Appeal No. 96-3333
Application 08/295,194
said method including the steps of computing braking forces at each
of said road wheels when said brakes are applied;
comparing actual lateral position to said designated lateral position
determined by said steering angle to create a lateral position error
signal;
activating said driver-activated wheel brakes in response to said
error signal independently of said driver activated brake controls;
computing yaw moment as a function of the difference in said braking
forces;
computing rate of change of yaw and computing lateral vehicle
acceleration required to change said actual lateral position of said
vehicle including the step of computing cornering tire forces on said
dirigible wheels as a function of the rate of change of yaw whereby
braking forces are developed to effect steering intervention that
complements driver steering of said driver-controlled dirigible road
wheels.
The prior art references of record relied upon by the Examiner in rejecting the
appealed claims are:
Ito et al. (Ito) 5,228,757 Jul. 20, 1993
Hattori et al., "Driving Control System for an Autonomous Vehicle Using Multiple Observed
Point Information", Nissan Research Center, Nissan Motor Co. Ltd., issued in 1992.
(Hattori)
Claims 2, 6 and 7 stand rejected under 35 U.S.C. § 103 as being unpatentable over
Ito in view of Hattori.
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