JP2006248304A - Steering device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering device for a vehicle which can effectively prevent a traveling lane deviation resulting from an input error from occurring. <P>SOLUTION: A controlling device (steering ECU) judges whether a steering operation by a driver is an input error or not (steps 301 to 305). In concrete, the steering operation is judged to be an input error when the steering operation by the driver is one which makes the vehicle deviate from the traveling lane (the step 301: YES), and also, it is estimated that there is no intention of the driver for a lane change (finally the step 305: NO). Then, when being the input error is judged, a control target angle θt* which is calculated in the steering ECU is repealed, and the change of the steering angle in response to the steering operation is not executed (a step 306). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a steer-by-wire vehicle steering apparatus having a lane keeping function.

  In recent years, the steering angle (steering angle) of the steered wheels is automatically controlled regardless of the steering operation based on the vehicle state quantity detected by various sensors and the situation signals around the vehicle (distance between vehicles, white line detection signal, etc.) Thus, there has been proposed a vehicle steering apparatus that enables automatic steering of the vehicle. In such a case, the traveling lane in which the vehicle is traveling is detected by image processing or the like, and the vehicle travels in the traveling lane based on the target turning angle calculated based on the detected traveling lane information. Some have a so-called lane keeping function for controlling the turning angle so as to continue traveling (see, for example, Patent Document 1).

By the way, during the operation of such a lane keeping function, the driver's tension and attention generally tend to be lower than when driving himself. Therefore, a countermeasure when the vehicle deviates from the driving lane against the driver's intention (or when it is possible) is one of important issues. Specifically, an early determination of the possibility of departure from the driving lane (for example, see Patent Document 2), a collision risk reduction function when an unforeseen departure occurs (see, for example, Patent Document 3), and the like. And by taking such measures, the safety of the lane keeping function can be improved, thereby enhancing the driver's sense of security and effectively reducing the burden.
Japanese Patent Application Laid-Open No. 07-104850 JP 2003-337998 A JP 2004-136787 A

  However, deviation from the driving lane contrary to the driver's intention is not limited to the operation of the lane keeping function. For example, even if the driver is driving by himself / herself, such as when operating a switch such as an air conditioner or a car audio system, such as an erroneous operation of the steering (error input) due to the momentary reduction in attention, Deviations from the driving lane may be caused. At the time of such an erroneous input, the departure speed from the traveling lane is fast, and even if a warning is given by the above-described departure possibility determination, there is a possibility that it will not be in time. Therefore, there has been a strong demand for a method for effectively preventing a deviation from the traveling lane due to such erroneous input.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle steering apparatus that can effectively prevent a deviation from a traveling lane due to erroneous input. .

  In order to solve the above problems, the invention described in claim 1 is directed to a steering mechanically separated from a steered wheel, a steered actuator for changing a steered angle of the steered wheel, and the steering. A vehicle steering apparatus comprising: steering input detection means for detecting an input steering operation; and control means for controlling the operation of the turning actuator to change the turning angle in accordance with the detected steering operation. And when the detected steering operation is due to an erroneous input, the control means includes an erroneous input determining means for determining whether or not the detected steering operation is due to an erroneous input. The gist is that the turning angle is not changed based on the steering operation.

  The invention according to claim 2 includes travel lane detection means for detecting a travel lane of the vehicle, and estimation means for estimating a driver's intention to change lane, wherein the error input determination means is the detected steering operation. The gist is to determine that the detected steering operation is due to an erroneous input when it is estimated that the vehicle deviates from the driving lane and there is no intention to change the lane.

  According to a third aspect of the present invention, there is provided an operation input detection means for detecting an input operation on a non-steering operation member, wherein the estimation means has an input operation on the operation member, and has a brake input and a predetermined speed or higher. If the steering speed is not detected, it is estimated that there is no intention to change the lane.

The gist of the invention described in claim 4 is that the non-steering operation member is an operation member of a car audio system, a car air conditioner, or a car navigation system.
The gist of the invention described in claim 5 is that the estimation means estimates that the lane change is intended when there is a direction instruction input.

  According to each of the above-described configurations, even if the driver makes an erroneous input that causes the vehicle to deviate from the traveling lane due to a side look or the like, the vehicle is not steered by the steering operation due to the error. Therefore, it is possible to effectively prevent deviation from the traveling lane due to erroneous input. In particular, with the configuration of claim 2, it is possible to accurately determine whether or not the steering operation is an erroneous input, and with the configuration of claim 3, it is possible to accurately estimate the intention of departure from the driving lane. As a result, the accuracy of the erroneous input prevention function can be increased. It should be noted that the “error input” in this case is not limited to the case where the steering angle is actually generated by the steering operation, but the steering operation is performed even though the steering angle is originally generated or should be changed. This includes cases in which no action is taken.

  The invention according to claim 6 includes automatic steering control means for calculating a target turning angle for maintaining traveling in the traveling lane based on traveling lane information detected by the traveling lane detecting means, The error input determination means is configured to cause the detected steering operation to deviate the vehicle from the driving lane by comparing the control target angle of the turning angle based on the detected steering operation with the calculated target turning angle. The gist is to determine whether or not it is a thing.

According to the above configuration, it is possible to quickly determine the possibility of departure from the travel lane, thereby improving the accuracy of the erroneous input prevention function.
According to a seventh aspect of the present invention, the control means controls the operation of the steering actuator based on the calculated target turning angle when the detected steering operation is due to erroneous input. The gist is to do.

According to the above configuration, deviation from the traveling lane can be prevented more reliably.
The invention according to claim 8 is provided with a reaction force actuator that is controlled to apply a steering reaction force according to a steering torque input to the steering, and the control means inputs the detected steering operation erroneously. In the case of the above, the gist is to control the operation of the reaction force actuator so that the applied steering reaction force is larger than that in the case where the erroneous input is not performed.

  The invention according to claim 9 is provided with a reaction force actuator capable of changing a steering angle of the steering, and the control means steers the steering when the detected steering operation is due to erroneous input. The gist is to control the operation of the reaction force actuator so that the angle is a value corresponding to the turning angle.

  According to each said structure, generation | occurrence | production of an erroneous input can be made to recognize at an early stage by the increase in steering reaction force. In particular, according to the configuration of claim 9, when the steering angle corresponds to the turning angle, it is possible to quickly return to the normal control.

The gist of the invention described in claim 10 is that it comprises warning means for warning that the erroneous input has been made when the detected steering operation is due to an erroneous input.
According to the above configuration, it is possible to quickly inform the passenger that there is a possibility of deviation from the traveling lane.

  ADVANTAGE OF THE INVENTION According to this invention, the steering apparatus for vehicles which can prevent the driving | running | working lane departure resulting from an erroneous input effectively can be provided.

Hereinafter, an embodiment in which the present invention is embodied in a steer-by-wire vehicle steering apparatus (steering apparatus) having a lane keeping function will be described with reference to the drawings.
As shown in FIG. 1, in the steering device 1 of this embodiment, a steering mechanism 3 including a steering (handle) 2 and a steering mechanism 5 for changing the steering angle of the steered wheels 4 are mechanically disconnected. That is, this is a so-called steer-by-wire vehicle steering device in which the steering wheel 2 and the steered wheels 4 are mechanically separated.

  The steering mechanism 3 includes a steering shaft 6 to which the steering wheel 2 is fixed, and a steering angle sensor 7 as a steering angle detection means for detecting a steering angle of the steering wheel 2 in accordance with a steering operation, that is, a steering angle θs. . The steering mechanism 5 includes a steering actuator 8 for generating a steering angle of the steered wheels 4 corresponding to the steering operation based on the steering angle θs detected by the steering angle sensor 7. In this embodiment, the steered mechanism 5 has a steered shaft 12 that connects the left and right steered wheels 4 via a tie rod 9 and a knuckle arm 10, and the steered actuator 8 is a motor 13 as a drive source. And a conversion mechanism 14 that converts the rotation of the motor 13 into the reciprocating motion of the steered shaft 12. The steered actuator 8 of this embodiment includes a brushless motor that is coaxially disposed with the steered shaft 12 and includes a ball screw mechanism as the conversion mechanism 14. Then, the reciprocating motion of the steered shaft 12 driven by the steered actuator 8 is transmitted to the steered wheels 4, so that the steered angle of the steered wheels 4, that is, the steered angle θt is changed. Yes.

  In the present embodiment, the steering mechanism 3 includes a torque sensor 16 as a steering torque detection means for detecting the steering torque τ applied to the steering wheel 2 by a steering operation, and the detected steering torque τ (and will be described later). And a reaction force actuator 17 for applying a steering reaction force corresponding to the road surface reaction force Fr) to the steering wheel 2. The reaction force actuator 17 includes a motor 18 as a drive source and a speed reduction mechanism 19 that decelerates the rotation of the motor 18 and transmits it to the steering shaft 6. In the present embodiment, a brushless motor is employed as the motor 18 of the reaction force actuator 17 in the same manner as the motor 13 of the steering actuator 8. The reaction force actuator 17 transmits a motor torque generated by the motor 18 to the steering shaft 6 via the speed reduction mechanism 19 to apply a steering reaction force to the steering 2.

  In the present embodiment, the operations of the steering actuator 8 and the reaction force actuator 17 are controlled by a control device 20 as a control means. More specifically, the motor 13 of the steering actuator 8 and the motor 18 of the reaction force actuator 17 are connected to the control device 20, and each of the motors 13 and 18 has three phases (U, V) supplied from the control device 20. , W) based on the driving power. And the control apparatus 20 controls the action | operation of the steering actuator 8 and the reaction force actuator 17 by controlling rotation of each motor 13 and 18 through the supply of the drive electric power.

  Specifically, the control device 20 detects the steering angle θs, the steering torque τ, and the vehicle speed V based on the output signals from the steering angle sensor 7, the torque sensor 16, and the vehicle speed sensor 21. Further, the turning shaft 12 is provided with a displacement amount sensor 22, and the control device 20 determines the turning angle θt of the steered wheels 4 based on the output signal of the displacement amount sensor 22. Twelve axial displacement amounts X are detected. In the present embodiment, the displacement sensor 22 is constituted by a rotation angle sensor that detects the motor rotation angle θms of the motor 13. Further, the control device 20 detects the actual current values Is and Ir supplied to the motors 13 and 18 of the actuators by the current sensors 23a and 23b, and the motor of the reaction force actuator 17 by the rotation angle sensor 24. 18 motor rotation angles θmr are detected. Then, the control device 20 controls the operation of the steered actuator 8 to change the steered angle θt of the steered wheels 4 based on the detected steering angle θs, vehicle speed V, and displacement X, and the steering torque τ Based on the vehicle speed V (and the estimated road surface reaction force Fr), the operation of the reaction force actuator 17 is controlled so as to apply the steering reaction force.

  More specifically, the control device 20 includes a steering ECU 25 for controlling the steering actuator 8 and a reaction force ECU 26 for controlling the reaction force actuator 17. The steered ECU 25 and the reaction force ECU 26 output the motor control signals for controlling the corresponding motors 13 and 18 respectively, and the motors 13 and 18 based on the motor control signals. Drive circuits 29 and 30 for supplying drive power to the drive circuit.

  As shown in the flowchart of FIG. 2, the microcomputer 27 on the steering ECU 25 side first detects each sensor value (steering angle θs, vehicle speed V, and displacement amount X) based on the output signal of each sensor (step). 101). Next, the microcomputer 27 calculates a displacement command value X * that is a control target angle θt * of the turning angle θt based on the detected steering angle θs and the vehicle speed V (step 102), and is calculated by the calculation. The feedback control calculation based on the displacement amount command value X * and the detected displacement amount X, that is, the position control calculation is executed (step 103). Then, a motor drive signal is generated based on the control amount εs calculated by the position control calculation, and the motor drive signal is output to the drive circuit 29 (step 104). Then, the drive circuit 29 supplies drive power corresponding to the motor drive signal to the motor 13 so that the operation of the turning actuator 8 is controlled so as to change the turning angle θt to a value corresponding to the steering operation. It has become.

  As shown in the flowchart of FIG. 3, the microcomputer 28 on the reaction force ECU 26 side first detects each sensor value (steering torque τ, vehicle speed V, displacement amount X, motor rotation angle θmr, actual current value Ir (reaction force actuator). Side), actual current value Is (steering actuator side)) is detected (step 201). Next, the microcomputer 28 estimates the road surface reaction force Fr acting on the steered wheels 4 based on the detected displacement amount X and the actual current value Is of the driving power supplied to each motor 13 of the steered actuator 8. (Step 202) Subsequently, based on the estimated road reaction force Fr and the detected steering torque τ, a current command value Iq * that is a control target amount of the steering reaction force torque is calculated (step 203). . Then, feedback control calculation is executed based on the current command value Iq *, the detected actual current value Ir of the driving power supplied to the motor 18, and the motor rotation angle θmr (step 204), and is calculated by the calculation. A motor control signal based on the control amount εr is output (step 205). The drive circuit 30 supplies drive power corresponding to the motor drive signal to the motor 18, and the generated motor torque is transmitted to the steering shaft 6 via the speed reduction mechanism 19, whereby the steering torque τ, the road surface A steering reaction force according to the reaction force Fr and the vehicle speed V is applied to the steering 2.

(Lane keep function)
In addition, the steering device 1 of the present embodiment has a so-called lane keeping function that automatically controls the turning angle without depending on the steering operation so that the vehicle 31 continues to travel in the traveling lane 32 that is currently traveling. (See FIG. 4).

  More specifically, as shown in FIG. 1, the steering device 1 detects a traveling lane 32 in which the vehicle 31 is traveling, and outputs the information (traveling lane information), and the traveling lane information. And a host controller 34 that calculates a target turning angle θt_a * for the vehicle to keep traveling in the traveling lane 32 based on I_rr. In the present embodiment, the traveling lane detection device 33 includes a camera 37 that captures an image of the traveling road surface 36 and a lane ECU 38, and the lane ECU 38 defines the traveling lane 32 by processing the image of the traveling road surface 36. The marker (white line) 39 to be detected is detected, and information regarding the detected marker 39 on both sides of the vehicle 31 is output to the host control device 34 as travel lane information I_rr. Then, the host controller 34 calculates the target turning angle θt_a * based on the travel lane information I_rr.

  Further, in the present embodiment, the steering device 1 is provided with the start SW (start switch) 40 for starting the lane keep control, that is, turning on the lane keep function, and the target calculated by the host control device 34. The turning angle θt_a * is input to the control device 20 (steering ECU 25) together with the on / off signal S_kr output from the start SW 40. When the ON / OFF signal S_kr is “ON”, the steering ECU 25 controls the control target angle θt * calculated inside the steering ECU 25, that is, the control target angle θt * ( Instead of step 102) shown in FIG. 2, the operation of the turning actuator 8 is controlled based on the target turning angle θt_a * input from the host controller 34. Thus, the turning angle θt is automatically controlled to maintain the traveling in the traveling lane 32.

  In the present embodiment, the steering ECU 25 has a brake ON signal S_bk indicating that a vehicle brake (not shown) is operated, and a direction indication signal indicating that a direction indicator (not shown) is operated. S_tr is input. In the present embodiment, when any one of a steering operation, a brake operation, and a direction instruction operation is performed by the driver, the lane keep control is ended.

(Error input prevention function)
Next, an error input preventing function in the steering device of the present embodiment will be described.
The steering device 1 of the present embodiment has an error input prevention function for preventing a steering operation due to an error of the driver, that is, a deviation of the vehicle 31 from the travel lane 32 due to an error input. Specifically, the control device 20 determines whether or not the steering operation input to the steering wheel 2 is due to a driver's error, and if it is determined that the steering operation is an error, the steering device The steering angle θt is not changed based on the operation. Then, the lane keeping control is started, and the passenger is warned of the possibility of deviation from the traveling lane 32 by an acoustic and visual method via the warning device 41.

  Specifically, as shown in the flowchart of FIG. 5, the control device 20 (steering ECU 25) first determines whether or not the steering operation by the driver is an erroneous input (steps 301 to 305). In the present embodiment, the determination as to whether or not the error is input is performed based on the determination as to whether or not the steering operation by the driver causes the vehicle 31 to deviate from the travel lane 32 (step 301), and the travel lane 32. This is performed by estimating whether or not the deviation from the vehicle is due to the driver's intention (steps 302 to 304). If the steering operation by the driver causes the vehicle 31 to depart from the travel lane 32 (step 301: YES), and it is estimated that the driver does not intend to change the lane, the steering operation is erroneously input. It is determined that

  More specifically, in this embodiment, the steering ECU 25 controls the control target angle θt * of the turning angle θt calculated in the steering ECU 25, that is, the control target angle θt * based on the steering operation (see FIG. 2 step). 102) and the target turning angle θt_a * input from the host controller 34 are compared. When the difference (| θt * −θt_a * |) is larger than the predetermined threshold value α, it is determined that the steering operation deviates from the traveling lane 32 (step 301).

  Next, when it is determined in the above step 301 that the steering operation deviates from the travel lane 32 (| θt * −θt_a * |> α, step 301: YES), the steering ECU 25 continues the travel lane. An estimation is made as to whether the deviation from 32 is due to the driver's intention. In the present embodiment, the steering ECU 25 has a non-steering operation member (car audio, car air conditioner, or car navigation system) that is not directly related to the running of the vehicle, together with the brake ON signal S_bk and the direction instruction signal S_tr. An operation input signal S_ns indicating the presence / absence of an operation input to the switch or the like) is input (see FIG. 1). The lane change intention is estimated based on the presence / absence of a direction instruction and whether or not it is estimated that a reduction in attention is caused by an operation input to a non-steering operation member.

  Specifically, the steering ECU 25 first determines whether or not the direction instruction signal S_tr is “ON”, that is, whether or not the direction indicator is operated (step 302). If it is determined that the direction indicator has been operated (S_tr = ON, step 302: YES), it is determined that the departure from the travel lane 32 is due to the driver's intention, and step 303 shown below is performed. ~ The process of step 309 is not executed.

  On the other hand, when it is determined in step 302 that the direction indicator is not operated (S_tr = OFF, step 302: NO), the steering ECU 25 subsequently sets the operation input signal S_ns to “ON”. It is determined whether or not there is an operation input to the non-steering operation member (step 303). If it is determined that an operation input to the non-steering operation member has been made (S_ns = ON, Step 303: YES), then whether or not the brake ON signal S_bk is “ON” (Step 304). ), It is determined whether or not a steering speed ωs greater than or equal to a predetermined speed ω0 has been detected (step 305). The brake ON signal S_bk is “OFF” (S_bk = OFF, step 304: NO), and the steering speed ωs equal to or higher than the predetermined speed ω0 is not detected (| ωs | <ω0, step 305: NO). In this case, it is determined that the deviation from the driving lane 32 is not due to the driver's intention.

  That is, in this embodiment, when an operation input is made to a non-steering operation member (S_ns = ON, step 303: YES), and a brake input and a steering speed ωs greater than a predetermined speed ω0 are not detected (S_bk = OFF) Step 304: NO and | ωs | <ω0, Step 305: NO), it is determined that the departure from the driving lane 32 is not due to the driver's intention. Then, when there is no operation input to the non-steering operation member (S_ns = OFF, step 303: NO), when there is a brake input (S_bk = ON, step 304: YES), or a steering speed equal to or higher than the predetermined speed ω0. If ωs is detected (| ωs | ≧ ω0, step 305: NO), it is determined that the vehicle is intended by the driver, and the following processing from step 306 to step 309 is not executed.

  Next, when the steering ECU 25 determines that the steering operation is an erroneous input in the determination processing in steps 301 to 305 (finally, step 305: NO), the control target calculated in the steering ECU 25 is the same. The angle θt * is invalidated. That is, the steering angle θt is not changed according to the steering operation (step 306). Then, the operation of the turning actuator 8 is controlled based on the target turning angle θt_a * input from the host controller 34. That is, the lane keep control is turned on (step 307).

  In the present embodiment, the control device 20 (reaction force ECU 26) subsequently performs position control of the steering angle θs so that the steering angle θs of the steering 2 corresponds to the turning angle θt. Specifically, when the steering operation by the driver is an erroneous input, the steering ECU 25 outputs an execution signal Se indicating that the erroneous input prevention mechanism has been activated to the reaction force ECU 26. When the execution signal Se is input, the reaction force ECU 26 controls the operation of the reaction force actuator 17 so that the steering angle θs becomes a value corresponding to the turning angle θt (step 308). Then, the control device 20 (steering ECU 25) outputs a warning signal Sw to the warning device 41 so as to output a warning to the passenger that there is a possibility of deviation from the travel lane 32 ( Step 309).

  If it is determined in the determination processing in steps 301 to 305 that the steering operation is not an erroneous input (step 301: NO, step 302: YES, step 303: NO, step 304: YES, or step 305: YES). The operation of the steered actuator 8 is controlled based on the control target angle θt * calculated in the steered ECU 25 (step 310).

  In the present embodiment, the control device 20 includes a control unit, a steering input detection unit, an error input determination unit, an estimation unit, and an operation input detection unit. Then, the host control device 34 constitutes an automatic steering control means and a travel lane detection device 33.

As described above, according to the present embodiment, the following features can be obtained.
(1) The control device 20 (steering ECU 25) determines whether or not the steering operation by the driver is an erroneous input (steps 301 to 305). Specifically, when the steering operation by the driver causes the vehicle 31 to deviate from the travel lane 32 (step 301: YES), and the driver is assumed not to change the lane, the steering operation is performed. Is determined to be an erroneous input. When it is determined that the steering operation is an erroneous input (finally step 305: NO), the control target angle θt * calculated in the steering ECU 25 is invalidated and the steering angle corresponding to the steering operation is invalidated. The change of θt is not executed (step 306). With such a configuration, even if the driver makes an erroneous input that causes the vehicle 31 to deviate from the driving lane 32 by a side look or the like, the vehicle is not steered by the steering operation due to the error. . Accordingly, it is possible to effectively prevent deviation from the traveling lane 32 due to erroneous input.

  (2) The steering ECU 25 controls the control target angle θt * of the steering angle θt calculated in the steering ECU 25, that is, the control target angle θt * based on the steering operation and the target steering input from the host controller 34. The angle θt_a * is compared, and if the difference (| θt * −θt_a * |) is larger than a predetermined threshold value α, it is determined that the steering operation deviates from the traveling lane 32 (step 301). . With such a configuration, it is possible to quickly determine the possibility of departure from the traveling lane 32, thereby improving the accuracy of the erroneous input prevention function.

  (3) The steering ECU 25 receives an operation input to a non-steering operation member (S_ns = ON, step 303: YES), and a brake input and a steering speed ωs greater than a predetermined speed ω0 are not detected (S_bk = OFF, step 304: NO, and | ωs | <ω0, step 305: NO), it is determined that the deviation from the driving lane 32 is not due to the driver's intention. With such a configuration, it is possible to accurately estimate the intention of departure from the driving lane, thereby improving the accuracy of the erroneous input prevention function.

  (4) When the steering ECU 25 determines that the steering operation is an erroneous input, the steering ECU 25 controls the operation of the steering actuator 8 based on the target turning angle θt_a * input from the host controller 34. That is, the lane keep control is turned on (step 307). With such a configuration, deviation from the traveling lane 32 can be prevented more reliably.

  (5) When it is determined that the steering operation is an erroneous input, the control device 20 (reaction force ECU 26) controls the position of the steering angle θs so that the steering angle θs of the steering 2 corresponds to the turning angle θt. Execute. With such a configuration, it is possible to promptly recognize the occurrence of an erroneous input by increasing the steering reaction force, and quickly return to the normal control when the steering angle θs corresponds to the turning angle θt. Will be able to.

  (6) The control device 20 (steering ECU 25) outputs a warning signal Sw to the warning device 41, thereby executing a warning output to the passenger that there is a possibility of deviation from the travel lane 32. (Step 309). With such a configuration, it is possible to quickly inform the passenger that there was a possibility of deviation from the travel lane 32.

In addition, you may change this embodiment as follows.
In the present embodiment, the steering ECU 25 and the reaction force ECU 26 are provided separately, but the control device 20 may be configured to have the functions of the steering ECU 25 and the reaction force ECU 26 integrally.

  In the present embodiment, the control device 20 is configured to include an erroneous input determination unit, an estimation unit, and an operation input detection unit. However, the present invention is not limited to this, and each of these means may be configured by other control means such as the host control device 34, for example.

  In the present embodiment, whether or not the steering operation by the driver is an erroneous input determines whether or not the steering operation causes the vehicle 31 to deviate from the traveling lane 32 (step 301), and the traveling The departure from the lane 32 is assumed to be performed based on the estimation (steps 302 to 305) as to whether or not the intention is made by the driver. However, the present invention is not limited to this, and it may be determined whether the steering operation does not cause the vehicle 31 to depart from the driving lane 32. For example, whether or not the steering operation causes the vehicle 31 to collide with some obstacle. It is good also as performing by this determination.

  In the present embodiment, it is determined that the steering operation deviates from the traveling lane 32 by comparing the control target angle θt * based on the steering operation with the target turning angle θt_a * input from the host controller 34. However, the running lane departure determination may be performed by other methods such as yaw rate change.

  Although not specifically mentioned in the present embodiment, the threshold α used for comparing the control target angle θt * and the target turning angle θt_a * is the width of the traveling lane 32 specified by the vehicle speed V and the traveling lane information I_rr. It is good to change according to. That is, when the vehicle speed V is high or the width of the travel lane 32 is narrow, the accuracy of the erroneous input prevention function can be further increased by reducing the threshold value α.

  In this embodiment, the lane change intention is estimated based on the presence / absence of a direction instruction input and whether or not it is estimated that a reduction in attention due to an operation input to a non-steering operation member has occurred. It was decided. However, the present invention is not limited to this, and any one of these methods may be used, or a method other than these methods may be used.

  In the present embodiment, the determination of a reduction in attention due to an operation input to a non-steering operation member is performed based on the presence or absence of a brake operation and the presence or absence of an operation speed equal to or higher than a predetermined speed ω0. It may be performed based on other parameters.

  In the present embodiment, when the steering operation is an erroneous input, the position control of the steering angle θs is executed so that the steering angle θs corresponds to the turning angle θt, but the steering reaction force applied to the steering 2 It is good also as a structure which makes larger than usual.

  In addition, the error input determination and the steering reaction force control at the time of the error input are not limited to steer-by-wire type, but a transmission in which a steering wheel and a steered wheel are mechanically connected, for example, a reaction force actuator is included. The present invention may be embodied in a vehicle steering apparatus with a variable ratio device.

  In the present embodiment, when the steering operation is an erroneous input, not only the turning angle θt is not changed based on the steering operation but also the lane keeping control and the steering angle θs are made to correspond to the turning angle θt. Position control and warning output were executed. However, the present invention is not limited to this, and at least one of lane keeping control, position control of the steering angle θs, and warning output may not be executed, and other vehicle control may be executed together.

The schematic block diagram of the steering device of this embodiment. The flowchart which shows the control aspect of the steering actuator by steering ECU. The flowchart which shows the control aspect of the reaction force actuator by reaction force ECU. Explanatory drawing which shows the relationship between a vehicle and a travel lane. The flowchart which shows the aspect of error input prevention control.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Steering device, 2 ... Steering (handle), 3 ... Steering mechanism, 4 ... Steering wheel, 5 ... Steering mechanism, 6 ... Steering shaft, 7 ... Steering angle sensor, 8 ... Steering actuator, 12 ... Steering shaft , 16 ... torque sensor, 17 ... reaction force actuator, 20 ... control device, 21 ... vehicle speed sensor, 22 ... displacement sensor, 31 ... vehicle, 32 ... travel lane, 33 ... travel lane detection device, 34 ... host control device, τ ... steering torque, V ... vehicle speed, θs ... steering angle, ωs ... steering speed, θt ... steering angle, θt * ... control target angle, θt_a * ... target turning angle, α ... threshold, I_rr ... travel lane information, S_tr ... Direction indication signal, S_ns ... Operation input signal, S_bk ... Brake ON signal, Sw ... Warning signal, Se ... Execution signal.

Claims (10)

Steering mechanically separated from the steered wheels, a steered actuator for changing the steered angle of the steered wheels, steering input detecting means for detecting a steering operation input to the steering, and the detected A vehicle steering apparatus comprising: a control unit that controls the operation of the steering actuator to change the steering angle according to a steering operation;
An error input determination means for determining whether or not the detected steering operation is due to an error input;
The control means does not change the turning angle based on the steering operation when the detected steering operation is due to erroneous input;
A vehicle steering apparatus characterized by the above. The vehicle steering apparatus according to claim 1,
Traveling lane detecting means for detecting a traveling lane of the vehicle;
An estimation means for estimating the driver's intention to change lanes,
The error input determination means is based on an error input when the detected steering operation causes the vehicle to depart from the driving lane and it is estimated that there is no intention to change the lane. The vehicle steering apparatus characterized by determining that it is. The vehicle steering apparatus according to claim 2,
Comprising an operation input detection means for detecting an input operation on a non-steering operation member;
The estimating means estimates that the lane change is not intended when there is an input operation to the operation member and a brake input and a steering speed of a predetermined speed or more are not detected;
A vehicle steering apparatus characterized by the above. The vehicle steering apparatus according to claim 3,
The vehicle steering apparatus according to claim 1, wherein the non-steering operation member is an operation member of a car audio system, a car air conditioner, or a car navigation system. The vehicle steering apparatus according to claim 2,
The vehicle steering apparatus according to claim 1, wherein the estimation unit estimates that the lane change is intended when there is a direction instruction input. In the vehicle steering apparatus according to any one of claims 2 to 5,
Automatic steering control means for calculating a target turning angle for maintaining traveling in the traveling lane based on traveling lane information detected by the traveling lane detecting means;
The erroneous input determination means determines whether the detected steering operation deviates from the driving lane by comparing the control target angle of the turning angle based on the detected steering operation and the calculated target turning angle. Determining whether or not
A vehicle steering apparatus characterized by the above. The vehicle steering apparatus according to claim 6,
When the detected steering operation is due to erroneous input, the control means controls the operation of the steering actuator based on the calculated target turning angle. Steering device. In the steering device for vehicles according to any one of claims 1 to 7,
A reaction force actuator controlled to give a steering reaction force according to a steering torque input to the steering,
When the detected steering operation is due to an erroneous input, the control means controls the operation of the reaction force actuator so that the applied steering reaction force is larger than that when the erroneous steering input is not performed. The vehicle steering apparatus characterized by these. In the steering device for vehicles according to any one of claims 1 to 7,
A reaction force actuator capable of changing the steering angle of the steering,
The control means, when the detected steering operation is due to erroneous input, to control the operation of the reaction force actuator so that the steering angle of the steering is a value corresponding to the turning angle; A vehicle steering apparatus characterized by the above. In the vehicle steering device according to any one of claims 1 to 9,
When the detected steering operation is due to an erroneous input, a vehicle steering apparatus is provided, which includes warning means for warning that the erroneous input has been made.

Images