JP3469313B2 - Control device for automatic steering system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an automatic steering device which is used in a driving assistance system (ADA) of a vehicle such as an automobile and automatically electronically steers the vehicle. When it comes to assisting methods.

[0002]

2. Description of the Related Art In recent years, as a measure to drastically improve the safety of a vehicle, a technique for avoiding a collision against a collision damage reducing technique such as an airbag, that is, a driving operation system is actively assisted for safety. A comprehensive driving support system (ADA, Active Drive Assist system) that automatically controls the side has been developed. This ADA system has cameras mounted in front of and behind the vehicle to recognize a road condition, another vehicle, and an external environment such as an obstacle three-dimensionally by a control unit.
The driver is provided with the same autonomous running capability as the driver, and the autonomous running capability is configured to automatically and properly operate various devices in the operation system such as the brake, throttle, and steering. Then, as functions aimed at by the ADA system, a collision prevention function and a limited automatic traveling function are considered. The collision prevention function is to prevent lane departure by automatically braking when there is a possibility of collision due to incorrect driving operation, avoiding obstacles by automatic steering, or correcting the steering wheel in case of cross wind. is there. The limited automatic driving function automatically maintains the safe inter-vehicle distance from the preceding vehicle on behalf of the driver.

The above-mentioned ADA system will be described more specifically. For example, Japanese Patent Application Laid-Open No. 4-653 by the present applicant.
As shown in the application No. 47, the front scene and traffic environment are captured by a plurality of cameras mounted on the vehicle, the image is divided into small areas, and the distance is calculated by triangulation for each, and the entire screen is cubic. Obtain an image of the original distance distribution. Then, lanes, vehicles in front, obstacles, etc. are separated and detected from the distance image. Left and right white lines, road shapes, etc. are recognized from the lane. For a forward vehicle or an obstacle, what kind of object the object is, the relative distance to the obstacle, the speed, and the like are recognized to obtain various image data.

As a system for automatically steering using the above-mentioned image data, as shown in Japanese Patent Laid-Open No. 4-356273, a planetary gear type gear having a steering control motor and a torque control motor in a steering system of a steering device. A ratio variable mechanism is provided. Then, one or both of the steering control motor and the torque control motor are controlled, and the gear ratio variable mechanism is operated to enable manual steering and automatic steering. Further, in the automatic steering mode, it is possible to assist the driver in various forms by the control device of the two motors.

Therefore, in the future, it will be required to concretely determine the driving support for the driver and establish a control device therefor. Therefore, as a way of driving support, the driver's will is respected and the steering wheel operation is prioritized, and the driver's will is not automatically repulsed to avoid the annoyance. When a danger such as deviation from the lane arises, the driver is urged to always operate the steering wheel properly. Further, when the driver's steering wheel operation is improper, it is desired that the steering wheel operation be made appropriate and that the automatic steering be performed to compensate for the excess or deficiency.

Conventionally, as for the control of the above-mentioned automatic steering device, there is, for example, the prior art of Japanese Patent Laid-Open No. 4-300781. In this prior art, the outside world is recognized by the outside world recognition means, the traveling system road is recognized based on the image data of the recognition result, the deviation amount of the vehicle position with respect to the traveling system road is calculated, and the deviation amount and the steering operation state are calculated. It is shown that the steering of the vehicle is controlled by controlling the automatic steering actuator based on the above.

[0007]

By the way, in the above prior art, the vehicle is always automatically steered by the amount of deviation between the traveling system road and the attitude of the host vehicle based on the image data, and the driver is operated. Since it is a control device that mechanically corrects the deficiency of the steering wheel operation, there is a problem that it is not possible to urge the driver to operate properly and to give priority to the driver's steering wheel operation.

In view of the above, the present invention has an object of appropriately compensating for a driver's delay or advance by using various assist methods in an emergency in a driver priority assist system.

[0009]

In order to achieve this object, the present invention is directed to a steering shaft 20 divided into two parts of a steering device 10 of a vehicle, as shown in FIG.
A variable gear ratio mechanism 25 is provided in a continuous manner in a bypass manner, a steering control motor 36 is provided in the variable gear ratio mechanism 25 to enable manual steering and automatic steering of a driver, and a torque control motor 38 is attached to the steering shaft 20 on the handle side. It is premised on an automatic steering device that is capable of controlling the torque of the above. Then, the target rudder angle setting means 50 for setting the target rudder angle based on the image data, the tire turning angle, and the vehicle speed, the steering direction assist based on the sign of the target rudder angle, the sign of the target rudder angle and the steering angle of the steering wheel, and the two rudder angles Handle load assist based on size,
Alternatively, an assist method determining means 51 for determining an assist method for steering angle correction assist based on the magnitude of the absolute value of the target steering angle and the steering angle of the steering wheel, and a steady state or an emergency is determined by comparing the target steering angle and the steering angle of the steering wheel. Emergency determination means 52,
Steering signals for fixing a predetermined gear of the gear ratio variable mechanism are set in a steady state, steering signals are set based on an assist method in an emergency, and steering assist means 53 for outputting these steering signals to the steering control motor 36, and in a steady state, A torque assisting means 54 is provided which determines a torque signal for freeing the steering wheel side, determines a torque signal based on an assist method in an emergency, and outputs the torque signal to the torque control motor 38.

In the present invention, the steering device 10
If the steering control motor 36 is provided in the gear ratio variable mechanism 25 so as to allow the driver to manually and automatically steer, and the steering shaft 20 is provided with the torque control motor 38, any configuration can be applied. The steering signal and the torque signal are actually converted into a predetermined current according to the signals and supplied to the steering control motor 36 and the torque control motor 38.

[0011]

According to the present invention having the above-described structure, when the vehicle is traveling, the target rudder angle setting means 50 sets the target rudder angle by the image data, the tire side turning angle, and the vehicle speed, and the emergency judging means 52 sets the target rudder angle and the steering wheel. The corners are compared to determine if they are stationary or urgent. Then, in a steady state in which the driver's turning delay or advance is small, a predetermined signal of the gear ratio variable mechanism 25 is fixed by the steering control motor 36 by the steering signal of the steering assist means 53. Further, the steering wheel side is freed by the torque control motor 38 by the torque signal of the torque assisting means 54. Therefore, when the driver operates the steering wheel 9, the tire side of the steering device 10 is steered by the operation of the gear ratio variable mechanism 25, and the driver is operated. It is held in priority manual steering.

Further, in an emergency in which the driver's delay or advancement has increased due to sudden changes in road conditions, etc., the assist method determining means 5
In 1, the assist method is determined depending on the traveling state, the deviation state of the steering angle, and the like. Therefore, in the case of steering direction assist, a proper steering direction of the steering wheel is determined based on the sign of the target steering angle, and the torque control motor 38 assists the steering wheel so that the steering wheel becomes light in the steering direction and becomes heavy in the opposite direction. . In the case of steering wheel load assist, the steering wheel operating state is determined by the sign of the target steering angle and the steering wheel steering angle and the magnitudes of both steering angles, and the torque control motor 38 makes the steering wheel heavy when the steering wheel is advanced and the steering wheel is light when the steering wheel is delayed. Is torque assisted.

Further, in the case of steering angle correction assist, the steering state is judged by the magnitude of the absolute value of the target steering angle and the steering angle of the steering wheel, and the steering control motor 36 is operated according to the deviation of both steering angles. The handle is fixed by the torque control motor 38. Therefore, the steering control motor 36 and the gear ratio variable mechanism 2
By the operation of No. 5, the tire side is automatically steered and corrected so as to increase or return, and in any case, deviation from the lane or the like is avoided.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. An outline of the ADA system will be described with reference to FIG. First, the throttle valve 3 of the engine 2 of the vehicle 1 is provided with an actuator 11 that opens and closes by an electric signal,
An automatic brake hydraulic unit 12 that increases or decreases the brake pressure by an electric signal is provided in a brake device 8 that applies brake pressure to the wheel cylinders 7 of the front wheels 5 and the rear wheels 6 by operating the brake pedal 4 to perform braking. A CCD camera 13 for picking up a predetermined range in front of the vehicle 1 is arranged on the left and right sides of the vehicle 1, and an automatic steering power unit 1 for steering an electric signal to a steering device 10 having a steering wheel 9 is provided.
4 are provided.

As a control system, the image recognition control unit 15 to which the image pickup signal of the CCD camera 13 is input is provided, and the distance is calculated by the triangulation method based on the image pickup signal so that an image having a three-dimensional distance distribution is displayed on the entire screen. obtain. Then, lanes, vehicles in front, obstacles, etc. are separately detected from the distance image, and left and right white lines, road shapes, etc. are recognized from the lanes. For a forward vehicle or an obstacle, what kind of object the object is, the relative distance to the obstacle, the speed, and the like are recognized to obtain various image data. This image data is input to the inter-vehicle distance control unit 16 and the automatic steering control unit 17.

The inter-vehicle distance control unit 16 calculates the acceleration / deceleration so as to maintain a safe distance with respect to the preceding vehicle and obstacles on the road based on the image data and other various sensor signals, and an appropriate acceleration / deceleration based on this acceleration / deceleration is calculated. A throttle signal indicating the throttle opening is output to the actuator 11 for throttle control. Further, a brake signal having an appropriate brake pressure based on the acceleration / deceleration is output to the automatic brake hydraulic unit 12 for brake control. Even if the driver's brake operation is insufficient, the vehicle can be safely driven by maintaining a safe vehicle distance and preventing a collision.

In FIG. 3, the automatic steering power unit 14
The configuration of will be described. First, the steering device 10
The steering shaft 20 is divided into an input shaft 21 and an output shaft 22, a handle 9 is provided at the end of the input shaft 21, and the output shaft 22 is connected to the front wheels 5 via a hydraulic power steering mechanism 23. The variable gear ratio mechanism 25 is connected between 21 and 22 by bypass. Gear ratio variable mechanism 25
Is constituted by combining two sets of gears 26 and 27 and one set of planetary gear 30 with the input and output shafts 21 and 22 and the motor shaft 24 arranged in parallel therewith.

That is, in the first gear 26, a small-diameter drive gear 26a is integrally coupled to the input shaft 21, and a large-diameter driven gear 26b is rotatably provided on the motor shaft 24. In the second gear 27, the large-diameter drive gear 27a is the motor shaft 2
4, the driven gear 27b having a small diameter is integrally coupled to the output shaft 22. In the planetary gear 30, the sun gear 31 is integrally coupled to the motor shaft 24, the ring gear 32 is formed inside the drive gear 27 a of the second gear 27, and the pinion 33 that meshes with the sun gear 31 and the ring gear 32 is the driven gear of the first gear 26. It is supported by a carrier 34 integral with 26b. A steering control motor 36 is connected to one end of the motor shaft 24 via a reversibly rotatable worm gear 35, and a torque control motor 38 is connected to the input shaft 21 via a similar worm gear 37. Further, between the input shaft 21 and the output shaft 22, there is provided a stopper 39 which is directly connected when the tire collides with a curb or the like and a large steering torque is input and both shafts 21 and 22 rotate by a predetermined angle or more.

When the driver steers the steering wheel 9 with the sun gear 31 of the motor shaft 24 fixed, the carrier 34 of the planetary gear 30 is rotated by the input shaft 21 and the first gear 26, and the pinion 33 is planet-rotated. The ring gear 32 and the second gear 27 rotate the output shaft 22 in the same direction as the steering wheel 9 to steer the output shaft 22. In this case, the rotations of the input and output shafts 22 are made substantially the same by selecting the number of gear teeth. Further, in a state where the torque control motor 38 fixes the input shaft 21 to perform torque assist so as to cancel the steering reaction force, the steering control motor 36 causes the sun gear 3 to rotate.
When 1 is rotated, the ring gear 32 is rotated by the rotation of the pinion 33.
And the output shaft 22 is rotated in the same direction via the second gear 27 and electrically steered.

As a control system, a steering angle sensor 4 for detecting the steering angle Qh of the steering wheel and its angular velocity ωh is provided on the input shaft 21.
0, a steering torque sensor 41 for detecting the steering torque Th is provided, and a steering angle sensor 42 for detecting the tire steering angle Qp and its angular velocity ωp is provided on the output shaft 22. Further, the motor shaft 24 of the gear ratio variable mechanism 25 is provided with a phase angle sensor 43 for detecting the phase angle Qs. The automatic steering control unit 17 is connected to the battery 47 via the ignition switch 46, and has a circuit configuration such that when the engine is operated by turning on the ignition switch 46, the power is turned on and activated.

Image data of the image recognition control unit 15, signals of the sensors 40 to 43, and a vehicle speed sensor 44.
The vehicle speed V signal is input to the automatic steering control unit 17 and electrically processed. And the automatic steering control unit 17
The steering signal output from is converted into a motor current Ip and supplied to the steering control motor 36, and operates so as to fix or rotate the gear 31 of the gear ratio variable mechanism 25. Further, the torque signal is converted into a motor current Is to convert the torque control motor 38.
Is supplied to operate the handle side so that it is free or applies a predetermined torque.

Next, the operation of this embodiment will be described with reference to the flowcharts of FIGS. First, in step S1, the ignition switch 46 is checked, and when the engine is on with the switch ON, the process proceeds to step S2 to check the power source of the automatic steering control unit 17. At this time, if the power is turned off, the procedure goes to step S3 to warn of the abnormality. When the control unit is abnormal, the steering control cannot be performed, but the motor shaft 24 of the gear ratio variable mechanism 25 is mechanically fixed by the lock means in step S4 to forcibly enter the manual steering mode, and the driver operates the steering wheel. It becomes possible to drive the vehicle while steering normally.

When the power source of the automatic steering control unit 17 is normally turned on, the process proceeds from step S2 to step S5, where the steering wheel steering angle Qh, the tire turning angle Qp, and the steering torque T are set.
h, vehicle speed V, image data read by CCD camera.
Then, in step S6, the traveling state and the road state are determined based on these signals and the image data. That is, a predetermined distance position is set on the image, and a white line or the like at the predetermined distance position is detected to set the target trajectory. Further, a predicted trajectory of the vehicle when traveling to a predetermined distance position while maintaining the current position, direction, and traveling state of the vehicle is calculated from the vehicle speed V and the tire turning angle Qp, and the deviation width between the target trajectory and the predicted trajectory is calculated. To do. After that, the process proceeds to step S7, and the target steering angle Qt for avoiding lane departure or the like is determined by the deviation width and the proportional constant.

After that, the routine proceeds to step S8, where the target steering angle Qt
The steering wheel steering angle Qh is compared with the steering wheel steering angle Qh to determine whether the deviation ΔQ is within the steady range A or not. When ΔQ <A where the driver's turning delay or advance is small, it is determined that the driver is in a steady state, and the routine proceeds to step S9, where the steering control motor 3
The current Ip of 6 is controlled to the lock current IpL that locks the sun gear 31, and the motor shaft 2 of the gear ratio variable mechanism 25 is controlled.
4 and the sun gear 31 are fixed. Further, the current Is of the torque control motor 38 is controlled to zero, and the input shaft 21 of the steering wheel 9 becomes free.

Therefore, when the driver grips the steering wheel 9 and steers, the output shaft 22 is moved by the operation of the planetary gear 30 with respect to the input shaft 21, the first and second gears 26 and 27 of the gear ratio variable mechanism 25, and the fixed sun gear 31. Rotate in the same direction. Then, the hydraulic power steering mechanism 23 is operated to steer the front wheels 5 along the white line or the like so as not to deviate from the lane. Thus, in the steady state, the driver-prioritized manual steering is maintained.

On the other hand, when the driver's delay or advancement increases due to a sudden change in road conditions and ΔQ ≧ A, an emergency is judged. In this emergency, the process proceeds from step S8 to step S10, and the target steering angle Qt is changed depending on the running state, the size of the deviation ΔQ, and the like.
Steering assist based on the sign of the target steering angle Qt and the steering angle Qh of the steering wheel and the steering wheel load assist based on the size of both steering angles Qt and Qh, or the absolute value of the target steering angle Qt and the steering angle Qh of the steering wheel. The assist method of the steering angle correction assist based on the degree is determined. That is, for example, the steering direction assist is determined for traveling on a small curve, and the steering wheel load assistance is determined for traveling on a large curve.
When Q is large, the steering angle correction assist is determined.

Therefore, in the case of steering direction assist, the process proceeds from step S10 to step S11 and the steering control motor 36 is operated.
Is controlled by a lock current IpL that locks the sun gear 31, and the sun gear is fixed to enter the manual steering mode. After that, in step S12, the target steering angle Qt is checked, and if the steering wheel operation of Qt = 0 is unnecessary, the process proceeds to step S13, and the current Is of the torque control motor 38 assists to make the steering wheel 9 heavy near zero degrees. This prevents the driver from unnecessarily operating the steering wheel.

If Qt ≠ 0, the process proceeds from step S12 to step S14, and the proper steering direction is checked by the sign of the target steering angle Qt. Then, in the positive right steering direction, the process proceeds to step S15, where a slight torque is applied in the right steering direction by the current Is of the torque control motor 38 to reduce the steering force of the steering wheel 9 in the right steering direction and increase the steering force in the opposite direction. To be assisted. There, the driver is urged to operate the steering wheel to the right slightly and is guided by turning the steering wheel in the opposite direction so as not to deviate from the lane. In the leftward steering direction with a negative sign, the process proceeds from step S14 to step S16,
This time, conversely, reduce the steering force of the steering wheel 9 in the left steering direction,
It is assisted to increase the steering force in the opposite direction. Therefore, also in this case, the driver is prompted to operate the steering wheel properly.

Next, the control of the steering wheel load assist will be described. First, from step S10 to step S2
Then, the steering control motor 36 is controlled to the lock current IpL that locks the sun gear 31, and the manual steering mode is set by fixing the sun gear. Then step S2
In 1, the state of the steering direction and the steering angle of the steering wheel 9 is checked by the sign and value of the target steering angle Qt and the steering wheel steering angle Qh. Therefore, if the steering direction is different or the steering angle Qh is larger even if the steering directions are the same and it is judged that the steering wheel is to be advanced, the process proceeds to step S22, and the current Is of the torque control motor 38 assists to make the steering wheel 9 heavy. As a result, the handle is turned back. Further, when the steering direction is the same and the target steering angle Qt is larger and the steering wheel turning delay is judged, the process proceeds from step S21 to step S23, and the steering wheel 9 is assisted to lighten the steering wheel.

Thereafter, in step S24, the steering wheel steering angle Qh and the steering torque Th are checked, and both are zero.
That is, when the steering wheel operation and the automatic steering operation are not performed for a certain period of time, it is determined that the vehicle is released. Therefore,
In the former case described above, the driver returns the steering wheel 9, and in the latter case, the driver operates the steering wheel so as to increase the steering wheel 9, and the vehicle exits as it is.

On the other hand, when it is determined that the steering wheel is released, the process proceeds to step S25, where the torque control motor 38 is controlled to the lock current IsL that cancels the steering reaction force, so that the steering wheel 9 is fixed and the automatic steering becomes possible. Then, in step S26, the current Ip of the steering control motor 36 is controlled and operated according to the deviation ΔQ between the target steering angle Qt and the steering wheel steering angle Qh.

Therefore, the gear ratio variable mechanism 25 operates the steering control motor 36 to drive the worm gear 35 and the motor shaft 24.
Although the sun gear 31 rotates, the ring gear 32 is heavily loaded on the tire side, so the carrier 34
Etc. are reversed and the steering reaction force in this case acts on the steering wheel 9 side. At this time, the torque control motor 38 and the worm gear 3
7 operates, and torque assist is performed to fix the input shaft 21, the first gear 26, the carrier 34, and the like. Therefore, when the sun gear 31 is rotated by the steering control motor 36, the ring gear 32 and the second gear 27 are resisted against the load on the tire side.
And the output shaft 22 rotates and the front wheels 5 are steered by the deviation ΔQ. In this way, when the vehicle is released, the tire side is automatically steered, and the danger of deviation from the lane is reliably avoided.

Further, the control of the steering angle correction assist will be described. First, the process proceeds from step S10 to step S30, where the steering control motor 36 is controlled by the lock current IpL that locks the sun gear 31, and the manual steering mode is set by fixing the sun gear. After that, in step S31, the steering angle Qh of the steering wheel is compared with the absolute value of the target steering angle Qt to determine whether or not the driver has operated the steering wheel to avoid lane departure within a predetermined time. If both steering angles Qh and Qt are operated and the steering angles are equal, the vehicle exits as it is.

If the steering operation of the driver is improper and the two steering angles Qh and Qt are different, the process proceeds from step S31 to step S32, where the torque control motor 38 is controlled by the lock current IsL that cancels the steering reaction force. Fixed steering allows for automatic steering. Then step S33
When the steering wheel turning delay is Qt> Qh, the tire increase is judged, and when the steering wheel turning progress is Qt <Qh, the tire turning back is judged. Then, in step S34, the current Ip of the steering control motor 36 is controlled and operated according to the deviation ΔQ between the target steering angle Qt and the steering angle Qh of the steering wheel, and therefore the steering angle is corrected so that the tire side matches the target steering angle Qt. . In this way, the vehicle is automatically steered to compensate for the delay or advance of the steering wheel of the driver, and lane departure is avoided.

Thereafter, in step S35, it is determined whether the deviation ΔQ and the steering wheel steering angle Qh are in the same direction or whether the steering wheel steering angle Qh is zero. If the steering wheel is turned in the opposite direction, or if steering wheel steering occurs despite proper automatic steering, the steering wheel 9 is left as it is and the steering wheel 9 is kept fixed by the torque control motor 38. Therefore, the driver is prevented from erroneously steering from the proper state. When the steering angle Qh is in the same direction and there is no danger of deviation from the lane, or when Qh = 0 and the driver does not operate the steering wheel, the process proceeds to step S34, and the current Is of the torque control motor 38 is Is.
Is controlled to zero, which makes the handle lighter and allows the driver to operate the handle.

[0036]

As described above, according to the present invention,
In the control device of the automatic steering device, a gear ratio variable mechanism is bypassed and continuously provided on a steering shaft divided into two parts of a vehicle steering device, and a steering control motor allows manual steering and automatic steering of a driver to this gear ratio variable mechanism. In the automatic steering device in which a torque control motor is provided on the steering shaft so that the torque on the steering wheel side can be controlled, a target rudder angle setting means for setting a target rudder angle based on image data, a tire turning angle, and a vehicle speed, and a target rudder Steering direction assist based on the sign of the angle, steering wheel load assist based on the sign of the target steering angle and the steering angle of the steering wheel and the size of both steering angles, or steering angle correction based on the absolute value of the target steering angle and the steering angle of the steering wheel Assist method determining means for determining the assist method for assist, and a method for comparing the target steering angle and the steering angle of the steering wheel to judge steady or emergency And a steering assist means for determining a steering signal for fixing a predetermined gear of the gear ratio variable mechanism in a steady state, determining a steering signal based on an assist method in an emergency, and outputting these steering signals to a steering control motor, In the steady state, a torque signal for freeing the steering wheel side is determined, and in an emergency, the torque signal is determined based on an assist method, and the torque assist means for outputting the torque signal to the torque control motor is provided. Automatically steered only in case of emergency due to delay in cutting,
The driver can be prioritized to provide optimal driving support. Also, in an emergency, various assist methods are used.
It is possible to reliably prevent deviation from the lane and the like by an assist method that is always optimal with respect to the deviation of the steering angle.

In the steering direction assist, torque assist is performed so that the steering wheel is light in the proper steering direction and heavy in the opposite direction depending on the sign of the target steering angle. Can be prevented.

In the steering wheel load assist, torque assist is performed such that the steering wheel is heavy when the steering wheel is advanced and the steering wheel is light when the steering wheel is delayed depending on the target steering angle, the sign of the steering wheel steering angle, and the size of both steering angles. It is possible to prevent repulsion with the will of. Further, when it is determined that the steering wheel is released, the tire side is automatically steered so as to match the target rudder angle to assist, so that the vehicle can be steered safely.

In the steering angle correction assist, the driver is automatically steered so as to match the target steering angle with the magnitudes of the target steering angle and the steering angle of the steering wheel to correct the driver's turning delay and advance. The effect of preventing deviation is great. In particular,
This is effective when the driver is in a panic state and is holding the steering wheel during a danger such as a collision. Since the control is performed on the assumption that the driver operates the steering wheel, the control system is prevented from interfering with the operation of the driver.

[Brief description of drawings]

FIG. 1 is a claim correspondence diagram showing a first invention of a control device for an automatic steering device according to the present invention.

FIG. 2 is a configuration diagram showing an overall outline of an ADA system.

FIG. 3 is a configuration diagram showing an automatic steering power unit.

FIG. 4 is a flowchart showing control of steering direction assist.

FIG. 5 is a flowchart showing control of steering wheel load assist.

FIG. 6 is a flowchart showing control of steering angle correction assist.

[Explanation of symbols]

1 vehicle 9 handle 10 Steering device 20 steering shaft 25 Gear ratio variable mechanism 36 Steering control motor 38 Torque control motor 50 Target rudder angle setting means 51 Assist method determination means 52 Emergency judgment means 53 Steering assist means 54 Torque assisting means

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) B62D 6/00-6/06 B62D 5/00-5/32

Claims (4)

(57) [Claims] 1. A gear ratio variable mechanism is connected to a steering shaft of a vehicle steering system divided into two parts by bypass, and a steering control motor is provided to this gear ratio variable mechanism to enable manual steering and automatic steering of a driver. In an automatic steering device in which a torque control motor is provided on the steering shaft to enable torque control on the steering wheel side, a target rudder angle setting means for setting a target rudder angle based on image data, tire turning angle, and vehicle speed, and a target rudder angle The steering direction assist based on the sign, the steering wheel load assist based on the sign of the target rudder angle and the steering wheel steering angle and the magnitudes of both steering angles, or the steering angle correction assist based on the absolute value of the target rudder angle and the steering angle Assist method deciding means for deciding the assist method and urgent judging means for comparing the target steering angle and the steering angle of the steering wheel to determine steady state or emergency In the steady state, the steering signal for fixing the predetermined gear of the gear ratio variable mechanism is determined, in the emergency, the steering signal is determined based on the assist method, and the steering assist means for outputting the steering signal to the steering control motor, and in the steady state, A control of an automatic steering device, comprising: a torque signal for freeing the steering wheel side; a torque signal based on an assist method in an emergency; and torque assist means for outputting the torque signal to a torque control motor. apparatus. 2. In the case of steering direction assist, the assist method determining means fixes the gear to the steering assist means, and the torque assist means makes the steering wheel light in the same operating direction as the target steering angle, and the steering wheel becomes heavy in the opposite direction. The control device for the automatic steering device according to claim 1, wherein a command for torque assist is given. 3. In the case of steering wheel load assist, the assist method determination means fixes the gear to the steering assist means, and the torque assist means performs torque assist so that the steering wheel is heavy when the steering wheel is advanced and the steering wheel is light when the steering wheel is delayed. 2. The control device for an automatic steering device according to claim 1, wherein when the steering wheel is instructed and the steering wheel is released, the steering assisting means is instructed to steer the tire so that the tire side matches the target steering angle. 4. In the case of steering angle correction assist, the assist method determining means instructs the torque assisting means to fix the steering wheel, and the steering assisting means to instruct steering assist according to the deviation between the target steering angle and the steering angle of the steering wheel. Claim 1
A control device for the automatic steering device described.