Granted Patent B2

US 12,397,858 · App. 18/167,871 · Granted Aug 26, 2025

Inventors: Kentaro Kasuya (Tokyo, JP); Shuichi Okada (Tokyo, JP); Naoaki Ikemoto (Tokyo, JP)

Assignee: Honda Motor Co., Ltd.

B62D15/025B62D6/00G05B13/0265

Abstract

Claims (21)

1. An electric power steering device, the electric power steering device being used in a vehicle and executing a steering assisting operation using a motor, comprising:

a lane recognition unit, recognizing lane information of a lane on which the vehicle is travelling;

a steering information sensing unit, sensing steering information; and

an assisting control unit, coupled to the motor, the lane recognition unit, and the steering information sensing unit, controlling the electric power steering device to execute the steering assisting operation according to a steering assisting amount composed of the lane information and the steering information, and when the lane information cannot be recognized, controlling the electric power steering device to execute the steering assisting operation according to a learned steering assisting amount composed of the steering assisting amount during a learning period, wherein the assisting control unit judges whether the lane on which the vehicle is travelling is a straight lane according to the lane information and the steering information, the lane on which the vehicle is travelling during the learning period is the straight lane, the learning period starts when the vehicle is detected traveling on the straight lane, when the assisting control unit judges that the lane on which the vehicle is travelling is the straight lane, the assisting control unit calculates the learned steering assisting amount during the learning period, and when the lane recognition unit cannot recognize the lane information while the vehicle is traveling on the straight lane, the assisting control unit controls the electric power steering device to execute the steering assisting operation according to the learned steering assisting amount calculated during the learning period.

2. The electric power steering device according to claim 1 , wherein the assisting control unit changes from controlling the electric power steering device to execute the steering assisting operation according to the learned steering assisting amount to controlling the electric power steering device to execute the steering assisting operation according to the steering assisting amount determined by the lane information and the steering information when re-recognizing the lane information.

3. The electric power steering device according to claim 2 , wherein the assisting control unit gradually changes the learned steering assisting amount to the steering assisting amount determined by the lane information and the steering information during a transitioning period.

4. The electric power steering device according to claim 1 , wherein the learned steering assisting amount is an average value of the steering assisting amount during the learning period.

5. The electric power steering device according to claim 1 , wherein the assisting control unit gradually changes the steering assisting amount to the learned steering assisting amount during a transitioning period.

6. An assisting method of an electric power steering device, the electric power steering device being used in a vehicle and executing a steering assisting operation using a motor, comprising:

recognizing lane information of a lane on which the vehicle is traveling;

sensing steering information;

controlling the electric power steering device to execute the steering assisting operation according to a steering assisting amount composed of the lane information and the steering information;

when the lane information cannot be recognized, controlling the electric power steering device to execute the steering assisting operation according to a learned steering assisting amount composed of the steering assisting amount during a learning period;

judging whether the lane on which the vehicle is travelling is a straight lane according to the lane information and the steering information, wherein the lane on which the vehicle is travelling during the learning period is the straight lane, and the learning period starts when the vehicle is detected traveling on the straight lane;

when the lane on which the vehicle is travelling is the straight lane, calculating the learned steering assisting amount during the learning period; and

when the lane information cannot be recognized while the vehicle is traveling on the straight lane, controlling the electric power steering device to execute the steering assisting operation according to the learned steering assisting amount calculated during the learning period.

7. The assisting method of the electric power steering device according to claim 6 , comprising:

changing from controlling the electric power steering device to execute the steering assisting operation according to the learned steering assisting amount to controlling the electric power steering device to execute the steering assisting operation according to the steering assisting amount determined by the lane information and the steering information when re-recognizing the lane information.

8. The assisting method of the electric power steering device according to claim 7 , wherein the learned steering assisting amount is gradually changed to the steering assisting amount determined by the lane information and the steering information during a transitioning period.

9. The assisting method of the electric power steering device according to claim 6 , wherein the learned steering assisting amount is an average value of the steering assisting amount during the learning period.

10. The assisting method of the electric power steering device according to claim 6 , comprising: gradually changing the steering assisting amount to the learned steering assisting amount during a transitioning period.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (38)