Title:
OVERRIDING DETERMINATION METHOD FOR TRAVEL ASSISTANCE DEVICE, AND TRAVEL ASSISTANCE DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/075054
Kind Code:
A1
Abstract:
A travel assistance device comprises a sensor that detects a steering angle of a steering wheel 2 installed in a vehicle, and a controller that, on the basis of the steering angle detected by the sensor, determines when an occupant of the vehicle overrides travel assistance control during travel in the vehicle. The controller detects a first motor current for canceling self-aligning torque generated in the tires installed in the vehicle during the execution of travel assistance control, sets a first threshold value greater than the first motor current using the first motor current, and determines that overriding has occurred when a second motor current for controlling the turning angle of the tires in accordance with the steering angle is greater than the first threshold value.
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Inventors:
NIWA YUYA (JP)
Application Number:
PCT/JP2019/041135
Publication Date:
April 22, 2021
Filing Date:
October 18, 2019
Export Citation:
Assignee:
NISSAN MOTOR (JP)
International Classes:
B62D5/04; B62D6/00
Domestic Patent References:
| WO2016104681A1 | 2016-06-30 |
Foreign References:
| JP2016159781A | 2016-09-05 | |||
| JP2003030793A | 2003-01-31 | |||
| JP2008018825A | 2008-01-31 | |||
| JP2019107978A | 2019-07-04 | |||
| JP2016043863A | 2016-04-04 | |||
| JP2007032645A | 2007-02-08 |
Other References:
See also references of EP 4046894A4
Attorney, Agent or Firm:
MIYOSHI Hidekazu et al. (JP)
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