US5764015A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Automatic driving apparatus
Assignee: Honda Motor Co Ltd
•
Filing: 1996-08-27
•
Granted: 1998-06-09
•
Expires: 2016-08-27
Abstract
Abstract In an automatic driving apparatus, a storage unit is responsive to a storing mode signal for storing as model driving data steering and running states of the vehicle corresponding to elapsed time in a storing mode. In response to an automatic driving mode signal, a setting unit compares the steering and running states stored in the storage unit and steering and running states of the vehicle detected in an automatic driving mode so as to set at least one automatic steering state data. In the automatic driving mode, the model driving data stored in the storage unit can be reproduced with the vehicle's steering system set to an automatically operating state, and the vehicle can be steered automatically in accordance with the model driving data, so that highly convenient, efficient and reliable automatic driving are achieved in automatic garaging of the vehicle etc. with a simple structure that would otherwise require high-level skill of the vehicle driver. The apparatus further includes an electric power steering apparatus that is used for controlling steering of the vehicle on the basis of the automatic steering state data supplied by the setting unit. The use of the electric power steering apparatus substantially simplifies the structure of the automatic driving apparatus.
Inventors
- 👤 Yasuo Shimizu
- 👤 Tsunehiko Fukatsu
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 09:42
CPC Classifications
B; B62; B62D; B62D1/00; B62D1/24; B62D1/28; B62D15/00; B62D15/02; B62D15/027; B62D15/0285
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
145 words
An automatic driving apparatus for an automotive vehicle comprising: a storage unit, in response to a storing model signal for setting a storing mode of the vehicle, for storing as model driving data steering and running states of the vehicle corresponding to elapsed time in the storing mode; a setting unit, in response to an automatic driving mode signal for setting an automatic driving mode of the vehicle, for comparing the steering and running states stored in said storage unit and steering and running states of the vehicle detected in the automatic driving mode for each predetermined time point, so as to set at least one automatic steering state data to allow the vehicle to be steered automatically in accordance with said model driving data; and an AND section for generating said automatic driving mode signal if vehicle operation signals are consistent with automatic steering.
Claim 2
Dependent Claim
145 words
An automatic driving apparatus for an automotive vehicle comprising: a storage unit, in response to a storing model signal for setting a storing mode of the vehicle, for storing as model driving data steering and running states of the vehicle corresponding to elapsed time in the storing mode; a setting unit, in response to an automatic driving mode signal for setting an automatic driving mode of the vehicle, for comparing the steering and running states stored in said storage unit and steering and running states of the vehicle detected in the automatic driving mode for each predetermined time point, so as to set at least one automatic steering state data to allow the vehicle to be steered automatically in accordance with said model driving data; and an AND section for generating said automatic driving mode signal if vehicle operation signals are consistent with automatic steering.
Claim 3
Dependent Claim
37 words
An automatic driving apparatus as defined in claim 1 which further comprises an electric power steering apparatus for controlling steering of the vehicle on the basis of the automatic steering state data supplied by said setting unit.
Claim 4
Dependent Claim
87 words
An automatic driving apparatus as defined in claim 1 wherein said storage unit includes a travelled-distance calculating section that is responsive to the storing mode signal for calculating a travelled distance of the vehicle, as said running state, on the basis of a velocity of the vehicle and elapsed time detected in the storing mode, and a steering data storing section for storing a standard steering position or standard steering angle as said steering state in correspondence with the travelled distance calculated by said travelled-distance calculating section.
Claim 5
Dependent Claim
148 words
An automatic driving apparatus as defined in claim 3 wherein said setting unit includes an automatically-travelled-distance calculating section responsive to the automatic driving mode signal for calculating an automatically travelled distance of the vehicle on the basis of the velocity and elapsed time, a data accessing section for reading out from said steering data storing section the standard steering position or standard steering angle that corresponds to the automatically travelled distance calculated by said automatically-travelled-distance calculating section, and a steering target signal determining section for determining a steering target signal on the basis of an offset between the standard steering position or standard steering angle read out by said data accessing section and a steering position or steering angle detected in the automatic driving mode, and wherein the electric power steering apparatus in said driving apparatus is driven by the steering target signal determined by said determining section.
Claim 6
Dependent Claim
89 words
An automatic driving apparatus as defined in claim 1 wherein said storing mode signal is generated by a storing mode switch for setting the storing mode, and said automatic driving mode signal is generated by the AND section for computing an AND condition among a signal generated by an automatic mode switch for setting the automatic driving mode, a signal indicating that a brake pedal has been stepped on and a signal indicating that there is a match between shift lever positions in the storing and automatic driving modes.
Claim 7
Dependent Claim
63 words
An automatic driving apparatus as defined in claim 1 which further comprises a deactivating section for deactivating the automatic driving mode when a vehicle velocity signal from a vehicle velocity sensor, a steering torque signal from a steering torque sensor, or a steering position signal from a steering position sensor or steering angle signal from a steering angle sensor exceeds a predetermined value.
Claim 8
Dependent Claim
37 words
An automatic driving apparatus as defined in claim 1 which further comprises a display section responsive to the storing mode signal or automatic driving mode signal for informing various states in the storing or automatic driving mode.
Claim 9
Dependent Claim
75 words
An automatic driving apparatus as defined in claim 1 wherein the steering target signal output from said setting unit is supplied to an offset determining section constituting a control unit of said electric power steering apparatus, so as to effect automatic steering in the automatic driving mode on the basis of an offset between said steering target signal and a motor current signal indicative of a current flowing in an electric motor of the vehicle.
References Cited (Backward Citations)
US4500970A
Cited
GB2115182A
Cited
US4674587A
Cited
US4747055A
Cited
US4735274A
Cited
US4716981A
Cited
US5079706A
Cited
US4954957A
Cited
US4931930A
Cited
US5343393A
Cited
US5544087A
Cited
US5482129A
Cited
US5465210A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-06-08 | 2001-12-08 | 2002-06-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-06-08 | 2005-12-08 | 2006-06-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-06-08 | 2009-12-08 | 2010-06-09 | $7700.00 | Window Closed / Lapsed |