JPH1076965A - Travelling control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stop work without a sense of incongruity to a driver at the time of abnormality detection of a device by constituting the device of a continuation means to continue automatic operation while controlling by a means replaced for an automatic steering means by taking precedence over an automatic operation stoppage means. SOLUTION: An automatic brake works in the case when it is judged impossible to stop actuation of automatic operation. This automatic brake works by increasing pressure of a wheel cylinder of the brake by simultaneously driving solenoid valves 33, 35 of a brake actuator 21 from a controller 1. Consequently, it is possible to continue automatic operation while applying control by braking to vehicle travelling by automatic steering of an automatic steering means CL3 by actuation of the automatic brake, and a continuation means CL7 to continue automatic operation while controlling by a means replaced for the automatic steering means CL3 by taking precedence over an automatic operation stoppage means CL5 until it is judged to be possible to stop automatic operation after a judgement means CL6 judges it impossible to stop automatic operation is constituted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular travel control device that performs automatic driving including automatic steering of a vehicle steering device.

[0002]

2. Description of the Related Art As a conventional traveling control device for a vehicle, for example, Japanese Patent Application Laid-Open No. Sho 60-4428 and Japanese Utility Model Application Laid-Open No. 61-3963 are disclosed.
There is a constant speed traveling control device for a vehicle described in No. 6, for example. This conventional vehicle constant speed traveling control device detects a vehicle speed with a vehicle speed sensor, compares the detected vehicle speed with a target vehicle speed set by a driver's intention, calculates a deviation thereof, and sets a control arithmetic expression set in advance. , A control amount is set, the actuator is driven based on the control amount, the opening degree of the throttle valve is adjusted, the engine output is controlled, and constant-speed running is realized.

[0003] In such a conventional constant speed traveling control device for a vehicle, when there is an abnormality in the device, the operation is stopped immediately after the abnormality is detected.

On the other hand, in recent years, developments relating to automatic driving of automobiles have been made on highways and the like. In the automatic driving, the steering operation, the accelerator operation, and the brake operation of the automobile are performed by controlling an actuator by a control unit that inputs driving environment information and the like. When the automatic steering is further described, the front wheels are automatically steered by the control of the actuator by the control means which has input the traveling environment information.

As an apparatus for measuring the traveling environment information, for example, an apparatus for measuring based on images (Japanese Patent Laid-Open No. 60-37)
01, Japanese Patent Application Laid-Open No. 3-139706), an automated expressway system "AHS" which aims at realizing the second Tomei scheduled to open in 2010 under the guidance of the Ministry of Construction, Japan (Automated High
way System) ”, a device using radio waves (Japanese Patent Application No. 4-267)
160).

First, according to an image, a guide line (for example, a white line) arranged along a road is photographed by a vehicle-mounted camera, and a vehicle state such as a lateral position and a yaw angle of the traveling vehicle with respect to the guide line is taken from the photographed image. Measure the amount.

In the case of using a magnetic nail, a magnetic nail embedded along a guide line of a road is detected by a magnetic sensor of a vehicle, and a vehicle state quantity such as a lateral position of the traveling vehicle with respect to the guide line is measured.

In the case of using radio waves, two radio waves having different frequencies are used.
Means for receiving radio waves transmitted from the two radio sources and detecting the azimuth of each radio source, and means for calculating the coordinates of the traveling vehicle with respect to the radio sources by GPS; , The state quantity for the guide line is estimated.

For example, Japanese Unexamined Patent Publication No. Sho 60-37011 discloses a method in which a white line is recognized from an image of a vehicle-mounted camera directed forward of a vehicle, a lateral position and a yaw angle of the vehicle with respect to the lane are calculated, and steering is performed. It drives the device to steer the front wheels.

[0010]

By the way, in the automatic steering apparatus described in the above-mentioned Japanese Patent Application Laid-Open No. 60-37011, for example, if the current circuit for the steering apparatus is disconnected, there is a possibility that the steering drive becomes impossible. In automatic driving including automatic steering, it is necessary to stop automatic driving when such an abnormality occurs.

However, if the automatic driving is stopped immediately after the abnormality of the automatic steering is detected as in the above-mentioned conventional constant-speed traveling control device for a vehicle, the following problems may be caused.

That is, when automatic steering is being performed, the steering device is automatically driven by the actuator, and the driver can release his / her hand from the steering wheel. Therefore, if the operation of the apparatus is stopped immediately after the abnormality is detected, regardless of the driver's intention of driving, the driver may feel uncomfortable when the operation shifts to the manual driving. Therefore, an object of the present invention is to provide a vehicle travel control device that can stop operation without causing a driver to feel uncomfortable when an abnormality is detected in the device.

[0013]

A first aspect of the present invention is a traveling direction determining means for determining a traveling direction of a vehicle, a steering angle determining means for determining a steering angle based on the traveling direction determining means, Intermittent automatic steering means for automatically steering a steering device so as to have a steering angle determined by an angle determination means, automatic driving means including the automatic steering means, and abnormality detection means for detecting an abnormality of the automatic steering means An automatic operation stopping means for interrupting automatic operation by the automatic driving means when the abnormality detecting means detects an abnormality, a judging means for judging whether or not interruption by the automatic operation stopping means is possible, and an abnormality detecting means for detecting abnormality by the abnormality detecting means. When the determining means determines that the automatic driving can not be stopped and before it determines that the automatic driving can be stopped, the automatic driving stop means has priority over the automatic driving means and is restricted by the means instead of the automatic steering means. Wherein a continuation means for continuing the automatic operation, in that it consists with the addition.

Therefore, the steering angle determining means determines the steering angle based on the determination of the traveling direction of the vehicle by the traveling direction determining means, and the automatic steering means automatically steers the steering device.
If the abnormality detection means detects an abnormality in the automatic steering means during the automatic steering, the automatic operation stop means shuts off the automatic operation.
Then, when the automatic operation is interrupted, the judging means judges whether or not the automatic operation can be interrupted by the automatic operation suspending means. When the abnormality is detected by the abnormality detecting means, the judging means judges that the automatic operation cannot be interrupted, and then judges that the automatic operation can be interrupted. Until the automatic driving stop means is given priority, the automatic driving can be continued while the restriction is applied by the means instead of the automatic steering means.

According to a second aspect of the present invention, there is provided the vehicle traveling control apparatus according to the first aspect, wherein the continuation means regulates the vehicle by braking control.

Therefore, the automatic operation can be continued while the regulation is applied by the braking control.

According to a third aspect of the present invention, in the vehicle traveling control apparatus according to the first aspect, the continuation means independently controls the left and right wheels of the vehicle based on the steering angle determined by the steering angle determination means. It is characterized in that braking is controlled and regulation is applied.

Therefore, in addition to the operation of the first aspect of the present invention, the automatic driving is continued while the braking is controlled by independently controlling the left and right wheels of the vehicle based on the steering angle determined by the steering angle determining means. Can be.

According to a fourth aspect of the present invention, there is provided the travel control device for a vehicle according to the second or third aspect, further comprising an inter-vehicle distance detecting means for detecting an inter-vehicle distance with a preceding vehicle, and the continuation means comprising: It is characterized in that regulation is applied by braking control according to the following distance detected by the detecting means.

Therefore, in addition to the operation of the second or third aspect of the present invention, the automatic driving can be continued while restricting by the braking control according to the following distance detected by the following distance detecting means.

According to a fifth aspect of the present invention, there is provided the traveling control device for a vehicle according to any one of the first to fourth aspects, wherein the traveling direction determining means detects a detection signal of a traveling environment detection sensor for detecting traveling environment information. And the automatic steering means is a steering actuator that steers and drives a steering device so that the steering angle becomes the determined steering angle.

Therefore, in addition to the operation of any one of the first to fourth aspects of the present invention, the traveling direction determining means determines the traveling direction based on the traveling environment information detected by the traveling environment detection sensor, and the steering actuator determines the steering angle. The steering device is steered so that

According to a sixth aspect of the present invention, there is provided the vehicle traveling control apparatus according to any one of the first to fifth aspects, further comprising a driving operation detecting means for detecting that a driver is performing a driving operation, The determination means considers a driver's intention based on the detection of the driving operation detection means.

Therefore, in addition to the function of any one of the first to fifth aspects of the present invention, the presence or absence of a driving operation of a steering device, an accelerator pedal, a brake pedal, a shift lever or the like is detected by the driving operation detecting means, so that an occupant of the occupant can be detected. The intention of the driving operation can be confirmed, and by taking this into account, the determining means can determine whether or not the automatic driving stop means can shut off.

According to a seventh aspect of the present invention, there is provided the vehicle travel control device according to any one of the first to fifth aspects, further comprising an automatic operation cancel switch for canceling automatic operation by a driver, wherein the determination means includes: The driver's intention is considered based on the operation of the automatic driving cancel switch.

Therefore, in addition to the effect of any one of the first to fifth aspects of the present invention, the driver's intention for the driving operation can be confirmed by confirming whether or not the driver has operated the automatic driving cancel switch. By taking this into account, it is possible to determine whether or not the automatic operation stopping means can shut off the vehicle.

The invention according to claim 8 is the traveling control device for a vehicle according to any one of claims 1 to 5, further comprising an automatic steering cancel switch for canceling automatic steering by a driver, wherein the determining means comprises: The driver's intention is considered based on the operation of the automatic steering cancel switch.

Therefore, in addition to the effect of any one of the first to fifth aspects of the present invention, the driver's intention for the driving operation can be confirmed based on whether or not the automatic steering cancel switch is operated, and this should be taken into consideration. With this, it is possible to interrupt whether or not the cutoff by the automatic operation stopping means is possible.

According to a ninth aspect of the present invention, there is provided the vehicle travel control device according to any one of the first to eighth aspects, further comprising: an alarm unit that issues an alarm when the abnormality detection unit detects an abnormality. After the warning by the warning means,
It is characterized in that it is determined whether or not the interruption by the automatic operation stopping means is possible based on whether or not the set time has elapsed.

Therefore, in addition to the function of any one of the first to eighth aspects of the present invention, when the abnormality detecting means detects an abnormality,
The alarm means can issue an alarm to notify the driver of the abnormality of the automatic steering means. Then, whether or not the automatic operation can be stopped can be determined based on whether or not a predetermined time has elapsed after the warning.

[0031]

According to the first aspect of the present invention, even when an abnormality is detected in the automatic steering means, the automatic driving is not immediately shut off by the automatic driving stop means, but the occupant is not consciously performing the driving operation. When it is determined that the automatic driving is performed, it is possible to continue the automatic driving while adding the regulation, and it is possible to perform the control without any uncomfortable feeling from the stop of the automatic driving to the conscious driving operation of the occupant.

According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, since the automatic driving can be continued while braking the vehicle, it is possible to perform a control that is more comfortable and improves safety. Can be.

According to the third aspect of the present invention, in addition to the effect of the first aspect of the present invention, the automatic driving can be continued so as to maintain the determined steering angle, and the automatic driving can be performed more comfortably and without a sense of incongruity. be able to. In addition, since the steering angle is maintained by the braking control, safety can be further improved.

According to the fourth aspect of the invention, in addition to the effects of the second or third aspect, the automatic driving can be continued while maintaining the inter-vehicle distance, and the control can be performed without difficulty and without discomfort. Further, since the inter-vehicle distance is maintained by the braking control, safety can be further improved.

According to the fifth aspect of the present invention, in addition to the effect of any one of the first to fourth aspects, the detection of the traveling environment information enables
Since the steering device is steered and driven via the steering actuator, reliable automatic operation can be performed.

According to the sixth aspect of the present invention, in addition to the effects of any one of the first to fifth aspects, the driver's intention to drive the vehicle can be directly determined by the detection of the driving operation detecting means. Control can be performed.

According to the seventh aspect of the invention, in addition to the effects of any one of the first to fifth aspects, it is possible to infer that the occupant intentionally enters the driving operation by operating the automatic driving cancel switch, It is possible to perform control without a sense of incongruity. In addition, the structure can be simplified.

According to the eighth aspect of the present invention, in addition to the effects of any one of the first to fifth aspects, manual steering of the occupant can be estimated by operating the automatic steering cancel switch.
It is possible to perform a control without a sense of incongruity without difficulty. In addition, the structure can be simplified.

According to the ninth aspect of the present invention, in addition to the effects of any one of the first to eighth aspects, an abnormality can be notified to the driver by an alarm, and an accurate response can be made by the driver's reliable recognition of the abnormality. be able to. In addition, since it is determined whether or not the automatic operation can be stopped based on whether or not the set time has elapsed since the alarm, the structure is simple.

[0040]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIGS. 1 to 4 relate to a first embodiment of the present invention, FIG. 1 is a schematic overall block diagram of a vehicle travel control device, and FIGS. 2 to 4 are flowcharts.

First, as shown in FIG. 1, the vehicle running control device is a controller 1 comprising a microcomputer.
It has. A white line detection sensor 3, an inter-vehicle distance sensor 5, a vehicle speed sensor 7, an engine speed sensor 9, an automatic operation switch 11, an automatic steering cancel switch 13, and a steering torque sensor 15 are connected to input ports of the controller 1.

The white line detecting sensor 3 is, for example, a vehicle-mounted C
Consists of CD camera, it recognizes a white line on the photographed road, and outputs a lateral deviation Y1 of the vehicle in front of the distance L _s. Distance L _s of the vehicle front is located the body on the longitudinal center line in the vehicle width direction center, the vehicle is set as a distance in front of avoiding departure lane by re steering. In the present embodiment, L _s = 15 m. The lateral shift amount Y1 is a lateral distance between the white line at the position of the distance L _s. The inter-vehicle distance sensor 5 is configured by, for example, a laser radar, and detects and outputs an inter-vehicle distance L to a vehicle ahead. The vehicle speed sensor 7 outputs a vehicle speed V. The vehicle speed sensor 7 constitutes a driving environment detection sensor that detects driving environment information together with the white line detection sensor 3. Then, the controller 1 inputs signals from the white line detection sensor 3 and the vehicle speed sensor 7 as traveling environment information, determines the traveling direction of the vehicle, and constitutes traveling direction determination means CL1. Further, the controller 1 determines a steering angle based on the determined traveling direction, and constitutes a steering angle determining means CL2.

The engine speed sensor 9 outputs an engine speed Ne. The automatic operation switch (automatic operation switch) 11 is provided in an instrument in a driver's seat, a center console, or the like, and is a switch for starting and canceling automatic operation, and outputs an ON / OFF signal. The automatic steering cancel switch (automatic steering cancel S
W) 13 is a switch for canceling automatic steering, which is provided in an instrument in the driver's seat, a center console, or the like, and outputs an ON / OFF signal. The steering torque sensor 15 outputs a steering torque T _rqθ when the driver operates the steering wheel. This makes it possible to detect whether or not the driver is holding the steering wheel, and the steering torque sensor 15 constitutes a driving operation detecting means.

On the output port side of the controller 1,
A steering actuator 17, a throttle actuator 19, a brake actuator 21, and an alarm buzzer 23 as alarm means are connected.

The steering actuator 17 includes a motor 25 and a steering angle sensor 27. Motor 2
Reference numeral 5 drives a steering device to perform automatic steering instead of manual steering. The steering angle sensor 27 detects and outputs a rotation angle of a steering shaft (not shown) of the steering device. The output of the steering angle sensor 27 is fed back to the controller 1. Therefore, when the controller 1 functions as a steering angle determining means and determines the steering angle, the motor 25 steers and drives the steering device until the steering angle sensor 27 detects the determined steering angle.
And the steering actuator 17 is an automatic steering means C
L3.

The throttle actuator 19 includes a motor 29 and a throttle opening sensor 31. The motor 29 opens and closes driving the throttle valve, the throttle opening degree sensor 31 detects the throttle opening degree A _th of a throttle valve which is opened and closed, the controller 1
Feedback to

The brake actuator 21 has a solenoid valve 33 for controlling the brake pressure of the right wheel, and a solenoid valve 35 for controlling the brake pressure of the left wheel.

The steering actuator 17, throttle actuator 19 and brake actuator 21 are connected to a battery 39 via a relay 37. A drive signal from the controller 1 is input to the relay 37, and the actuators 17, 19, and 21 are selectively driven by the operation of the relay 37.

The controller 1, steering actuator 17, throttle actuator 19,
And the brake actuator 21 is connected to the automatic driving means CL.
8.

The controller 1 includes an abnormality detecting means CL4 for detecting an abnormality of the steering actuator 17 as the automatic steering means CL3, and an abnormality detecting means CL4.
Constitutes an automatic driving stop means CL5 for interrupting automatic driving when an abnormality is detected, and a judging means CL6 for judging whether the automatic driving stopping means CL5 can shut off in consideration of the driver's intention.

Further, when the controller 1 and the brake actuator 21 detect an abnormality by the abnormality detecting means CL4, the controller 1 and the brake actuator 21 determine that the automatic operation cannot be stopped by the judging means CL6 until the automatic operation can be stopped. The automatic steering means CL has priority over the operation stopping means CL5.
A continuation means CL7 for continuing the automatic operation while restricting by means instead of the means 3 is provided.

The controller 1 operates as abnormality detecting means CL4.
When the controller 1 outputs to the motor 25, when the steering angle steered by the motor 25 is different from the steering angle output by the controller 1, it is determined that there is an abnormality. When the controller 1 functions as the automatic operation stop means CL5, the controller 1 does not output to the motor 25. When functioning as the judgment means CL6, the automatic operation switch 11, the automatic operation cancel switch 13
Is operated, or the steering torque sensor 1
The intention of the occupant is considered depending on whether the steering wheel is operated by the signal from 5, and when it is determined that the driving operation is being performed by the occupant's intention, it is determined that the automatic driving can be stopped. The continuation means CL7
Function, the controller 1 determines that the automatic operation can not be stopped and continues until the controller 1 determines that the automatic operation can be stopped.
Is not output to the motor 25, but by inputting a signal from the vehicle speed sensor 7 to the motor 29 of the throttle actuator 19, the speed control is continued at the set vehicle speed and the automatic driving is continued. And the electromagnetic valves 33, 35 of the brake actuator 21
To perform braking control of the vehicle, and continue the automatic driving while adding restrictions.

Next, the operation will be described with reference to the flowcharts of FIGS. This program is executed at predetermined time intervals by an operating system (OS) not shown. The flowchart in FIG. 2 shows the entire program, FIG. 3 shows a program when an abnormality is detected in the steering actuator 17, and FIG. 4 shows details of an automatic driving program.

First, as shown in FIG. 2, in step S1, a white line detection sensor 3, an inter-vehicle distance sensor 5, a vehicle speed sensor 7, an engine speed sensor 9, an automatic operation switch 11, an automatic steering cancel switch 13, a steering torque sensor 15, The signals from the steering angle sensor 27 and the throttle opening sensor 31 are read.

In step S2, the automatic operation switch 11
Is determined to be ON or OFF, and if OFF, step S
Then, all the contacts of the relay 37 are turned off, the power of the actuators 17, 19 and 21 is turned off, and the process is terminated. If the automatic operation switch 11 is ON, step S
Move to 4.

In step S4, it is determined whether the steering actuator (steering actuator 17) is normal. The flag flag-fail = 0 if the steering actuator is normal, and the flag flag if abnormal.
-Fail = 1, and if normal, step S
Then, the routine proceeds to step 5, where normal automatic operation control is performed, and then abnormality detection in step S6 is performed. Step S
If it is determined in step 4 that there is an abnormality, the process proceeds to step S7 in FIG.

That is, step S4 is step S4.
6 together with an abnormality detecting means CL4, and an automatic operation stopping means C for interrupting automatic operation when an abnormality is detected.
L5.

The normal automatic operation in step S5 will be described later with reference to FIG.

In the abnormality detection in step S6, it is first determined in step S61 whether or not the steering actuator is abnormal. In the present embodiment, first, the steering angle sensor 27 shown in FIG.
When the steering angle θ _s detected by the above is larger than the predetermined value θ _{s0, secondly,} when the steering angular velocity dθ _{s / dt} is larger than the predetermined value, thirdly, the command steering angle θ _s ^* and the actual steering angle θ _s It is determined that there is an abnormality in three cases where the difference exceeds a predetermined value when the predetermined time has elapsed, and in step S62, the flag flag-fail = 1 is set, and only the power of the steering actuator and the steering actuator 17 is turned off. , Except for the above three cases,
In step S63, the flag flag-fail = 0.
And exit.

If it is determined in step S4 that the operation is abnormal, the process proceeds to step S7 in FIG. 3 to stop the automatic operation. In step S7, the operation of the entire apparatus may be stopped, that is, the intention of the occupant may be determined. In consideration of this, it is determined whether or not the automatic operation can be stopped. That is, step S4 constitutes the automatic operation stop means CL5, and step S7 constitutes the judgment means CL6 together with step S10 described later.

In step S7, if the automatic operation can be stopped, the flag flag-OK = 1, the flow shifts to step S8, and the power is turned off. That is, a signal is sent from the controller 1 to the relay 37 in FIG.
The power supply to all the actuators 17, 19, 21 is cut off. Therefore, the occupant performs normal manual operation such as steering operation.

If it is determined in step S7 that the operation of the automatic driving cannot be stopped, the process proceeds to step S9, and the automatic brake operates. This automatic braking is performed by simultaneously driving the solenoid valves 33 and 35 of the brake actuator 21 from the controller 1 to increase the pressure of the brake wheel cylinder (not shown).
Therefore, the automatic steering means CL is operated by the operation of the automatic brake.
The automatic driving can be continued while adding the regulation by the braking to the vehicle running by the automatic steering in step 3,
7. Step S9 is a step in which the automatic driving stop means CL5 is prioritized over the automatic driving stop means CL5 while the automatic driving stop means CL3 is controlled by the automatic driving stop means CL5 until the automatic driving stop means is determined to be available. Continuation means CL7 for continuing the automatic operation is configured.

Next, in step S10, it is determined whether or not the operation of the apparatus is OK, that is, whether or not the shut-off is permitted by the automatic operation stopping means CL5. That is, step S1
At 01, a determination is made as to whether the driver is holding the steering wheel. This determination is made based on whether or not the output _Trqθ of the steering torque sensor 15 in FIG. 1 is equal to or greater than a predetermined value. If it is determined that the output is greater than or equal to the predetermined value and the driver is holding the steering wheel, the _{process proceeds} to step S102. And
The flag flag-OK is set to 1, and if it is determined that the steering wheel is not being held, the process proceeds to step S103, and the flag flag-OK is reset to 0.
Therefore, by the step S10 functioning as the judgment means CL6, it can be considered whether or not the driver has entered the manual operation by his / her own will.

The normal automatic operation in step S5 of FIG. 2 is performed based on the flowchart of FIG.
That is, in step S11, the target steering angle θ _s ^* is calculated from the lateral displacement Y1 ahead of the vehicle body L _s m ahead and the current vehicle speed V. That is, step S11 constitutes the steering angle determining means CL2 which determines the steering angle based on the output signals of the white line detection sensor 3 and the vehicle speed sensor 7.

In step S12, the inter-vehicle distance L and the vehicle speed V
The target throttle opening A _th ^* and the target brake pressure P ^*
Is calculated.

In step S13, a signal is output to the steering actuator, that is, the motor 25 of the steering actuator 17, so that the steering angle θ _s detected by the steering angle sensor 27 becomes the target steering angle θ _s ^*.
Reference numeral 13 forms the automatic steering means CL3. Step S
At 14, a drive signal is output to the motor 29 of the throttle actuator 19 so that the throttle opening _Ath detected by the throttle opening sensor 31 becomes the target throttle opening _Ath ^* . Further, the solenoid valves 33 and 35 of the brake actuator 21 are set so that the brake pressure P detected in step S15 becomes the target brake pressure P ^*.
The driving signal is output to As a result, the vehicle is automatically driven by automatic steering and automatic speed control regardless of the driver's intention. Therefore, steps S11 to S15 constitute the automatic driving means CL8.

As described above, when the steering actuator 17 does not operate normally for some reason during the automatic driving by the automatic steering and the automatic speed control, the power of the entire apparatus is immediately turned off to return to the normal driving state. Instead, only the power of the abnormal steering actuator 17 is turned off, and the vehicle is quickly decelerated or stopped until it is detected that the driver has gripped the steering wheel for manual steering. When it is detected that the driver has grasped the vehicle, the vehicle is returned to the normal driving state at that time, so that the transition from the automatic driving state to the normal driving state in which the driver performs the driving operation according to his / her own will be extremely smooth. In addition, it is possible to perform control without a sense of discomfort without difficulty.

When there is an abnormality in the steering actuator 17, an output is issued to the alarm buzzer 23,
The alarm can notify the driver of the abnormality. The driver can turn off the power to the steering actuator 17 by operating the automatic steering cancel switch 13 when hearing the warning, and can smoothly operate the vehicle by his / her own will.

In step S10, when the driver's intention is taken into consideration as the determination means CL6, it is determined whether the driver is holding the steering wheel. However, the driver has operated the automatic driving cancel switch 11. The driver's intention can also be considered depending on whether or not the automatic steering cancel switch 13 has been operated, and whether or not the set time has elapsed by the timer counter from the alarm by the alarm buzzer 23. In the case of the automatic driving cancel switch 11, the driver's intention of manual steering can be more accurately reflected. In the case of the automatic steering cancel switch 13, as in the case of the automatic driving cancel switch 11, the driver's intention can be appropriately reflected, and since only automatic steering is canceled, the vehicle speed control of the following distance control type is used. There is an advantage that automatic operation can be continued. When it is determined whether or not a predetermined time has elapsed after the activation of the alarm buzzer 23, there is an advantage that the operation of the vehicle can be easily understood by the driver.

(Second Embodiment) In the first embodiment,
If it is determined that the automatic operation cannot be stopped, the process proceeds to step S9.
In the above, the automatic braking control for equally braking the left and right wheels is performed. However, the braking control for the left and right wheels can be independently performed as shown in FIG. In the second embodiment,
The overall block diagram is the same as FIG. 1, and the overall flowchart is substantially the same as FIG. 2 and FIG.

On the other hand, in the second embodiment, the flowchart in FIG. 5 is adopted instead of step S9 in FIG. 3 in the first embodiment. That is, if it is determined in step S7 of FIG. 3 that the operation of the apparatus is OK or not, that is, if it is determined that the automatic operation can be stopped, it is determined that the automatic operation cannot be stopped. Be executed. With this execution, the deviation e is obtained in step S51.
Is calculated. The deviation e is the difference between the steering angle theta _s and a target steering angle theta _s ^* which is detected by the steering angle sensor 27, is calculated by e = θ _s -θ _s ^*. In step S52, left and right brake pressures _Pr ^* and _Pl ^* are calculated. These brake pressures P _r ^* and P _l ^* are values larger than zero, and P _r ^* =
It is calculated as _Kp ^* e. _Kp is a gain.

In step S53, drive signals are output to the left and right solenoid valves 33 and 35 so that the target brake pressures P _r ^* and P _l ^* calculated in step S52 are obtained. As a result, the left and right wheels of the vehicle are brake-controlled independently so as to maintain the steering angle determined by the steering angle determining means CL2, and the automatic driving can be continued.

Therefore, in the second embodiment, substantially the same operation and effect as in the first embodiment can be obtained. or,
In the second embodiment, since the target steering angle is maintained by the braking control of the left and right wheels, it is possible to more accurately continue the automatic driving until the occupant performs the manual steering with his / her own intention.

(Third Embodiment) FIG. 6 is a flow chart of a main part according to a third embodiment. As in the flow chart of FIG. 5 of the second embodiment, the automatic braking in step S9 of the first embodiment is performed. Is executed in place of the control. Accordingly, the overall configuration is substantially the same as that shown in FIGS.

On the other hand, when it is determined in step S7 in FIG. 3 that the automatic driving cannot be stopped, the flow of the automatic braking corresponding to the following distance in FIG. 6 is executed in step S9. Steps S71 to S73 correspond to steps S51 to S53 in FIG. 5, and by performing steps S71 to S73, the left and right solenoid valves 33 and 35 are controlled so as to maintain the target steering angle. . When the inter-vehicle distance read by the inter-vehicle distance sensor 5 is approaching, the solenoid valves 33 and 35 are controlled so as to increase the deceleration so that the inter-vehicle distance with the preceding vehicle has a margin. I can do it.

Therefore, the third embodiment can provide substantially the same operation and effect as those of the first and second embodiments. Further, in the third embodiment, automatic driving can be performed according to the inter-vehicle distance, and more precise control is possible.

[Brief description of the drawings]

FIG. 1 is a control block diagram according to a first embodiment.

FIG. 2 is a flowchart according to the first embodiment.

FIG. 3 is a flowchart according to the first embodiment.

FIG. 4 is a flowchart according to the first embodiment.

FIG. 5 is a flowchart according to a second embodiment.

FIG. 6 is a flowchart according to a third embodiment.

[Explanation of symbols]

Reference Signs List 1 controller 3 white line detection sensor (driving environment detection sensor) 5 inter-vehicle distance sensor 7 vehicle speed sensor (driving environment detection sensor) 11 automatic driving cancel switch (driving operation detecting means) 13 automatic steering cancel switch (driving operation detecting means) 15 steering torque Sensor (driving operation detecting means) 17 Steering actuator (automatic steering means) 21 Brake actuator (continuation means) 23 Alarm buzzer (alarm means) CL1 Traveling direction determining means CL2 Steering angle determining means CL3 Automatic steering means CL4 Abnormality detecting means CL5 Automatic driving Stopping means CL6 Judging means CL7 Continuation means CL8 Automatic driving means

Continued on the front page (51) Int.Cl. ⁶ Identification number Agency reference number FI Technical display location B62D 127: 00

Claims (9)

[Claims] 1. A traveling direction determining means for determining a traveling direction of a vehicle, a steering angle determining means for determining a steering angle based on the traveling direction determining means, and a steering angle determined by the steering angle determining means. Intermittent automatic steering means for automatically steering a steering device, automatic driving means including the automatic steering means, abnormality detection means for detecting abnormality of the automatic steering means, and abnormality detection means for detecting abnormality Automatic operation stopping means for interrupting automatic operation by the automatic driving means, determining means for determining whether or not the automatic driving stopping means can shut off the automatic driving means; and Until the automatic driving can be stopped until it is determined that the automatic driving can be stopped. And Nau continuation means, the vehicle control system composed of. 2. The travel control device for a vehicle according to claim 1, wherein the continuation means applies a regulation by braking control of the vehicle. 3. The traveling control device for a vehicle according to claim 1, wherein the continuation means controls the left and right wheels of the vehicle independently based on a steering angle determined by the steering angle determination means. A travel control device for a vehicle, characterized by adding: 4. The traveling control device for a vehicle according to claim 2, further comprising an inter-vehicle distance detecting means for detecting an inter-vehicle distance with a preceding vehicle, wherein the continuation means detects the inter-vehicle distance detecting means. A driving control device for a vehicle, wherein a restriction is applied by a braking control according to an inter-vehicle distance. 5. The traveling control device for a vehicle according to claim 1, wherein the traveling direction determination unit performs the traveling based on a detection signal of a traveling environment detection sensor that detects traveling environment information. A traveling control device for a vehicle, wherein a direction is determined, and the automatic steering means is a steering actuator that steers and drives a steering device so as to have a determined steering angle. 6. The vehicle traveling control device according to claim 1, further comprising: a driving operation detecting unit that detects that a driver is performing a driving operation, wherein the determining unit includes: A driving control device for a vehicle, wherein a driver's intention is considered based on the detection of the driving operation detecting means. 7. The traveling control device for a vehicle according to claim 1, further comprising an automatic driving cancel switch for canceling automatic driving by a driver, wherein the determination unit is configured to switch the automatic driving cancel switch. A driving control device for a vehicle, wherein a driver's intention is considered based on the operation of the vehicle. 8. The vehicle travel control device according to claim 1, further comprising an automatic steering cancel switch for canceling automatic steering by a driver, wherein the determination unit includes the automatic steering cancel switch. A driving control device for a vehicle, wherein a driver's intention is considered based on the operation of the vehicle. 9. The vehicle travel control device according to claim 1, further comprising: an alarm unit that issues an alarm when the abnormality detection unit detects an abnormality. A travel control device for a vehicle, which determines whether the automatic driving stop means can shut off the vehicle based on whether a set time has elapsed after the warning by the warning means.