JP3631825B2 - Vehicle and its traveling lane departure prevention device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention includes a traveling lane deviation detecting means for detecting a deviation from the travel lane of the vehicle, to the driving lane deviation preventing system for a vehicle and its comprising an actuator for actuating when the deviation is detected.
[0002]
[Prior art]
A power steering device that recognizes the traveling lane of the host vehicle from an image captured by an imaging means such as a CCD camera and issues a warning to the driver when the host vehicle is about to depart from the traveling lane, 2. Description of the Related Art A vehicle travel lane departure prevention device that supports departure avoidance by changing the amount of assist is conventionally known.
[0003]
In such a travel lane departure prevention device for a vehicle, when the vehicle is about to depart from the travel lane, it is determined whether or not the driver voluntarily changes the travel lane based on the presence or absence of the winker operation. When there is an operation, the driving lane departure prevention control is stopped to enable a smooth driving lane change.
[0004]
[Problems to be solved by the invention]
By the way, there are few cases where the vehicle deviates from the driving lane due to the driver's sleep or distraction,
1) If the driver changes or overtakes the driving lane based on his / her will,
2) If the vehicle cannot be controlled against the driver's will at the limit of the vehicle performance,
Is the majority.
[0005]
In the case of 1) above, it is quite possible that the driver forgets to operate the blinker, and it is normal that there is no room for the blinker operation in an emergency such as collision avoidance. Furthermore, in the case of 2) above, no winker operation is performed. Therefore, in the cases 1) and 2), unnecessary lane departure prevention control is performed, which may interfere with the driving operation of the driver. In the case of 2) above, priority is given to returning to the normal area where control is possible from the limit area of motion performance where control of the vehicle is difficult, rather than preventing the deviation of the driving lane.
[0006]
The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent the driving lane departure prevention control from interfering with a driving operation based on the driver's intention or a control for reducing the turning level of the vehicle.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the invention described in claim 1 operates as a lane departure detecting means for detecting a departure from a driving lane of a vehicle, and for avoiding the departure when the departure is detected. the traveling lane deviation preventing system for a vehicle having an actuator for the steering speed detecting means for detecting a steering speed, and steering torque change amount detecting means for detecting a steering rudder torque variation, threshold value or more steering speed Do及 And / or an actuator operation restricting means for restricting the operation of the actuator when a steering torque change amount equal to or greater than a threshold value is detected.
[0008]
According to a second aspect of the present invention, there is provided a vehicle comprising travel lane departure detecting means for detecting a departure from the travel lane of the vehicle, and an actuator that operates to avoid the departure when the departure is detected. In the driving lane departure prevention apparatus, the turning level detecting means for detecting the turning level of the vehicle, and the operation of the actuator is restricted when a turning level equal to or higher than the threshold value set according to the limit turning level of the vehicle is detected. The actuator operation restricting means is provided.
[0009]
According to a third aspect of the present invention, there is provided a vehicle comprising travel lane departure detecting means for detecting a departure from the travel lane of the vehicle, and an actuator that operates to avoid the departure when the departure is detected. When a steering speed detecting means for detecting a steering speed, a steering torque change amount detecting means for detecting a steering torque change amount, a steering speed greater than a threshold value and / or a steering torque change amount greater than a threshold value are detected. And an actuator operation restricting means for restricting the operation of the actuator, and the invention described in claim 4 is a travel lane departure detecting means for detecting a departure from a travel lane of a vehicle, Turning level detection for detecting a turning level of a vehicle in a vehicle having an actuator that operates to avoid the departure when the departure is detected And the step, characterized in that a and actuator operation regulating means for regulating the operation of the actuator when the set threshold value or more swirl level in response to the limit turning level of the vehicle is detected.
[0010]
The “actuator that operates to avoid departure” in the present invention assists the driver's departure avoidance steering operation by giving a steering torque in the direction of avoiding the departure from the driving lane exemplified in the following embodiment of the invention. Steering actuator 7 ”, and“ alarm actuator 11 that prompts a departure avoidance operation by operating the alarm 10 to issue a warning to the driver ”.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings. 1 to 3 show an embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle equipped with a travel lane departure prevention device, FIG. 2 is a block diagram of a control system, and FIG. It is a flowchart.
[0012]
As shown in FIG. 1, a vehicle equipped with a power unit P in which an engine E, a transmission T, and a differential D are integrated in the front part of a vehicle body has left and right front wheels W _FL and W _FR that are drive wheels connected to the power unit P. And left and right rear wheels W _RL and W _RR which are driven wheels. The left and right front wheels W _FL and W _FR are respectively provided with brake calipers B _FL and B _FR , and the left and right rear wheels W _RL and W _RR are respectively provided with brake calipers B _RL and B _RR . A master cylinder 3 that is operated by a negative pressure booster 2 connected to the brake pedal 1 is connected to the brake calipers B _FL , B _RR , B _FR , B _RL via a hydraulic pressure control means 4. The negative pressure booster 2 is operated not only by the depression force of the brake pedal 1 but also by a command from an electronic control unit U which will be described later, and generates a brake hydraulic pressure in the master cylinder 3. The negative pressure booster 2 and the hydraulic control means 4 constitute a brake actuator.
[0013]
The steering wheel 5 is provided with a steering angle sensor S ₁ for detecting the steering angle θ _A and a steering torque sensor S ₂ for detecting the steering torque θ _T. A yaw rate sensor S ₃ for detecting the yaw rate dψ / dt and a lateral acceleration sensor S ₄ for detecting the lateral acceleration G are provided at appropriate positions on the vehicle body. Furthermore, the left and right rear wheels W _RL and W _RR that are driven wheels are provided with driven wheel speed sensors S ₅ and S ₅ that detect the driven wheel speed Vv, and the left and right front wheels W _FL and W _FR that are drive wheels are provided. Are provided with driving wheel speed sensors S ₆ and S ₆ for detecting the driving wheel speed Vw. Furthermore, the turn signal switch 6 together with the blinker operation detection sensor S ₇ for detecting the operation are provided, the image sensor S ₈ as a CCD camera is provided in the front part of the vehicle body.
[0014]
The steering operation by the driver is assisted by the steering actuator 7, and the throttle valve 8 of the engine E is controlled by the throttle actuator 9 in addition to the operation of the accelerator pedal by the driver. An alarm device 10 such as a buzzer or a chime and an alarm device actuator 11 for operating the alarm device 10 are provided to issue an alarm to the driver when the vehicle is about to depart from the driving lane.
[0015]
The electronic control unit U performs arithmetic processing on the signals input from the sensors S _{1 to} S ₈ based on a predetermined program, and activates the steering actuator 7 and the alarm actuator 11 to prevent the vehicle from departing from the driving lane. At the same time, when the turning level of the vehicle increases and it enters the limit region of motion performance that is difficult to control, the brake actuator (the negative pressure booster 2 and the hydraulic control means 4) and the throttle actuator 9 are controlled to turn the vehicle. Reduce the level and return to normal controllable area.
[0016]
As shown in FIG. 2, the electronic control unit U includes a travel lane recognition unit M1, a travel lane determination unit M2, a travel locus estimation unit M3, a travel lane departure detection unit M4, a steering speed detection unit M5, a turning level detection unit M6, A travel lane departure intention determination unit M7, a control selection unit M8, a travel lane departure prevention unit M9, a turning level reduction unit M10, and a steering torque change amount detection unit M11 are provided.
[0017]
Lane recognition means M1 reads the white line of the road from the vehicle in front of the image obtained from the signal of the image sensor S _8, the running lane determination unit M2, the read white line data from the vehicle in is currently traveling Determine the driving lane. The travel locus estimation means M3 includes a driven wheel speed Vv detected by the driven wheel speed sensors S ₅ and S ₅ , a driving wheel speed Vw detected by the driving wheel speed sensors S ₆ and S ₆ , and a yaw rate dψ detected by the yaw rate sensor S _3. / Dt, based on the lateral acceleration G detected by the lateral acceleration sensor S ₄ and the steering angle θ _A detected by the steering angle sensor S ₁ , the traveling locus of the vehicle in the near future is estimated. The traveling lane departure detecting means M4 superimposes the traveling lane of the own vehicle determined by the traveling lane determining means M2 and the traveling locus of the own vehicle estimated by the traveling locus estimating means M3, so that the own vehicle Whether there is a possibility of deviating from the driving lane is determined.
[0018]
The steering speed detection means M5 detects the steering speed θ _V as a time differential value of the steering angle θ _A detected by the steering angle sensor S ₁ . Steering torque change amount detecting means M11 detects the steering torque change amount d [theta] _T / dt as a time differential value of the steering torque theta _T detected by the steering torque sensor S _2. The turning level detection means M6 is based on the driven wheel speed Vv, the driving wheel speed Vw, the yaw rate dψ / dt, the lateral acceleration G and the steering angle θ _A and the steering speed θ _V detected by the steering speed detection means M5. The turning level of the vehicle is detected. The turning level takes a large value when the vehicle is turning with the tire grip force close to the limit, for example, when making a sharp turn at a high speed, and turning with a margin in the tire grip force. When taking a slow turn at a low speed, for example, it takes a small value and serves as an index for determining the possibility of the vehicle spinning or skidding.
[0019]
Lane departure intention determining means M7 is steering speed theta _V detected by the steering speed detecting means M5, the steering torque theta _T detected by the steering torque sensor S _2, the steering torque change amount dθ detected by the steering torque change amount detecting means M11 on the basis of the operation of the turn signal switch 6 detected by the _T / dt and the winker operation detection sensor S _7, determines whether the driver is willing to deviate spontaneously lane. That is, when the operation of the turn signal switch 6 is detected, it is determined that the driver is willing to deviate from the driving lane unconditionally. Further, the driver suddenly operates the steering wheel 5 for the purpose of obstacle avoidance and the like, the steering speed θ _V becomes the threshold value θ _V0 or more , or the steering torque change amount dθ _T / dt is the threshold value [dθ _T / dt] _0. Even in such a case, it is determined that the driver is willing to depart the driving lane voluntarily.
[0020]
The control selection means M8 to which signals from the travel lane departure detection means M4, turn level detection means M6 and travel lane departure intention determination means M7 are input includes travel lane departure prevention means M9 and turn level reduction means M10. Yes. When the traveling lane departure detecting means M4 detects that there is a possibility of deviating from the traveling lane, the traveling lane departure preventing means M9 operates the steering actuator 7 to give steering torque in a direction to avoid the traveling lane departure. While assisting the departure avoidance steering operation, the alarm device actuator 11 operates the alarm device 10 to issue an alarm to the driver.
[0021]
The travel lane departure prevention means M9 ends the control for avoiding the departure when the travel lane departure detection means M4 detects that there is no possibility of departing from the travel lane. Even when the departure intention determination means M7 determines that the driver is willing to depart from the driving lane, the control for avoiding the departure is terminated. As a result, the driver's spontaneous driving operation is prevented from interfering with the control for avoiding deviation, and the driving operation of the driver can be performed without any trouble.
[0022]
Further, when the turning level detecting means M6 detects a turning level that is equal to or higher than the threshold value, the control for avoiding the departure is terminated, and the turning level reducing means M10 is activated instead. Turning level reducing means M10, along with reducing the output of the engine E through the throttle actuator 9, the wheel W _FL via a vacuum booster 2 and the hydraulic pressure control means 4, W _RR, W _FR, the braking force of the W _RL To control. Specifically, braking force is generated on the brake calipers B _FL , B _RR , B _FR , B _RL of the wheels W _FL , W _RR , W _FR , W _RL to reduce the vehicle speed, or the left wheel W _FL , W _RL brake calipers B _FL, B _RL and right wheel W _FR, W _RR brake calipers B _FR, by generating a different braking force to B _RR to generate a yaw moment suppressing the turning of the vehicle.
[0023]
Thus, when the vehicle enters the limit region of the motion performance that is difficult to control, the control for avoiding the deviation from the driving lane is terminated, and the control for returning to the normal region where control is possible is given priority. As a result, the turning level of the vehicle can be prevented from further increasing by the travel lane departure avoidance control, and the stability of the vehicle can be ensured.
[0024]
Next, the above-described operation will be further described with reference to the flowchart of FIG.
[0025]
First, in step S1, the steering angle θ _A detected by the steering angle sensor S ₁ , the steering speed θ _V detected by the steering speed detection means M5, the steering torque θ _T detected by the steering torque sensor S ₂ , and the detection amount of steering torque change are detected. Steering torque change amount dθ _T / dt detected by means M11, yaw rate dψ / dt detected by yaw rate sensor S ₃ , lateral acceleration G detected by lateral acceleration sensor S ₄ , detected by driven wheel speed sensors S ₅ and S ₅ The driven wheel speed Vv, the driving wheel speed Vw detected by the driving wheel speed sensors S ₆ and S ₆ , the operation of the winker switch 6 detected by the winker operation detection sensor S ₇ , and the road white line data detected by the image sensor S ₈ are read. .
[0026]
Next, in step S2, the travel lane in which the vehicle is traveling is recognized from the white line data, and in step S3, the steering angle θ _A , the yaw rate dψ / dt, the lateral acceleration G, the driven wheel speed Vv and the driving wheel speed Vw are determined. Based on this, the trajectory of the vehicle from the present to the future is estimated. In subsequent step S4, the traveling lane of the own vehicle and the traveling locus of the own vehicle are overlapped to determine the possibility of departure from the traveling lane. If there is no possibility of departure, the steering actuator 7, the alarm actuator 11, the throttle actuator 9 are determined. The brake actuators 2 and 4 are not operated.
[0027]
If there is a possibility of departure from the driving lane in step S4, the process proceeds to step S5 to determine whether or not the winker switch 6 has been operated. If the winker switch 6 has been operated, the driver Therefore, the actuators 2, 4, 7, 9, and 11 are not actuated by determining that they are willing to deviate from the traveling lane. If the operation of the turn signal switch 6 is not performed in step S5, steering speed theta _V 及 beauty steering torque change amount d [theta] _T / dt each threshold value theta _V0 in step S6, comparing the [dθ _T / dt] ₀ .
[0028]
Steering speed theta _V or the steering torque change amount d [theta] _T / dt is the threshold value theta _V0 in step S6, if the [dθ _T / dt] ₀ or more, the driver suddenly operates the steering wheel 5 for the purpose of obstacle avoidance The actuators 2, 4, 7, 9, and 11 are not operated. On the other hand, the steering speed theta _V 及 beauty steering torque change amount d [theta] _T / dt are both threshold theta _V0, theta _T0, is less than [dθ _T / dt] _0, the steering wheel the driver for the purpose of obstacle avoidance 5 Is determined not to have been suddenly operated, and the process proceeds to step S7.
[0029]
In step S7, the turning level of the vehicle is detected based on the steering angle θ _A , the yaw rate dψ / dt, the lateral acceleration G, the driven wheel speed Vv, the driving wheel speed Vw, and the steering speed θ _V , and the turning level is small and the vehicle motion is reduced. If the state has not reached the limit, the steering actuator 7 is activated in step S8 to assist the driver in avoiding the driving lane departure, and at the same time, the alarm device 10 is activated by the alarm actuator 11 to alert the driver. To emit. On the other hand, if the turning level is high in step S7 and the vehicle movement state has reached the limit, the throttle actuator 9 and the brake actuators 2 and 4 are operated in step S9 to reduce the vehicle speed and suppress the turning of the vehicle. By generating the yaw moment to be performed, the motion performance of the vehicle is returned from the limit region to the normal region.
[0030]
As mentioned above, although the Example of this invention was explained in full detail, this invention can perform a various design change in the range which does not deviate from the summary.
[0031]
For example, in the embodiment, when any of the conditions that the steering speed θ _V is the threshold value θ _V0 or more and the steering torque change amount dθ _T / dt is the threshold value [dθ _T / dt] ₀ or more is satisfied, the driver Although it is determined that there is an intention to deviate, the determination may be performed when any of the conditions is satisfied.
[0032]
【The invention's effect】
According to the invention described in claim 1 as above, the operation of the actuator which operates in order to avoid deviation when the vehicle deviates from the travel lane, or the threshold value of the steering speed Do及 beauty / or because win regulations when the threshold value or more of the steering torque change amount is detected, operation of the actuator is prevented from interfering with the driver's driving operation.
[0033]
According to the second aspect of the present invention, the threshold value set in accordance with the limit turning level of the vehicle is set so that the actuator that operates to avoid the departure when the vehicle deviates from the traveling lane. since win regulations when it is detected above the turning level of the vehicle turning level is prevented from being increased by the operation of the actuator.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a vehicle equipped with a travel lane departure prevention device. FIG. 2 is a block diagram of a control system.
θ _V Steering speed θ _V0 Threshold value dθ _T / dt Steering torque variation [dθ _T / dt] ₀ Threshold value M5 Steering speed detecting means M6 Turning level detecting means M8 Control selecting means (actuator operation restricting means)
M11 steering torque change quantity detecting means S ₂ steering torque sensor (steering torque detecting means)
7 Steering actuator (actuator)
11 Alarm actuator (actuator)

Claims (4)

In a vehicle travel lane departure prevention device comprising travel lane departure detection means for detecting a departure from the travel lane of the vehicle, and an actuator that operates to avoid the departure when the departure is detected,
A steering speed detecting means for detecting a steering speed, and steering torque change amount detecting means for detecting a steering rudder torque variation, threshold value or more steering speed Do及 beauty / or more threshold value of the steering torque change amount is detected A travel lane departure prevention apparatus for a vehicle, characterized in that actuator operation restricting means for restricting operation of the actuator is sometimes provided. In a vehicle travel lane departure prevention device comprising travel lane departure detection means for detecting a departure from the travel lane of the vehicle, and an actuator that operates to avoid the departure when the departure is detected,
A turning level detecting means for detecting a turning level of the vehicle and an actuator operation restricting means for restricting the operation of the actuator when a turning level equal to or higher than a threshold value set according to the limit turning level of the vehicle is detected. A travel lane departure prevention device for a vehicle. In a vehicle comprising travel lane departure detecting means for detecting a departure from the travel lane of the vehicle, and an actuator that operates to avoid the departure when the departure is detected,
When a steering speed detecting means for detecting a steering speed, a steering torque change amount detecting means for detecting a steering torque change amount, a steering speed greater than a threshold value and / or a steering torque change amount greater than a threshold value are detected. An actuator operation restricting means for restricting the operation of the actuator is provided. In a vehicle comprising travel lane departure detecting means for detecting a departure from the travel lane of the vehicle, and an actuator that operates to avoid the departure when the departure is detected,
A turning level detecting means for detecting a turning level of the vehicle and an actuator operation restricting means for restricting the operation of the actuator when a turning level equal to or higher than a threshold value set according to the limit turning level of the vehicle is detected. A vehicle characterized by that.

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