CN104129424A - Control system and control method for vehicle - Google Patents
Control system and control method for vehicle Download PDFInfo
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- CN104129424A CN104129424A CN201410302785.8A CN201410302785A CN104129424A CN 104129424 A CN104129424 A CN 104129424A CN 201410302785 A CN201410302785 A CN 201410302785A CN 104129424 A CN104129424 A CN 104129424A
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Abstract
The invention relates to a control system and a control method for a vehicle. The control system for the vehicle comprises a direction indicator which is used by a driver to indicate the direction, and a control device which generates auxiliary torque to be used for performing lane keeping control which enables the vehicle to follow a target traveling route, wherein the control device is used for ending the lane keeping control when the indicated direction of the direction indication operation conducted by the direction indicator and the generating direction of the auxiliary torque are different, and is used for continuing the lane keeping control when the indicated direction and the generating direction are the same.
Description
The application be based on the applying date be dividing an application of proposing of on 04 10th, 2009, application number are 200980158654.4, denomination of invention is " control setup of vehicle " application for a patent for invention.
Technical field
The present invention relates to the technical field of the control setup of vehicle, the control setup of described vehicle is such as by steering hardwarees such as active steering mechanisms, the mode that maintains control can carry out the tracks such as LKA (Lane Keeping Assist, lane keeping is auxiliary) control is controlled vehicle.
Background technology
As this device, propose to have the device (for example,, with reference to patent documentation 1) giving the alarm when vehicle derailing track.According to the track detachment alarm device of patent documentation 1 disclosed vehicle, when in the situation that turn signal lamp in work process in judge vehicle derailing traveling lane, if the direction indication of the disengaging direction of vehicle and turn signal lamp is consistent, do not give the alarm, passenger thus can not thank you for your hospitality.
In addition, proposition has following scheme: in order to solve opportunity and the inharmonic problem of chaufeur that stops turning to control when stopping turning to control according to the flicker operation of turn signal lamp, the possibility that assess driver turns to, and make to stop turning to the difficulty of control variable (for example,, with reference to patent documentation 2) according to the possibility turning to evaluating.
In addition, proposing has following scheme: when the direction shown in direction switch signal with depart from the direction shown in direction when identical, judge that chaufeur is change lane consciously, and disengaging judge mark be set as to " pass " (for example,, with reference to patent documentation 3).
In addition, proposing has following scheme: when the direction of operating of turn signal lamp is consistent with steering direction, change turn to auxiliary torque towards (for example,, with reference to patent documentation 4).
Technical literature formerly
Patent documentation
Patent documentation 1: TOHKEMY 2006-069323 communique
Patent documentation 2: TOHKEMY 2007-313978 communique
Patent documentation 3: TOHKEMY 2007-296920 communique
Patent documentation 4: TOHKEMY 2002-274402 communique
Summary of the invention
Invent problem to be solved
In this track of can carrying out, maintain in the vehicle of control, while carrying out turn signal lamp operation in the process that maintains control in execution track, if think, described turn signal lamp operation is a kind of chaufeur input, needs to finish track and maintains control.But, in track, maintain in control, steering handwheel is more or less applied with to the steering effort that impels it to turn to, therefore when only maintaining control by this turn signal lamp EO track, existence is accompanied by that track maintains the end of control, the direction that the deflection of vehicle is wished from chaufeur is different, thereby makes chaufeur feel inharmonic situation.In above-mentioned patent documentation in disclosed technological thought, do not consider the inharmonious sense that the deflection of this vehicle brings to chaufeur.
In the prior art of above-mentioned patent documentation illustrated, there is following technical problem: when finish track by direction of operating indicating device, maintain while controlling, vehicle may be to the undesirable direction deflection of chaufeur.The present invention completes just in view of the above problems, and its object is to provide a kind of control setup of vehicle, can not bring the inharmonious sense of chaufeur and finish track to maintain control.
For the method for dealing with problems
In order to address the above problem, the control setup of the vehicle the present invention relates to, comprises steering hardware, and described steering hardware can be in the situation that be subject to the impact that turns to input of chaufeur that the corner of steering handwheel is changed, the control setup of described vehicle is characterised in that, comprising:
Performance element, described performance element maintains and require to carry out predetermined track and maintain control according to track, and described track maintains to control described steering hardware is controlled, so that described vehicle breakaway running route not; With
End unit, described end unit term of execution described track maintains control in, the serviceability based on arm for direction indicator and the state of a control of described steering hardware finish described track and maintain control.
The vehicle the present invention relates to is the vehicle that comprises steering hardware, described steering hardware can be not the input (preferably refer to and be accompanied by operation that the input of steering torque that the operating unit that impels chaufeur to carry out steering operation via bearing circle etc. can obtain or the variation of deflection angle (being operation angle or the angle of rotation of described operating unit) carry out etc.) that turns to by chaufeur the corner (being actual rotational angle) of steering handwheel is changed.
The control setup of the vehicle the present invention relates to is such control setup: for example, can comprise suitably one or more CPU (Central Processing Unit, central process unit), MPU (Micro Processing Unit, microprocessor), various treaters or various controller, or further comprise ROM (Read Only Memory, read-only memory (ROM)), RAM (Random Access Memory, random access memory), the various memory cell such as buffer memory or flash memory, and can adopt single or multiple ECU (Electronic Controlled Unit, electronic control unit) the various processing units such as, the modes such as various computer systems such as various controllers or microdevice.
The putting into practice form and can exist in every way of the steering hardware the present invention relates to.For example, the steering hardware the present invention relates to,
(1) can be the electronic corner changeable mechanism that is called steering-by-wire (below suitably referred to as " SBW ") etc., described electronic corner changeable mechanism can be ignored deflection angle and directly or indirectly steering handwheel be applied to the steering effort that impels corner to change,
(2) can be also so-called EPS (Electronic Controlled Power Steering, electron steering servo steering system) the various electronic control type power steering gears such as, described electronic control type power steering gear is the steering torque from rotating machines such as motors by supply, can assist steering shaft for example or miniature gears rotatablely move or with the straight-line motion of the tooth bar of described miniature gears engagement
(3) can be also VGRS (Variable Gear Ratio Steering for example, variable gear ratio steering swivel system) etc. transmit variable ratio device, described transmission variable ratio device make corner with respect to the rate of change of deflection angle, be for example corner transmission, than (, deflection angle is divided by the value of actual rotational angle gained) variable
In addition, described steering hardware can be also other structures.
According to the control setup of the vehicle the present invention relates to, when its work, according to track, maintain and require to carry out track by performance element and maintain control, will maintain functional additive technique to vehicle such as tracks such as LKA.It is conceptive from it that described track maintains control, by suitable detecting unit (for example refer to, onboard camera etc.) identifying object thing (for example, comprise white line (not only referring to white color) or graticule etc.), and (" automatically " of described situation refers to: automatically, ignore the input that turns to of chaufeur) corner is controlled, so that maintaining on the track of being stipulated by described object, the traveling lane of vehicle (in other words, make vehicle not depart from described object).
On the other hand, from the preferential viewpoint of the wish of chaufeur, at chaufeur, turn to wish in suitable mode (for example, operation by steering operation or arm for direction indicator etc.) in situation about being expressed, preferred described track maintains control and finishes at once (to say on the contrary it, when track maintains, control while carrying out, chaufeur turn to the input substantially inoperative).
At this, when making thisly can to ignore the turning to input of chaufeur and the track of carrying out while maintaining the EO of controlling according to arm for direction indicator, there is the situation of the deflection that the undesirable vehicle of chaufeur occurs.Specifically, in track, maintain and control in the process finishing, steering handwheel (has for example been applied in steering effort by steering hardware, steering shaft is applied to steering torque), under Gai Zhuan Condition, when (be stop moment or stop gradually all basic identical) applies described steering effort when stopping, steering handwheel turns to (reply of corner) to the reversing sense that has applied the direction of steering effort.; even if the operation of arm for direction indicator itself is to express the wish that turns to of chaufeur; but because that may not be accompanied by physics or electric, turn to input; so the in the situation that of direction of operating indicating device; owing to being accompanied by track and maintaining the steer phenomenon of the steering handwheel that the end of control occurs, vehicle deflects.No matter when carrying out track, maintain while controlling, steering hardware is that the variation that is accompanied by deflection angle is controlled, and does not still follow the variation (comprising fully little situation) of deflection angle to be controlled, and the deflection of such vehicle all produces equally.In addition, the deflection of such vehicle is not to produce according to the wish of chaufeur, therefore chaufeur feels that to the deflection of described vehicle inharmonic possibility is high, particularly when execution track maintains control, at steering hardware, do not follow in the controlled situation of variation (comprise fully little situation) of deflection angle, exist chaufeur to feel obvious inharmonic possibility.
Therefore,, in the control setup of the vehicle the present invention relates to, end unit forms for following: the serviceability based on arm for direction indicator term of execution track maintains control and the state of a control of steering hardware maintain track and control end.
The deflection that chaufeur maintains to track the vehicle producing while control finishing how perception in large degree by the serviceability of indicating device and the state of a control of steering hardware left and right, wherein, the serviceability of indicating device comprises whether arm for direction indicator having been carried out to operation or described direction indication is which direction etc., the state of a control of described steering hardware comprise when carry out when track maintains control, whether be applied with steering effort or steering torque or described steering effort or steering torque apply direction or no there is chaufeur turn to input etc.
Therefore, as mentioned above, serviceability based on arm for direction indicator and the state of a control of steering hardware, suitably be accompanied by track maintain control various end forms decision or select to finish track and maintain control, can alleviate at least to a certain extent the inharmonious sense that may impose on chaufeur thus.Wherein, the various end forms that described track maintains control refer to: for example, whether should finish immediately track maintain control, whether should fixing or unfixed during in continue that track maintains controls, to start program that end relates on which opportunity, the program that end related on which completes or should finish track to two-value and maintains control on opportunity, still should be accompanied by weakening gradually step by step or continuously of steering effort or steering torque and finish track and maintain control etc.
In a form of the control setup of the vehicle the present invention relates to, described state of a control is the generation direction that described track maintains the steering torque in the implementation of control, described serviceability is the direction indication of described arm for direction indicator, and whether described end unit is that same direction is switched the end opportunity that described track maintains control according to described generation direction and described direction indication.
If the generation direction of steering torque that track maintains in the implementation of control is identical with the direction indication of arm for direction indicator (being the direction that chaufeur is wished), when maintaining, track controls while finishing, and the deflecting direction of vehicle is contrary with described direction indication.On the contrary, if the generation direction of steering torque is different from the direction indication of arm for direction indicator,, when track maintains control end, the deflecting direction of vehicle and described direction indication are same direction.In particular, the deflection of the undesirable vehicle of chaufeur is equivalent to the former situation, and therefore by described form, the generation that end track maintains the inharmonious sense while controlling effectively and is efficiently suppressed.
In addition, in described form, when described generation direction is identical with described direction indication, the situations different with described direction indication from described generation direction are compared, and described end unit can be postponed and be finished described track and maintain control.
By such postponement, finish track and maintain control, be accompanied by the end that track maintains control, the deflection of vehicle at least can not occur as a succession of phenomenon of the operations linkage with arm for direction indicator, when suppressing the generation of inharmonious sense, is therefore actv..
In addition, in described form, when described generation direction is identical with described direction indication, described end unit can finish described track and maintain control after having carried out turning to input.
When the input that turns to having carried out being inputted by chaufeur (can be the variation that deflection angle is occurred, also can be the input of steering torque) after finish track maintain while controlling (, in other words, when maintain track maintain control until while turning to input to produce), in track, maintain the time opening point of the program that the end of control relates to, at least chaufeur is carrying out the steering operation corresponding with turning to wish, even the deflection that has therefore produced vehicle, its scale is less, and according to the scale that turns to input, can suppress the deflection of vehicle itself.Therefore when suppressing the inharmonious sense that chaufeur is applied, be, actv..
In addition,, in described form, when described generation direction is different from described direction indication, described end unit can finish described track at the time point that has carried out the operation of described arm for direction indicator and maintain control.
When the generation direction of steering torque is different with the direction indication of arm for direction indicator, as previously discussed, identical with described direction indication when the variation of the corner that finishes to produce when track maintains control, therefore no matter whether turn to input, the deflection of this vehicle meets the wish of chaufeur.Therefore, the time point that has carried out the operation of arm for direction indicator finish described track maintain control can practice on not produce large problem, in addition, so because can as far as possible promptly reflect that the wish that turns to of chaufeur is preferred.
In other forms of the control setup of the vehicle the present invention relates to, when described arm for direction indicator has been carried out to operation, in the situation that input has the steering torque of steering torque and described input to surpass according to the steering torque of described input and definite threshold value, described end unit finishes described track and maintains control.
According to described form, first, in track, maintain the time point that program that the end of control relates to starts, by chaufeur input redirect moment, therefore can not produce and be accompanied by that track maintains the end of control and situation that the painful vehicle that produces deflects, in addition, by setting threshold suitably, can prevent from reliably chaufeur to apply inharmonious sense.
In addition, second, in process as the steering torque that turns to input in being subject to carrying out track and maintaining control, by steering hardware, be applied to the state of impact of the steering torque of steering shaft, when the direction that therefore maintains the steering torque in the implementation of control when track and conduct turn to the direction (be steering direction, the direction indication of the arm for direction indicator in the situation that chaufeur is not slipped up) of the steering torque of input identical, as turning to the steering torque of input relatively to diminish.On the contrary, when the direction that maintains the steering torque in the implementation of control when track is different from the direction of steering torque as turning to input, as the steering torque that turns to input, relatively become large.Utilize this phenomenon, by conduct, turn to the steering torque of input, can make the judgement of the direction indication of arm for direction indicator become easy.
Therefore,, by taking, as turning to the relatively little region of steering torque of input that Threshold is obtained greatly, in the relatively large region of steering torque, Threshold to be obtained to the little measure of Denging equally, can effectively suppress chaufeur to apply inharmonious sense.
Such effect of the present invention and other benefits are illustrated by the embodiment next illustrating.
Accompanying drawing explanation
Fig. 1 is the summary pie graph of the formation of the vehicle that relates at conceptive expression the first embodiment of the present invention;
Fig. 2 is the diagram of circuit of the LKA finishing control of carrying out in the vehicle of Fig. 1;
Fig. 3 is that the LKA carrying out in the LKA of Fig. 2 finishing control finishes the diagram of circuit that judgement is processed;
Fig. 4 is that the LKA that the second embodiment of the present invention relates to finishes the diagram of circuit that judgement is processed;
The LKA that Fig. 5 means at Fig. 4 finishes the summary characteristic map of the relation of steering torque MT that judgement is referenced in processing and steering torque threshold value MTth.
The specific embodiment
Below, the various embodiments that with reference to suitable accompanying drawing, the control setup of vehicle of the present invention related to describe.
< the first embodiment >
The structure > of < embodiment
The structure of the vehicle 10 first, with reference to Fig. 1, the first embodiment of the present invention being related to describes.At this, Fig. 1 is the summary construction diagram in the formation of conceptive expression vehicle 10.
In Fig. 1, vehicle 10 is constituted as front-wheel FL and the FR having as the pair of right and left of steering handwheel, and by the turning to of these front-wheels, can advance to the direction of hope.Vehicle 10 has ECU100, steering hardware 200, EPS actuator 300, EPS actuating device 400, VGRS actuator 500 and VGRS actuating device 600.
ECU100 has respectively not shown CPU, ROM and RAM, is the electronic control unit that is constituted as the overall work that can control vehicle 10, is an example of " control setup of vehicle " that the present invention relates to.ECU100 is constituted as and can carries out LKA finishing control described later according to the control program that is stored in ROM.
In addition, ECU100 is the electronic control unit that is constituted as the integral type that the example separately as " performance element " and " end unit " that the present invention relates to plays a role, and the work that these units relate to is all carried out by ECU100.But, the physics of these units that the present invention relates to, machinery and electric structure is not limited in this, also can be constituted as the various computer systems such as a plurality of ECU, various processing unit, various controller or personal computer device etc. such as these each unit.
Steering hardware 200 is the steering operation of chaufeur to be passed to the transmission mechanism of each steering handwheel, has bearing circle 210, deflecting bar 220, upper steering shaft 230, lower steering shaft 240, miniature gears 250 and tooth bar 260.
Bearing circle 210 is by chaufeur, to carry out the operating unit of steering operation.
Deflecting bar 220 is the box units that hold the rotating shaft of bearing circle 210.
Upper steering shaft 230 is the input shafts that turn to that are connected with bearing circle 210 via deflecting bar 220, is constituted as roughly become a whole mode to rotate with bearing circle 210.
Lower steering shaft 240 be an end via VGRS actuator 500 described later, be connected with upper steering shaft 230 turn to output shaft.Another end of lower steering shaft 240 is connected with the miniature gears 250 in being accommodated in steering box (label omission).In addition, lower steering shaft 240 can directly be connected with miniature gears 250, also can indirectly connect via suitable intermediary.
Miniature gears 250 is to become to have the gear part of the gear teeth in outer circumferential, and be constituted as can be roughly to become a whole mode to rotate with lower steering shaft 240, the tooth mesh that described miniature gears 250 and surface at tooth bar 260 form.
Tooth bar 260 be on the transverse direction of vehicle, extend for transmitting the bar-like member of steering effort, the gear teeth that form on its surface and the tooth mesh of aforesaid miniature gears 250 sides, described tooth bar 260 is constituted as and rotatablely moving of miniature gears 250 can be converted to the straight-line motion of tooth bar 260 on the transverse direction of vehicle.On the other hand, be connected with respectively tierod and steering swivel (label omission) at the both ends of described tooth bar 260, described tooth bar 260 is connected with each steering handwheel via these.Therefore, the straight-line motion by tooth bar 260 along vehicular transverse direction, each steering handwheel can turn to by steering direction to the left and right.That is,, in steering hardware 200, by miniature gears 250 and tooth bar 260, realized the steering mode of so-called rack pinion type.
EPS actuator 300 is the electric actuators that have as the EPS motor (not shown) of Brushless DC motor, wherein, described Brushless DC motor comprises as the not shown roller of the attached rotor that is provided with permanet magnet with as the stationary member of the stator around described roller.Described EPS motor is constituted as by the energising of described stationary member being formed to rotating field in EPS motor via EPS actuating device 400, effect roller rotation due to described rotating field can produce assisted diversion moment TA thus on its hand of rotation.
On the other hand, be fixed with not shown reducing gear on the motor drive shaft of the rotating shaft as EPS motor, described reducing gear also meshes with miniature gears 250.Therefore the assisted diversion moment TA, producing from EPS motor plays a role as the moment of the rotation of auxiliary miniature gears 250.Miniature gears 250 is connected with lower steering shaft 240 as previously mentioned, and lower steering shaft 240 is connected with upper steering shaft 230 via VGRS actuator 500.Therefore, the steering torque MT that apply via the upper steering shafts 230 of 210 pairs of bearing circle form for following: with the form of suitably having been assisted by assisted diversion moment TA, be delivered to tooth bar 260, thereby alleviate the burden that turns to of chaufeur.
EPS actuating device 400 is to be constituted as the electric driver circuit that can switch on and comprise pwm circuit, transistor circuit and phase inverter etc. the stationary member of EPS motor.EPS actuating device 400 is constituted as with not shown battery and is electrically connected to, and can be by the electric power from described battery supplied to EPS motor supply driving voltage.In addition, EPS actuating device 400 is following formation: be electrically connected to ECU100, its work is controlled by ECU100.
In addition, in the present embodiment, by EPS actuator 300 and EPS actuating device 400, form and have a kind of electronic control type power steering gear, the formation that is used for this power steering gear of driver assistance steering torque MT is not limited in this illustrational formation, for example, what from the assisted diversion moment TA of EPS motor output, can be accompanied by rotative speed that not shown reducing gear causes reduces to be directly passed to steering shaft 240, also can be used as auxiliary rack 260 back and forth movement power and be applied in.
VGRS actuator 500 is that the corner with outer cover, VGRS motor and speed reduction gearing (any one is all not shown) transmits variable ratio device.
Outer cover is the case that holds VGRS motor and speed reduction gearing.On described outer cover, be fixed with the end in the downstream of steering shaft 230, outer cover and upper steering shaft 230 can be roughly to become a whole mode to rotate.
VGRS motor be there is roller as rotor, as the stationary member of stator and as the Brushless DC motor of the rotating shaft of propulsive effort output shaft.Described stationary member is fixed on outer cover inside, and roller is rotatably remained on outer cover inside.Rotating shaft is by fixing with the mode of roller coaxial rotating, and the end in its downstream is connected with speed reduction gearing.
Speed reduction gearing is the sun and planet gear with a plurality of rotation compositions (sun gear, planetary gear carrier and internal gear) that can differential rotation.In described a plurality of rotation compositions, as the sun gear of the first rotation composition, be connected with the rotating shaft of VGRS motor, in addition, as the planetary gear carrier of the second rotation composition, be connected with outer cover.And the internal gear as the 3rd rotation composition is connected with lower steering shaft 240.
According to the speed reduction gearing with such formation, angle of rotation by upper steering shaft 230 corresponding to the deflection angle MA of the operation angle with as bearing circle 210 (, the angle of rotation of the outer cover being connected with planetary gear carrier) and the angle of rotation of VGRS motor (, the angle of rotation of the rotating shaft being connected with sun gear), with the angle of rotation of the lower steering shaft 240 that is connected of internal gear as a remaining rotation composition by unique definite.
Now, by utilization, be rotated into a minute mutual differential action rotative speed of VGRS motor is increased and decreased to control, can increase and decrease control to the rotative speed of lower steering shaft 240.That is,, by the effect of VGRS motor and speed reduction gearing, can there is relative rotation with lower steering shaft 240 in upper steering shaft 230.In addition, due to the formation of respectively rotating composition in speed reduction gearing, the rotative speed of VGRS motor is to be delivered to lower steering shaft 240 according to being respectively rotated under the state of the predetermined reduction ratio deceleration that minute mutual gear ratio determines.
Like this, in vehicle 10, because upper steering shaft 230, with lower steering shaft 240, relative rotation can occur, so as according to the angle of rotation of lower steering shaft 240 by the actual rotational angle δ r of well-determined (also having relation with the gear ratio of rack-and pinion gear mechanism described later) steering handwheel and as the corner transmission of the ratio of the deflection angle MA of the angle of rotation of upper steering shaft 230 than (in addition, in practice corner transmission than regulation in any case can, but at this, be defined as MA/ δ r) can be in predetermined scope change continuously.
In addition, speed reduction gearing is not limited at this illustrational sun and planet gear, but also (for example can there are other forms, make steering shaft 230 and lower steering shaft 240 respectively the gear different from the number of teeth be connected, arrange with each gear parts the flexible gear that contacts make described flexible gear by rotating via the motor torque of wavegenerator transmission, make thus steering shaft 230 and lower steering shaft 240 that counterrotating form etc. occurs), if sun and planet gear also can have and form above-mentioned different physics, machinery or mechanism.
VGRS actuating device 600 is to be constituted as the electric driver circuit that can switch on and comprise pwm circuit, transistor circuit and phase inverter etc. the stationary member of VGRS motor, and described VGRS actuating device 600 transmits variable ratio device as corner by driving VGRS actuator 500 and plays a role together with VGRS actuator 500.VGRS actuating device 600 is constituted as with not shown battery and is electrically connected to, and can be by the electric power from described battery supplied to VGRS motor supply driving voltage.In addition, VGRS actuating device 600 is following formation: be electrically connected to ECU100, its work is controlled by ECU100.
At this, the steering hardware 200 that present embodiment relates to has formed an example of " can in the situation that the steering hardware that is not subject to the impact that turns to input of chaufeur that the corner of steering handwheel is changed " that the present invention relates to together with EPS actuator 300 and VGRS actuator 500.More particularly, EPS actuator 300 can apply the steering effort that impels it to turn to steering handwheel, but as usual carry out in the situation that cause the rotation of the straight-line miniature gears 250 of tooth bar 260, lower steering shaft 240 also attends by rotation mutually, therefore under fixing corner transmission ratio, the relation of deflection angle MA and corner δ st does not change.That is,, although can impel the wish of steering handwheel and chaufeur independently to turn to, as a result of bearing circle 210 also independently rotates with the wish of chaufeur.
Therefore the form that, VGRS actuator 500 is synchronizeed by the control of the EPS actuator 300 with such drives.More particularly, when applying propulsive effort (assisted diversion moment TA) from EPS actuator 300 and cause the wish of steering handwheel and chaufeur independently to change, VGRS actuator 500 reduces corner transmission ratio.That is,, with definition just now, VGRS motor is reduced the mode of (or increasing) and is controlled to obtain the needed deflection angle MA of an actual rotational angle δ st (or deflection angle MA) (or actual rotational angle δ st).As a result, even if EPS actuator 300 changes the actual rotational angle δ st of steering handwheel, descend therewith the rotation of steering shaft 240 to be also difficult to be delivered to steering shaft 230 accordingly, thereby can not cause the rotation of bearing circle 210.
As a supplement, it is halfway only utilizing VGRS actuator 300 practical functions, if want only to utilize VGRS actuator 500 to realize this kind, turns to, and replaces steering handwheel and turns to, and bearing circle 210 turns to round about.Therefore, by VGRS actuator 500 provide impose on steering handwheel steering effort may with practice on difficulty.That is, by coordination, control EPS actuator 300 and VGRS actuator 500, can realize aptly this turning to.
On the other hand, vehicle 10 has steering angle sensor 11, steering torque sensor 12, car speed sensor 13, yaw rate sensor 14, turning indicator 15, turn sign lamp stand 16 and in-vehicle camera 17.
Steering angle sensor 11 is the sensors that are constituted as the deflection angle MA that can detect the rotation amount that represents upper steering shaft 230.Steering angle sensor 11 is following to form: be electrically connected to ECU100, and detected deflection angle MA by ECU100 by fix or unfixed cycle reference.
Steering torque sensor 12 is to be constituted as the sensor that can detect the steering torque MT being applied via bearing circle 210 by chaufeur.More particularly, upper steering shaft 230 has following formation: be divided into upstream portion and downstream portion, and interconnect by not shown torsion bar.At the upstream side of described torsion bar and the both ends in downstream, be fixed with the ring for detection of rotating photo potential difference.Described torsion bar is constituted as: when the driver's operation bearing circle 210 of vehicle 10, the steering torque that described torsion bar is passed corresponding to the upstream portion via upper steering shaft 230 reverses to its hand of rotation, and produce reverse in downstream portion transmit steering torque.Therefore,, when transmitting steering torque, in the rotating photo potential difference of mentioning just now, detect the rotating photo of the generation each other potential difference of the ring of use.Steering torque sensor 12 is constituted as described rotating photo potential difference is detected, and can be that steering torque is as the electric signal output corresponding with steering torque MT using described rotatable phase differential conversion.In addition, steering torque sensor 12 is following to form: be electrically connected to ECU100, and detected steering torque MT by ECU100 by fix or unfixed cycle reference.
Car speed sensor 13 is to be constituted as the sensor that can detect as the vehicle velocity V of the speed of vehicle 10.Car speed sensor 13 is following to form: be electrically connected to ECU100, and detected vehicle velocity V by ECU100 by fix or unfixed cycle reference.
Yaw rate sensor 14 is to be constituted as the sensor that can detect as the yaw rate gamma of vehicle 10 speed in the transverse direction.Yaw rate sensor 14 is following to form: be electrically connected to ECU100, and detected yaw rate gamma by ECU100 by fix or unfixed cycle reference.
Turning indicator 15 is for the working direction of vehicle 10 being informed to indicating device around, in the instrument mask in front portion, rear portion, back mirror portion and operator's seat the place ahead of vehicle 10, is respectively arranged with pair of right and left.Turning indicator 15 is following to form: the bright light drive division being electrically connected to battery with not shown is connected, and by carrying out the electric power supply of selfigniting light drive division, with the suitable time gap bright light of glimmering.
Turn sign lamp stand 16 is operating units that the mode rotating is along the vertical direction fixed in the left side of deflecting bar 220.Described turn sign lamp stand 16 is constituted as follows and turning indicator 15 collaborative works: when from top view bearing circle 210, top and right, below and left to distinguish corresponding (in addition, according to the difference of vehicle, also turn sign lamp stand 16 can be arranged on to the right side of deflecting bar 220, and make top and below respectively with left to and right corresponding), and when described turn sign lamp stand 16 is operated to lock position along a rotation direction, the turning indicator 15 flicker bright lights corresponding with rotation direction.In addition, described turn sign lamp stand 16 forms for following: when turn sign lamp stand 16 turns back to center position from lock position, correspondingly, the flicker bright light of turning indicator 15 also finishes.
On the other hand, the turn sign lamp stand 16 that is operated to lock position is for forming below: by being arranged at the lockable mechanism in deflecting bar 220, described turn sign lamp stand 16 is physically locked in described lock position.Being locked in following situation of turn sign lamp stand 16 removed: by chaufeur, made forcibly turn sign lamp stand 16 turn back to center position or carried out the turn signal lamp that turn signal lamp closing control described later relates to and close processing.
In addition, the bright light drive division of the turning indicator 15 of mentioning just now forms for following with described lockable mechanism: be electrically connected to ECU100, and by ECU100, driven and controlled respectively.Turn sign lamp stand 16 (also comprising lockable mechanism) and the example of turning indicator 15 (also comprising bright light drive division) as " direction indicating device " that the present invention relates to, form so-called turn signal lamp device.Below, when these are carried out to general name, suitably use " arm for direction indicator " word.
In-vehicle camera 17 is to be constituted as the camera head that can make a video recording to the presumptive area in the place ahead of vehicle 10, and described in-vehicle camera 17 is arranged at the front headstock of vehicle 10 or front bumper etc.In-vehicle camera 17 is following to form: be electrically connected to ECU100, and the front region of photographing as view data by fix or the unfixed cycle passes out to ECU100.ECU100 resolves described view data, thereby can obtain LKA described later, controls necessary various data.
The work > of < embodiment
The details > that <LKA controls
In vehicle 10, as auxiliary control a kind of of travelling of vehicle 10, by ECU100, carry out LKA and control.In addition, it is to make vehicle 10 follow the control in target running route (track) that LKA controls, and is an example of " track maintains control " that the present invention relates to.LKA controls and roughly carries out as follows:
(whether ECU100 to having selected LKA pattern, an example of " track maintains requirement " the present invention relates to) judge, as controlling and start the result operating etc. by action button being arranged in advance the indoor LKA of the car of vehicle 10 by chaufeur.When having selected LKA pattern, the detected white line that the target running route of LKA is stipulated of view data that ECU100 sends from in-vehicle camera 17 based on utilization (in addition, and nonessential be white), essential various information of road surface when calculating the vehicle 10 of sening as an envoy to and following target running route.In addition calculate, curvature R (being the inverse of radius), white line and vehicle 10 deviation Y in the transverse direction and the yaw angle deviation of white line and vehicle 10 of target running route
deng as described information of road surface.In addition, this calculating form that following of target running route controlled to needed information can be applied the various forms that comprise known image recognition algorithm, because associated less with essence of an invention part is not described at this.
When calculating various information of road surface, ECU100 calculates in order to make vehicle 10 follow the necessary target transverse acceleration of target running route.In addition, now can calculate target transverse acceleration according to known various algorithms or formula, also can with reference to be stored in advance memory cell that ROM etc. is suitable with above-mentioned curvature R, transverse direction deviation Y and yaw angle deviation
the acquisition aimed accelerations such as target transverse acceleration mapping for parameter.When calculating target transverse acceleration, ECU100 calculates LKA target auxiliary torque, and based on the described LKA target auxiliary torque calculating, EPS actuator 300 is controlled, and produces thus the assisted diversion moment TA corresponding with described LKA target auxiliary torque.
In addition, now for the variation that makes vehicle 10 follow the corner δ st of target running route, not show as the mode of the action variation (being the variation of deflection angle MA) of bearing circle 210, by VGRS actuator 500, drive control.As a result, the state of chaufeur in almost only keeping bearing circle 210 to get final product, thus can be in the generation of inharmonious sense under repressed state, make vehicle 10 follow the target route running that travels.In addition, it is only to make vehicle 10 follow an example of the control of target running route that such LKA controls, and its form in reality can adopt known various form.
On the other hand, this additional function that travels has not surmounted the function of the wish of chaufeur, so ECU100 forms for following: when chaufeur has represented to turn to wish, end forthwith this travel auxiliary.Concerning LKA controls, when having carried out the operation of bearing circle 210, during the operation of the operation of brake pedal or turn sign lamp stand 16, ECU100 finishes LKA and controls.In addition,, when finishing LKA control, the assisted diversion moment TA at this time point by 300 supplies of EPS actuator reduces gradually corresponding to vehicle velocity V.That is, high-speed side is elongated during reducing gradually.By carrying out so gradually reduce corresponding with the speed of a motor vehicle, process, prevented that the action of vehicle before and after LKA control finishes from becoming unstable.
The details > of <LKA finishing control
Such LKA is controlled at chaufeur and has represented clear and definite to be necessary to finish while turning to wish, but there is such situation: when having carried out the operation of turn sign lamp stand 16 as representing such behavior that turns to wish, because be accompanied by, do not turn to input, so vehicle 10 is to the different direction deflection of the direction of wishing from chaufeur.Therefore, ECU100, by carrying out LKA finishing control, can finish exactly LKA and control when turn sign lamp stand 16 has been carried out to operation.
Next, with reference to Fig. 3, the details of LKA finishing control is described.At this, Fig. 3 is the diagram of circuit of LKA finishing control.
In Fig. 2, ECU100 judges whether to carry out LKA and controls (step S101).When not carrying out LKA control, the processing that repeated execution of steps S101 relates to.When carrying out LKA control (step S101: be), ECU100 judges whether the direction operation (step S102) via turn sign lamp stand 16.When there is no direction operation (step S102: no), process and return to step S101.
On the other hand, when there is direction operation (step S102: be), ECU100 carries out LKA and finishes judgement processing (step S200).After having carried out LKA and finishing judgement and process, process and return to step S101, repeat a series of processing.LKA finishing control is carried out as mentioned above.
Next, with reference to Fig. 3, the details of LKA finishing control is described.At this, Fig. 3 is the diagram of circuit of LKA finishing control.
In Fig. 3, whether the direction indication of ECU100 judgement turn sign lamp stand 16 and the generation direction of assisted diversion moment TA (that is, the steering torque corresponding with aforesaid LKA target auxiliary torque) are same direction (step S201).When the generation direction of direction indication and assisted diversion moment TA is different (step S201: no), ECU100 makes to process and advances to step S204.
On the other hand, when the direction of direction indication and steering torque TA is same direction (step S201: be), whether ECU100 judgement is less than or equal to because LKA controls the deflection angle MALKA (step S202) producing with the deflection angle MAdrv corresponding to input that turn to of chaufeur.When deflection angle MAdrv is larger than deflection angle MAlka (step S202: no), that is, when produce to surpass LKA control the controlling quantity relating to chaufeur turn to input time, ECU100 makes to process and advances to step S204.
On the other hand, when deflection angle MAdrv is less than or equal to deflection angle MAlka (step S202: be), ECU100 judges whether vehicle 10 has departed from LKA and controlled the target running route (step S203) relating to.When vehicle 10 does not have breakaway running route (step S203: no), ECU100 makes to process and returns to step S202.In addition, when vehicle 10 has departed from target running route (step S203: be), ECU100 makes to process and moves to step S204.
In step S204, LKA controls end.After LKA control finishes, LKA finishes to judge that processing finishes, and processes and turns back to LKA finishing control.
Like this, according to present embodiment, when the direction operation by being undertaken by turn sign lamp stand 16 makes LKA control end, if the direction indication of turn sign lamp stand 16 is different from the generation direction of assisted diversion moment TA, with under judging, LKA controls and to be finished immediately: be accompanied by and make LKA control weakening gradually of assisted diversion moment TA while finishing, the deflecting direction of vehicle 10 becomes the direction that wish is identical that turns to chaufeur, therefore can not produce inharmonious sense.On the other hand, when the generation direction of described direction indication and assisted diversion moment TA is same direction, be accompanied by weakening gradually of assisted diversion moment TA when LKA control to be finished, the deflecting direction of vehicle 10 becomes the direction that wish is contrary that turns to chaufeur, thereby there is the possibility that produces inharmonious sense, therefore do not carry out the end of LKA control until control with the deflection angle MAdrv corresponding to input that turn to of chaufeur the deflection angle MAlka causing over LKA.On the other hand, even do not carrying out between the tailend of LKA control because deflection angle MAdrv is less than or equal to deflection angle MALKA, when vehicle 10 breakaway running route, because the wish that turns to of chaufeur is fully reflected, so also can ignore, be accompanied by the end that LKA controls and the inharmonious sense LKA producing makes to control end.Therefore,, when there is the operation that turn sign lamp stand 16 is carried out, can finish exactly LKA and control.
< the second embodiment >
In the LKA of Fig. 2 illustrated finishing control, the LKA that step S200 relates to finishes judgement processing also can be replaced into other processing.At this, with reference to Fig. 4, second embodiment of the present invention of the main idea based on such is described.At this, Fig. 4 is that the LKA that the second embodiment of the present invention relates to finishes the diagram of circuit that judgement is processed.In addition, in Fig. 4, to the identical label of the position mark repeating with Fig. 3 and suitably the description thereof will be omitted.
In Fig. 4, whether ECU100 surpasses steering torque threshold value MTth to the steering torque MT that turns to input as chaufeur judges (step S301).When steering torque MT is less than or equal to steering torque threshold value MTth (step S301: no), the processing that repeated execution of steps S301 relates to.On the other hand, when steering torque MT surpasses steering torque threshold value MTth (step S301: be), ECU100 finishes LKA and controls (step S204).
At this, with reference to Fig. 5, the details being provided for comparing the steering torque threshold value MTth of judgement with steering torque MT is described.At this, Fig. 5 is the summary characteristic map that the relation of steering torque threshold value MTth and steering torque MT is illustrated.
As shown in the figure, steering torque threshold value MTth is the function of steering torque MT, and be set in the little region of steering torque MT large, little in the large region of steering torque MT (in addition, as shown in the figure, also exist and reduce gradually region).At this, the steering torque MT being inputted by chaufeur is subject to the impact by the auxiliary torque TA of EPS actuator 300 supplies, the steering direction of therefore wishing when chaufeur (, while the generation direction of steering torque MT) being same direction with the generation direction of auxiliary torque TA, steering torque MT only needs less, when the generation direction of contrary steering direction (that is, the generation direction of steering torque MT) of wishing when chaufeur and auxiliary torque TA is opposite sense, must there is larger steering torque MT.
; in the relatively little region of steering torque MT; the auxiliary torque TA that the end of controlling due to LKA causes reduces gradually; vehicle 10 is to the different direction deflection of the generation direction from steering torque MT; in the relatively large region of steering torque MT; the auxiliary torque TA that the end of controlling due to LKA causes reduces gradually, and vehicle 10 is to the generation direction deflection of steering torque MT.
In view of this, in the relatively little region of steering torque MT, steering torque threshold value MTth is set greatly, thereby postpone the end that LKA controls until correspondingly produce large steering torque MT (corresponding with the clear and definite wish that turns to of chaufeur) (in addition, by assisted diversion moment TA, vehicle 10 is turned to control by the direction to hope, therefore can not produce any problem), in the relatively large region of steering torque MT, steering torque threshold value MTth is set littlely, thereby promptly complete the end of LKA control (in addition, due to assisted diversion moment, TA reduces gradually, vehicle 10 is turned to control by the direction to hope, therefore can not produce any problem), thus, the LKA that can finish exactly not make chaufeur produce inharmonious sense controls.
The present invention is not the invention by above-mentioned embodiment limited, but can do not violate the main idea of the invention of reading or the scope of thought from all claims and specification sheets in, carry out suitable change, the control setup that is accompanied by the vehicle of such change is also contained in technical scope of the present invention.
Label declaration
FL, FR: steering handwheel
10: vehicle
11: steering angle sensor
12: steering torque sensor
13: car speed sensor
14: yaw rate sensor
15: turning indicator
16: turn sign lamp stand
17: in-vehicle camera
100：ECU
200: steering hardware
210: bearing circle
220: deflecting bar
230: upper steering shaft
240: lower steering shaft
250: miniature gears
260: tooth bar
300:EPS actuator
400:EPS actuating device
500:VGRS actuator
600:VGRS actuating device
Availability in industry
The present invention can be applied to utilize in the situation that the steering hardware that is not subject to the impact that turns to input of chaufeur that the corner of steering handwheel is changed can be carried out the vehicle that track maintains control.
Claims (6)
1. a control system for vehicle, comprising:
Arm for direction indicator, described arm for direction indicator is for chaufeur travel direction indication operation; And
Control setup, described control setup produces auxiliary torque, and this auxiliary torque maintains control for the track that makes described vehicle follow target running route;
Wherein, described control setup finishes described track and maintains control when the direction indication of direction operation carrying out through described arm for direction indicator is different with the generation direction of described auxiliary torque, makes described track maintain and control continuation when described direction indication is identical with described generation direction.
2. the control system of vehicle as claimed in claim 1, wherein, described control setup maintains and controls be performed in the situation that in described track, described track is maintained control to finish or continue.
3. the control setup of vehicle as claimed in claim 2, wherein, described control unit stops the generation of described assist torque when described generation direction is different from described direction indication, makes the generation of described assist torque continue when described generation direction is identical with described direction indication.
4. the control system of vehicle as claimed in claim 1, wherein, when described generation direction is identical with described direction indication, if with chaufeur turn to deflection angle corresponding to input to surpass track to maintain and control the deflection angle causing, described control setup finishes described track and maintains control.
5. the control system of the vehicle as described in claim 1 or 4, wherein, when described generation direction is identical with described direction indication, if vehicle derailing target running route, described control setup finishes described track and maintains control.
6. a control method for vehicle, comprising:
Detecting step, detects the direction operation that chaufeur carries out through arm for direction indicator;
Control step, produce auxiliary torque, this auxiliary torque maintains control for the track that makes described vehicle follow target running route;
End step finishes described track and maintains control when the direction indication of direction operation of described detection is different with the generation direction of described auxiliary torque; And
Continue step, when described direction indication is identical with described generation direction, make described track maintain and control continuation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410302785.8A CN104129424B (en) | 2009-04-10 | 2009-04-10 | Control system and control method for vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200980158654.4A CN102448798B (en) | 2009-04-10 | 2009-04-10 | Controller of vehicle |
| CN201410302785.8A CN104129424B (en) | 2009-04-10 | 2009-04-10 | Control system and control method for vehicle |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980158654.4A Division CN102448798B (en) | 2009-04-10 | 2009-04-10 | Controller of vehicle |
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| CN104129424B CN104129424B (en) | 2017-04-12 |
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| CN201410302785.8A Active CN104129424B (en) | 2009-04-10 | 2009-04-10 | Control system and control method for vehicle |
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| CN108128307A (en) * | 2016-11-30 | 2018-06-08 | 丰田自动车株式会社 | Vehicle parking assistance device |
| CN108216230A (en) * | 2016-12-22 | 2018-06-29 | 大众汽车有限公司 | Automatic or secondary mode of operation method and apparatus is switched to from manual mode of operation |
| CN111923922A (en) * | 2019-05-13 | 2020-11-13 | 大众汽车有限公司 | Auxiliary device for stopping the driving of motor vehicle on road shoulder |
| CN114684242A (en) * | 2020-12-25 | 2022-07-01 | 本田技研工业株式会社 | Moving body |
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| CN111923922A (en) * | 2019-05-13 | 2020-11-13 | 大众汽车有限公司 | Auxiliary device for stopping the driving of motor vehicle on road shoulder |
| CN111923922B (en) * | 2019-05-13 | 2024-04-09 | 大众汽车有限公司 | Auxiliary device for ending road shoulder running of motor vehicle |
| CN114684242A (en) * | 2020-12-25 | 2022-07-01 | 本田技研工业株式会社 | Moving body |
| CN114684242B (en) * | 2020-12-25 | 2024-04-09 | 本田技研工业株式会社 | Moving body |
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