# US 2018/0022383 A1 · Driving support apparatus for vehicle

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- Number: US 2018/0022383 A1
- Document ID: US20180022383A1
- Status: Published application
- Kind: A1
- Application number: 15/655,343
- Filed: 2017-07-20
- Published: 2018-01-25
- Earliest claimed: 2016-07-21
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Yoji KUNIHIRO; Yoshio KUDO; Takahiro KOJO; Yoshiaki SUZUKI; Masao UEYAMA; Takeshi GOTO; Yukihide KIMURA; Masateru AMANO
- Web page: https://patentgrep.com/patent/US20180022383A1

## CPC

- B62D 6/005: {treating sensor outputs to obtain the actual yaw rate}
- B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)}
- B62D 6/003: {in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence)}
- B62D 7/159: {characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition}
- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B60W 40/068: Road friction coefficient
- B60W 40/072: Curvature of the road
- 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

## Abstract

A driving support apparatus for a vehicle comprising a steering device that steers steerable wheels, and a control unit configured to execute a running control in which a steered angle of the steerable wheels is changed by controlling the steering device, the control unit being configured to calculate a deviation between an index value of a target running state of the vehicle and an index value of an actual running state, to calculate a target change amount of the steered angle based on the index value deviation, to control the steering device so that a change amount of the steered angle conforms to the target change amount, and to limit a magnitude of a time change rate of the steered angle changed by the running control when one of a magnitude of the index value deviation and a magnitude of the target change amount exceeds a reference value.

## Claims

### Claim 1

A driving support apparatus for a vehicle comprising a steering device configured to steer steerable wheels, and a control unit that is configured to execute a running control in which a steered angle of the steerable wheels is changed by controlling the steering device so that a running state of the vehicle with respect to a running road conforms to a target running state; the control unit being configured to calculate a deviation between an index value of a target running state of the vehicle and an index value of an actual running state, to calculate, based on the deviation of the index values, a target change amount of a steered angle of the steerable wheels, and to control the steering device so that a change amount of a steered angle of the steerable wheels conforms to the target change amount, wherein
the control unit is configured to limits a magnitude of a time change rate of the steered angle of the steerable wheels that is changed by the running control when one of the magnitude of the deviation of the index values and the magnitude of the target change amount of the steered angle exceeds an associated reference value.

### Claim 2 (depends on 1)

The driving support apparatus for a vehicle according to claim 1, wherein the control unit is configured to calculate a target change amount of a steered angle based on a deviation of the index values whose magnitude is decreasingly corrected when a magnitude of the deviation of the index values exceeds a reference value of the deviation, and wherein the decrease correction amount of the magnitude of the deviation of the index values increases as the magnitude of the deviation of the index values increases.

### Claim 3 (depends on 2)

The driving support apparatus for a vehicle according to claim 2, wherein the decrease correction amount of the magnitude of the deviation of the index values is larger as a vehicle speed is higher.

### Claim 4 (depends on 1)

The driving support apparatus for a vehicle according to claim 1, wherein the control unit is configured to decreasingly correct a magnitude of the target change amount of the steered angle based on the target change amount when the magnitude of the target change amount of the steered angle exceeds a reference value of the target change amount, and wherein the decrease amount of the magnitude of the target change amount of the steered angle is larger as a magnitude of the target change amount of the steered angle is larger.

### Claim 5 (depends on 4)

The driving support apparatus for a vehicle according to claim 4, wherein the decrease correction amount of the magnitude of the target change amount of the steered angle is larger as a vehicle speed is higher.

### Claim 6 (depends on 1)

The driving support apparatus for a vehicle according to claim 1, wherein the steering device is configured to generate a driving force for steering the steerable wheels and a drag force resisting steering of the steerable wheels, wherein the control unit is configured to control the steering device based on the deviation of the index values so that, during execution of the running control, a magnitude of the driving force for steering the steerable wheels is increased as a magnitude of the deviation of the index values increases, and to control the steering device so that when a magnitude of the deviation of the index values exceeds the reference value of the deviation, the magnitude of the drag force is larger than that when the magnitude of the deviation of the index values is equal to or smaller than the reference value of the deviation, and wherein a magnitude of the drag force increases as a magnitude of the deviation of the index values increases.

### Claim 7 (depends on 6)

The driving support apparatus for a vehicle according to claim 6, wherein the steering device is a power steering device configured to steer the steerable wheels by generating a steering assist torque, and wherein the control unit is configured to control a magnitude of at least one of a damping torque and a friction torque which are drag force components of the steering assist torque based on the deviation of the index values.

### Claim 8 (depends on 1)

The driving support apparatus for a vehicle according to claim 1, wherein the control unit is configured to limit the magnitude of the time change rate of the steered angle of the steerable wheels that is changed by the running control when a magnitude of the deviation of the index values exceeds the reference value of the deviation during a period from the end of the driver's steering until a preset termination condition is satisfied during execution of the running control.

### Claim 9 (depends on 1)

The driving support apparatus for a vehicle according to claim 1, wherein the control unit is configured to acquire information on a running road, to set a target trajectory of the vehicle based on the information on the running road, and to calculate as the index value at least one of a lateral deviation of the vehicle with respect to the target trajectory and a yaw angle deviation which is an angle between the target trajectory and a longitudinal direction of the vehicle.

### Claim 10 (depends on 1)

The driving support apparatus for a vehicle according to claim 1, wherein the control unit is configured to acquire information on a running road, to set a target trajectory of the vehicle based on the information on the running road, to estimate as a first curvature a curvature of a target trajectory at a position where the vehicle exists at a first time point at which the steering operation is completed when the driver's steering operation is terminated during execution of the running control, to estimate as a second curvature one of a curvature of the target trajectory at the position at which the vehicle is estimated to exist at a third time point after a predetermined time has elapsed from a second time point at which it is estimated that the magnitude of the deviation of the index values is equal to or less than an ending reference value and a curvature of the target trajectory at an estimated position where the vehicle is present at a fourth time point at which the vehicle travels a predetermined distance from the second time point, and to reduce a degree of the limit on the magnitude of the time change rate of the steered angle of the steerable wheels as a magnitude of a difference between the second and the first curvatures is larger.