpolation points based on the connection information defining a tentative road, the apparatus further comprising:
a coordinate identifier configured to:
match the current position with the tentative road to identify, on the tentative road, a current matching position matching with the current position; and
match the target position with the tentative road to identify, on the tentative road, a target matching position matching with the target position;
an intermediate identifier configured to identify a coordinate of a selected at least one of the interpolation points, the selected at least one interpolation point being located between the current matching position and the target matching position; and
a tentative-road curvature calculator configured to calculate a curvature at the target matching potion on the tentative road in accordance with the coordinate of the current matching position, the coordinate of the target matching position, and the coordinate of the selected at least one interpolation point,
the target curvature obtainer being configured to obtain the curvature at the target matching potion on the tentative road as the target curvature.

### Claim 8 (depends on 1)

The apparatus according to claim 1, further comprising:
a curvature gain setter configured to obtain curvature gain information representing change of a curvature gain as a function of the target curvature, the curvature gain information being configured such that the curvature gain decreases with an increase of the target curvature,
wherein the steering controller is configured to control, based on the curvature gain and a deviation between the current steering angle and the target steering angle, the steering of the vehicle.

### Claim 9 (depends on 1)

The apparatus according to claim 1, further comprising:
a vehicle speed obtainer configured to obtain a speed of the vehicle; and
a vehicle-speed gain setter configured to obtain vehicle-speed gain information representing change of a vehicle-speed gain as a function of the target curvature, the vehicle-speed gain information being configured such that the vehicle-speed gain increases with an increase of the target curvature,
wherein the steering controller is configured to control, based on the vehicle-speed gain and a deviation between the current steering angle and the target steering angle, the steering of the vehicle.

### Claim 10

An apparatus for controlling a steering of a vehicle, the apparatus comprising:
a position obtainer configured to obtain a current position of the vehicle;
a road information obtainer configured to obtain road information about a road on which the vehicle is travelling, the road information including information indicative of a shape of the road extending in a travelling direction of the vehicle;
a target curvature obtainer configured to obtain a target curvature at a predetermined target position on the road, the target curvature being estimated based on the current position of the vehicle and the road information, the target position having a predetermined target distance away from the current position along the road in the travelling direction;
a target steering angle calculator configured to calculate, based on the target curvature, a target steering angle representing the steering angle of the vehicle at the target position;
a current steering-angle obtainer configured to obtain a current steering angle representing the steering angle of the vehicle at the current position; and
a steering controller configured to control the steering of the vehicle to cause the current steering angle to follow the target steering angle,
the apparatus being configured to change the target distance based on at least one of environmental information around the vehicle and control information about the vehicle.

### Claim 11

A method of controlling a steering of a vehicle, the method comprising:
obtaining a current position of the vehicle;
obtaining road information about a road on which the vehicle is travelling, the road information including information indicative of a shape of the road extending in a travelling direction of the vehicle;
obtaining a target curvature at a predetermined target position on the road, the target curvature being estimated based on the current position of the vehicle and the road information, the target position having a predetermined target distance away from the current position along the road in the travelling direction;
calculating, based on the target curvature, a target steering angle representing the steering angle of the vehicle at the target position;
obtaining a current steering angle representing the steering angle of the vehicle at the current position;
controlling the steering of the vehicle to cause the current steering angle to follow the target steering angle;
obtaining at least one of environmental information around the vehicle and control information about the vehicle; and
estimating, based on the at least one of the environmental information around the vehicle and control information about the vehicle, a visible distance representing a distance visibly recognizable by the driver of the vehicle to a front of the vehicle,
the obtaining of the target curvature obtaining using the visible distance as the target distance to obtain the target curvature at the predetermined target position that has the visible distance away from the current position along the road in the travelling direction.

### Claim 12

A method of controlling a steering of a vehicle, the method comprising:
obtaining a current position of the vehicle;
obtaining road information about a road on which the vehicle is travelling, the road information including information indicative of a shape of the road extending in a travelling direction of the vehicle;
obtaining a target curvature at a predetermined target position on the road, the target curvature being estimated based on the current position of the vehicle and the road information, the target position having a predetermined target distance away from the current position along the road in the travelling direction;
calculating, based on the target curvature, a target steering angle representing the steering angle of the vehicle at the target position;
obtaining a current steering angle representing the steering angle of the vehicle at the current position;
controlling the steering of the vehicle to cause the current steering angle to follow the target steering angle; and
changing the target distance based on at least one of environmental information around the vehicle and control information about the vehicle.