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    • 69. 发明授权
    • Steering control apparatus and method for automotive vehicle
    • 汽车转向控制装置及方法
    • US07447578B2
    • 2008-11-04
    • US10812915
    • 2004-03-31
    • Hiroshi SatohMasaki Watanabe
    • Hiroshi SatohMasaki Watanabe
    • A01B69/00B62D6/00G05D1/00
    • B62D15/025B62D6/005B62D6/04
    • In steering control apparatus and method for an automotive vehicle, a camera photographs a travel path in a traveling direction of a vehicle, a lateral displacement calculating circuit calculates a lateral displacement of the vehicle with respect to the travel path according to an image of the travel path photographed by the camera, a differentiator calculates a differential value of the lateral displacement, a vehicle speed sensor that detects a vehicle speed, a relative yaw rate calculating section calculates a relative yaw rate with respect to the travel path of the vehicle on the basis of the lateral displacement, the differential value of the lateral displacement, and the vehicle speed, an actuator provides an assistance force for the steering mechanism, and an actuator controlling section drivingly controls the actuator in a direction toward which the relative yaw rate is cancelled on the basis of the relative yaw rate.
    • 在机动车辆的转向控制装置和方法中,照相机拍摄车辆的行进方向的行驶路径,横向位移计算电路根据行驶图像来计算车辆相对于行驶路径的横向位移 通过相机拍摄的路径,微分器计算横向位移的差分值,检测车速的车速传感器,相对偏航率计算部分基于车辆的行驶路径计算相对偏航率 横向位移,横向位移的差分值和车辆速度,致动器为转向机构提供辅助力,并且致动器控制部分驱动地将执行器沿相对横摆率被抵消的方向 相对偏航率的基础。