Steering limitation device and steering limitation method
AssigneeToyota Jidosha Kabushiki Kaisha
InventorYoichiro KATSURA
Life of this patent
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Abstract
A steering limitation device includes: a distance calculation unit configured to calculate a lateral distance between a vehicle and a cliff when a road on which the vehicle travels faces the cliff; a displacement amount calculation unit configured to estimate a trajectory of the vehicle when a steering angle change rate of the vehicle in a direction in which the vehicle approaches the cliff is a predetermined value, and calculate a lateral displacement amount of the vehicle corresponding to the trajectory; a guard value setting unit configured to set a guard value for limiting the steering angle change rate by comparing the lateral distance with the lateral displacement amount; and a vehicle controller configured to control the vehicle based on the guard value.
Claims5
A steering limitation device comprising:
- a distance calculation unit configured to calculate a lateral distance between a vehicle and a cliff when a road on which the vehicle travels faces the cliff;
- a displacement amount calculation unit configured to estimate a trajectory of the vehicle when a steering angle change rate of the vehicle in a direction in which the vehicle approaches the cliff is a predetermined value, and calculate a lateral displacement amount of the vehicle corresponding to the trajectory;
- a guard value setting unit configured to set a guard value for limiting the steering angle change rate by comparing the lateral distance with the lateral displacement amount;
- and
- a vehicle controller configured to control the vehicle based on the guard value.
A steering limitation method executed by a computer, the steering limitation method comprising:
- calculating a lateral distance between a vehicle and a cliff when a road on which the vehicle travels faces the cliff;
- estimating a trajectory of the vehicle when a steering angle change rate of the vehicle in a direction in which the vehicle approaches the cliff is a predetermined value, and calculating a lateral displacement amount of the vehicle corresponding to the trajectory;
- setting a guard value for limiting the steering angle change rate by comparing the lateral distance with the lateral displacement amount;
- and
- controlling the vehicle based on the guard value.
Dependencies are inferred from the claim text.