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US5913375A
Expired / Lapsed
US
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Vehicle steering force correction system
Assignee: Honda Motor Co Ltd
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Filing: 1996-08-29
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Granted: 1999-06-22
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Expires: 2016-08-29
Abstract
Abstract A system for correcting the steering force of a vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of the steering wheels of the vehicle through a steering mechanism. The system is provided with sensors including a CCD camera for detecting the condition of the road ahead having at least one traffic lane on which the vehicle is traveling and a position of the vehicle with respect to the traffic lane. In the system the desired steering force is determined to be generated by the steering mechanism necessary for keeping the detected position of the vehicle with respect to the traffic lane based on the detected parameter and the steering mechanism is biased such that the steering mechanism generates the desired steering force. Conditions on the next adjacent lanes are monitored and the degree of danger is estimated to determine the biasing force. The system can be realized on muscular-energy steering systems or power-assisted steering systems.
Inventors
- 👤 Masao Nishikawa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-02 16:17
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/88; G01S13/93; G01S13/931; B; B62; B62D; B62D6/00; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; G05D1/0257; G05D1/0268; G05D1/027; B60; B60T; B60T2201/00; B60T2201/08; B60T2201/087; G01S13/86; G01S2013/9318; G01S2013/93185; G01S2013/9319; G01S2013/932; G01S2013/9322; G01S2013/9327; G01S2013/93271; G01S2013/93272; G01S2013/93274
Claims Analysis
Total Claims: 53
Claim 1
Independent Claim
215 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the traffic lane based at least on an output of the road condition detecting means; steering force determining means for determining a desired steering force to be generated by the steering mechanism necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; biasing means for biasing the steering mechanism such that the steering mechanism generates the desired steering force determined by the steering force determining means; vehicle speed detecting means for detecting a present speed of the vehicle; and control means for causing said biasing means to generate said desired steering force when said present vehicle speed exceeds a predetermined minimum speed below which a traffic lane position deviation is not controlled by the system.
Claim 2
Independent Claim
215 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the traffic lane based at least on an output of the road condition detecting means; steering force determining means for determining a desired steering force to be generated by the steering mechanism necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; biasing means for biasing the steering mechanism such that the steering mechanism generates the desired steering force determined by the steering force determining means; vehicle speed detecting means for detecting a present speed of the vehicle; and control means for causing said biasing means to generate said desired steering force when said present vehicle speed exceeds a predetermined minimum speed below which a traffic lane position deviation is not controlled by the system.
Claim 3
Dependent Claim
56 words
A system according to claim 1, wherein when the steering force determining means determines the desired steering force in a right or a left direction from the traffic lane on which the vehicle is traveling, the biasing means biases the steering mechanism such that the steering mechanism generates the desired steering force in the same direction.
Claim 4
Dependent Claim
60 words
A system according to claim 1, further including: a yaw rate sensor mounted on the vehicle for detecting a yaw rate of the vehicle around a yaw axis thereof; and the position detecting means detects the position of the vehicle based at least on the output of the road condition detecting means and an output of the yaw rate sensor.
Claim 5
Independent Claim
237 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the lane based at least on an output of the road condition detecting means; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic; characteristic changing means for changing the predetermined characteristic based on an output of the steering angle determining means; vehicle speed detecting means for detecting a present speed of the vehicle; and control means for causing said power assisting means to assist said steering force when said present vehicle speed exceeds a predetermined minimum speed below which a traffic lane position deviation of the vehicle is not controlled by the system.
Claim 6
Independent Claim
237 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the lane based at least on an output of the road condition detecting means; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic; characteristic changing means for changing the predetermined characteristic based on an output of the steering angle determining means; vehicle speed detecting means for detecting a present speed of the vehicle; and control means for causing said power assisting means to assist said steering force when said present vehicle speed exceeds a predetermined minimum speed below which a traffic lane position deviation of the vehicle is not controlled by the system.
Claim 7
Dependent Claim
60 words
A system according to claim 4, further including: a yaw rate sensor mounted on the vehicle for detecting a yaw rate of the vehicle around a yaw axis thereof; and the position detecting means detects the position of the vehicle based at least on the output of the road condition detecting means and an output of the yaw rate sensor.
Claim 8
Dependent Claim
36 words
A system according to claim 4, wherein the characteristic changing means includes: biasing means for biasing the steering mechanisms such that the predetermined characteristic is changed based on an output of the steer angle determining means.
Claim 9
Dependent Claim
36 words
A system according to claim 4, wherein when the steer angle determining means determines the steer angle in a right or left direction, the power assisting means increases an amount of power-assist in the same direction.
Claim 10
Dependent Claim
36 words
A system according to claim 5, wherein when the steer angle determining means determines the steer angle in a right or left direction, the power assisting means decreases an amount of power-assist in the opposite direction.
Claim 11
Dependent Claim
37 words
A system according to claim 6, wherein when the steer angle determining means determines the steer angle in a right or left direction, the power assisting means decreases an amount of power assist in the opposite direction.
Claim 12
Dependent Claim
56 words
A system according to claim 4, wherein the predetermined characteristic is such that, an amount of power-assist is zero or decreased when the detected steering force is less than a prescribed value, while the amount of power-assist is determined with reference to the steering force when the detected steering force is greater than the prescribed value.
Claim 13
Dependent Claim
15 words
A system according to claim 10, wherein the characteristic changing means changes the prescribed value.
Claim 14
Dependent Claim
49 words
A system according to claim 4, wherein the characteristic changing means changes the characteristic such that an output amount obtained with reference to an output of the determined steer angle is added to an output amount of power-assist to increase the steering force in a right or left direction.
Claim 15
Dependent Claim
21 words
A system according to claim 4, further including: restricting means for restricting an amount of power-assist of the power assisting means.
Claim 16
Dependent Claim
46 words
A system according to claim 4, wherein the predetermined characteristic is such that, an amount of power-assist is increased with increasing detected steering force when the detected steering force exceeds a prescribed value, and the characteristic changing means changes the prescribed value to a negative value.
Claim 17
Independent Claim
205 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; image sensing means for detecting a traffic lane on which the vehicle is traveling; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane detected by said image sensing means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on outputs of the steering angle determining means and the steering force detecting means; and characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means.
Claim 18
Independent Claim
205 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; image sensing means for detecting a traffic lane on which the vehicle is traveling; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane detected by said image sensing means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on outputs of the steering angle determining means and the steering force detecting means; and characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means.
Claim 19
Dependent Claim
46 words
A system according to claim 15, wherein the characteristic changing means changes the characteristic such that an amount of power-assist is decreased at least in the direction in which the obstacle is present in response to at least an output of the danger degree estimating means.
Claim 20
Independent Claim
167 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; image sensing means for detecting a traffic lane on which the vehicle is traveling; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane detected by said image sensing means; and biasing means for biasing the steering mechanism such that the steering mechanism generates a desired steering force based on outputs of the danger degree estimating means and the steering angle determining means.
Claim 21
Independent Claim
167 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; image sensing means for detecting a traffic lane on which the vehicle is traveling; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane detected by said image sensing means; and biasing means for biasing the steering mechanism such that the steering mechanism generates a desired steering force based on outputs of the danger degree estimating means and the steering angle determining means.
Claim 22
Independent Claim
160 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle while the vehicle is traveling in a traffic lane of a road; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; vehicle deviation detecting means for detecting a deviation of the vehicle from a reference line in the traffic lane; and biasing means for biasing the steering mechanism such that the steering mechanism generates a steering force based at least on outputs of the danger degree estimating means, the vehicle deviation detecting means and the obstacle detecting means.
Claim 23
Independent Claim
160 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle while the vehicle is traveling in a traffic lane of a road; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; vehicle deviation detecting means for detecting a deviation of the vehicle from a reference line in the traffic lane; and biasing means for biasing the steering mechanism such that the steering mechanism generates a steering force based at least on outputs of the danger degree estimating means, the vehicle deviation detecting means and the obstacle detecting means.
Claim 24
Dependent Claim
28 words
A system according to claim 18, wherein the biasing means is made inoperable when an output of the vehicle deviation detecting means is less than a predetermined value.
Claim 25
Independent Claim
159 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle while the vehicle is traveling in a traffic lane on a road; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; vehicle angle detecting means for detecting an inclinatory angle of a longitudinal axis of the vehicle with respect to the traffic lane; and biasing means for biasing the steering mechanism such that the steering mechanism generates a steering force based at least on outputs of the danger degree estimating means and the vehicle angle detecting means.
Claim 26
Independent Claim
159 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle while the vehicle is traveling in a traffic lane on a road; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; vehicle angle detecting means for detecting an inclinatory angle of a longitudinal axis of the vehicle with respect to the traffic lane; and biasing means for biasing the steering mechanism such that the steering mechanism generates a steering force based at least on outputs of the danger degree estimating means and the vehicle angle detecting means.
Claim 27
Dependent Claim
46 words
A system according to claim 20, further including: vehicle deviation detecting means for detecting a deviation of the vehicle from a reference line in the traffic lane; and the biasing means is made inoperable when an output the detected deviation is less than a predetermined value.
Claim 28
Dependent Claim
43 words
A system according to claim 1, further including: traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the biasing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 29
Independent Claim
221 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the lane based at least on an output of the road condition detecting means; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic; characteristic changing means for changing the predetermined characteristic based on an output of the steering angle determining means; traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the characteristic changing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 30
Independent Claim
221 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the lane based at least on an output of the road condition detecting means; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic; characteristic changing means for changing the predetermined characteristic based on an output of the steering angle determining means; traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the characteristic changing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 31
Independent Claim
191 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on an output of the steering force detecting means; and characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means; traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the characteristic changing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 32
Independent Claim
191 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on an output of the steering force detecting means; and characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means; traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the characteristic changing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 33
Independent Claim
152 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; biasing means for biasing the steering mechanism such that the steering mechanism generates the steering force based at least on an output of the danger degree estimating means; traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the biasing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 34
Independent Claim
152 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; biasing means for biasing the steering mechanism such that the steering mechanism generates the steering force based at least on an output of the danger degree estimating means; traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the biasing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 35
Dependent Claim
43 words
A system according to claim 18, further including: traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the biasing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 36
Dependent Claim
43 words
A system according to claim 20, further including: traffic lane change detecting means for detecting whether the vehicle has changed traffic lanes; and the biasing means is made inoperable in response to at least an output of the traffic lane change detecting means.
Claim 37
Dependent Claim
40 words
A system according to claim 1, further including: vehicle speed detecting means for detecting a traveling speed of the vehicle; and the biasing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 38
Independent Claim
218 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the lane based at least on an output of the road condition detecting means; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic; characteristic changing means for changing the predetermined characteristic based on an output of the steering angle determining means; vehicle speed detecting means for detecting a traveling speed of the vehicle; and the characteristic changing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 39
Independent Claim
218 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the lane based at least on an output of the road condition detecting means; steering angle determining means for determining a desired steering angle necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic; characteristic changing means for changing the predetermined characteristic based on an output of the steering angle determining means; vehicle speed detecting means for detecting a traveling speed of the vehicle; and the characteristic changing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 40
Independent Claim
188 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on an output of the steering force detecting means; and characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means; vehicle speed detecting means for detecting a traveling speed of the vehicle; and the characteristic changing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 41
Independent Claim
188 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on an output of the steering force detecting means; and characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means; vehicle speed detecting means for detecting a traveling speed of the vehicle; and the characteristic changing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 42
Independent Claim
149 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; biasing means for biasing the steering mechanism such that the steering mechanism generates the steering force based at least on an output of the danger degree estimating means; vehicle speed detecting means for detecting a traveling speed of the vehicle; and the biasing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 43
Independent Claim
149 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; biasing means for biasing the steering mechanism such that the steering mechanism generates the steering force based at least on an output of the danger degree estimating means; vehicle speed detecting means for detecting a traveling speed of the vehicle; and the biasing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 44
Dependent Claim
40 words
A system according to claim 18, further including: vehicle speed detecting means for detecting a traveling speed of the vehicle; and the biasing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 45
Dependent Claim
40 words
A system according to claim 20, further including: vehicle speed detecting means for detecting a traveling speed of the vehicle; and the biasing means is made inoperable in response to at least an output of the vehicle speed detecting means.
Claim 46
Independent Claim
191 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the traffic lane based at least on an output of the road condition detecting means; steering force determining means for determining a desired steering force to be generated by the steering mechanism necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; biasing means for biasing the steering mechanism such that the steering mechanism generates the desired steering force determined by the steering force determining means; and neutral position urging means for urging the biasing means to a neutral position that is corresponding to a straight-ahead position of the steering wheel.
Claim 47
Independent Claim
191 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: road condition detecting means for detecting a condition of a road ahead having at least one traffic lane on which the vehicle is traveling; position detecting means for detecting a position of the vehicle with respect to the traffic lane based at least on an output of the road condition detecting means; steering force determining means for determining a desired steering force to be generated by the steering mechanism necessary for keeping a desired position of the vehicle with respect to the traffic lane determined based at least on an output of the position detecting means; biasing means for biasing the steering mechanism such that the steering mechanism generates the desired steering force determined by the steering force determining means; and neutral position urging means for urging the biasing means to a neutral position that is corresponding to a straight-ahead position of the steering wheel.
Claim 48
Independent Claim
179 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on an output of the steering force detecting means; characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means; and neutral position urging means for urging the biasing means to a neutral position that is corresponding to a straight-ahead position of the steering wheel.
Claim 49
Independent Claim
179 words
A system for mounting on a vehicle for correcting a steering force of the vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through a steering mechanism, the system comprising: obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; steering force detecting means for detecting a steering force applied through the steering wheel; power assisting means for assisting at least a part of the steering force in accordance with a predetermined characteristic based on an output of the steering force detecting means; characteristic changing means for changing the predetermined characteristic based at least on an output of the danger degree estimating means; and neutral position urging means for urging the biasing means to a neutral position that is corresponding to a straight-ahead position of the steering wheel.
Claim 50
Dependent Claim
32 words
A system according to claim 18, further including: neutral position urging means for urging the biasing means to a neutral position that is corresponding to a straight-ahead position of the steering wheel.
Claim 51
Dependent Claim
32 words
A system according to claim 20, further including: neutral position urging means for urging the biasing means to a neutral position that is corresponding to a straight-ahead position of the steering wheel.
Claim 52
Independent Claim
157 words
A system for mounting on a vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through an electric motor, the system comprising; torque detecting means for detecting a torque applied by a vehicle driver; desired motor torque determining means for determining a desired motor torque based at least on an output of the torque detecting means; obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; desired motor torque correcting means for correcting the desired motor torque based on an output of the danger degree estimating means; and motor current supplying means for supplying a current to the electric motor to generate the corrected motor torque.
Claim 53
Independent Claim
157 words
A system for mounting on a vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of steered wheels of the vehicle through an electric motor, the system comprising; torque detecting means for detecting a torque applied by a vehicle driver; desired motor torque determining means for determining a desired motor torque based at least on an output of the torque detecting means; obstacle detecting means for detecting an obstacle around the vehicle; danger degree estimating means for estimating a degree of danger based on an output of the obstacle detecting means when the vehicle is assumed to be steered in a direction where the obstacle is present; desired motor torque correcting means for correcting the desired motor torque based on an output of the danger degree estimating means; and motor current supplying means for supplying a current to the electric motor to generate the corrected motor torque.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-06-21 | 2002-12-21 | 2003-06-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-06-21 | 2006-12-21 | 2007-06-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-06-21 | 2010-12-21 | 2011-06-22 | $7700.00 | Window Closed / Lapsed |