CN104129424B - Control system and control method for vehicle - Google Patents
Control system and control method for vehicle Download PDFInfo
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- CN104129424B CN104129424B CN201410302785.8A CN201410302785A CN104129424B CN 104129424 B CN104129424 B CN 104129424B CN 201410302785 A CN201410302785 A CN 201410302785A CN 104129424 B CN104129424 B CN 104129424B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012423 maintenance Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 2
- 238000009790 rate-determining step (RDS) Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 34
- 239000000203 mixture Substances 0.000 description 25
- 230000008859 change Effects 0.000 description 23
- 230000008569 process Effects 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009699 differential effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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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 on 04 10th, 2009, it is Application No. 200980158654.4, entitled
The divisional application that the application for a patent for invention of " control device of vehicle " is proposed.
Technical field
The present invention relates to the technical field of the control device of vehicle, the control device of the vehicle is for example by active steering
The steering mechanism such as mechanism, are maintained with carrying out the tracks such as LKA (Lane Keeping Assist, track keeps auxiliary) control
The mode of control is controlled to vehicle.
Background technology
As this device, propose to have to send the device of alarm (for example, referring to patent documentation when vehicle derailing track
1).The track detachment alarm device of vehicle according to disclosed in patent documentation 1, sentences during work is in turn signal lamp
Break in the case of vehicle derailing traveling lane, if the off-direction of vehicle is consistent with the direction indication of turn signal lamp, no
Alarm is sent, thus, it is possible to the passenger that do not thank you for your hospitality.
In addition, proposing there is following scheme：In order to solve when course changing control is stopped according to the flashing operation of turn signal lamp
Stop opportunity and the uncoordinated problem of driver of course changing control, assess the probability that driver turns to, and according to evaluating
The probability of steering makes the difficulty of stopping course changing control variable (for example, referring to patent documentation 2).
In addition, proposing there is following scheme：When the direction shown in direction switch signal it is identical with the direction shown in off-direction
When, judge that driver is change lane consciously, and will be disengaged from judge mark to be set as "Off" (for example, referring to patent documentation
3)。
Additionally, proposing there is following scheme：When the direction of operating of turn signal lamp is consistent with steering direction, change turns to auxiliary
The direction (for example, referring to patent documentation 4) of power-assisted square.
Citation
Patent documentation
Patent documentation 1：Japanese Unexamined Patent Publication 2006-069323 publications
Patent documentation 2：Japanese Unexamined Patent Publication 2007-313978 publications
Patent documentation 3：Japanese Unexamined Patent Publication 2007-296920 publications
Patent documentation 4：Japanese Unexamined Patent Publication 2002-274402 publications
The content of the invention
Invent problem to be solved
Can enter in the vehicle that runway maintains control this, carry out turning during control is maintained in execution track
When operating to signal lighties, if thinking, the turn signal lamp operation is a kind of driver's input, needs to terminate track maintenance control
System.But, in track maintains control, the steering force for promoting it to turn to more or less is applied with to steering wheel, therefore ought only lead to
When crossing the operation of this turn signal lamp and terminating track and maintain control, exist along with track maintain the end of control, vehicle it is inclined
Turn different from direction desired by driver, so that driver feels uncoordinated situation.Disclosed in above-mentioned patent documentation
In technological thought, the incongruity that the deflection of this vehicle brings to driver is not accounted for.
In the prior art illustrated i.e. in above-mentioned patent documentation, there are problems that following technical：When by behaviour
When terminating track maintenance control as direction indicator, vehicle may be to the undesirable direction deflection of driver.The present invention exactly reflects
Complete in the problems referred to above, its object is to provide a kind of control device of vehicle, driver's incongruity can not be brought
And terminate track and maintain control.
For the method for solve problem
In order to solve the above problems, the control device of vehicle according to the present invention, including steering mechanism, the steering mechanism
Can change the corner of steering wheel in the case where not affected by the steering input of driver, the control device of the vehicle
It is characterised by, including：
Performance element, the performance element maintains to require that performing predetermined track maintains control, the track according to track
Control is maintained to be controlled the steering mechanism, so that the vehicle is without departing from target travel route；With
End unit, the end unit the track maintain control the term of execution in, based on direction indicator
The controlled state of mode of operation and the steering mechanism terminates the track and maintains control.
Vehicle according to the present invention is the vehicle for including steering mechanism, and the steering mechanism can not pass through turning for driver
(preferably refer to along with turning that the operating unit for via steering wheel etc. promoting driver and carrying out steering operation is obtained in that to input
To torque input or steering angle (operation angle or the anglec of rotation of i.e. described operating unit) change and operation for performing etc.) and make
Corner (i.e. actual rotational angle) change of steering wheel.
The control device of vehicle according to the present invention is such control device：For example, can suitably comprising one or
Multiple CPU (Central Processing Unit, central processing unit), MPU (Micro Processing Unit, microprocessor
Device), various processors or various controllers or further include ROM (Read Only Memory, read only memory), RAM
The various memory element such as (Random Access Memory, random access memory), buffer storage or flash memory, and can
Using various processing units such as single or multiple ECU (Electronic Controlled Unit, electronic control unit), various
The modes such as the various computer systems such as controller or microdevice.
Steering mechanism according to the present invention puts into practice form and can exist in a variety of ways.For example, according to the present invention turn
To mechanism,
(1) can be referred to as steering-by-wire (being suitably referred to as below " SBW ") etc. electronic corner changeable mechanism, the electricity
Dynamic corner changeable mechanism can ignore steering angle and directly or indirectly apply the steering force for promoting corner to change to steering wheel,
(2) can also be so-called EPS (Electronic Controlled Power Steering, Electronic Control power-assisted
Steering) etc. various electronic control type power steering gears, the electronic control type power steering gear by supply from
The steering moment of the electric rotating machines such as motor, can aid in the rotary motion of such as steering spindle or little gear or nibble with the little gear
The linear motion of the tooth bar of conjunction,
(3) can also be such as VGRS (Variable Gear Ratio Steering, variable gear ratio steering) etc.
Transmission makes corner transmit than (example relative to the rate of change of steering angle, i.e. corner than variset, the transmission than variset
Such as, steering angle is divided by the value obtained by actual rotational angle) it is variable,
In addition, the steering mechanism can also be other structures.
According to the control device of vehicle according to the present invention, in its work, maintained to require by performing list according to track
Unit performs track and maintains control, and the tracks such as such as LKA maintenance function is added on vehicle.The track maintains control general from its
For in thought, refer to by appropriate detector unit (for example, onboard camera etc.) identification object thing (for example, including white line (no
Only refer to white color) or graticule etc.), and automatically (" automatic " of the situation refers to：That is, the steering input of driver is ignored) it is right
Corner is controlled, so that the traveling lane of vehicle is maintained (in other words, make vehicle on the track specified by the object
Without departing from the object).
On the other hand, from for the preferential viewpoint of the wish of driver, driver steering wish in an appropriate manner
In the case that (for example, by operation of steering operation or direction indicator etc.) has been expressed, preferably described track maintains control
System terminates at once (on the contrary, when track maintains control to carry out, the steering input of driver does not work substantially).
Here, when the track for making this steering input that can ignore driver and carrying out maintains control to be indicated according to direction
At the end of the operation of device, there is the situation of the deflection that the undesirable vehicle of driver occurs.Specifically, maintain to control in track
During end, steering wheel is applied with steering force (for example, applying steering moment to steering spindle) by steering mechanism, at this
Under Zhuan Condition, when stopping (either moment stop still tapering off be substantially the same) and applying described steering force, steering wheel to
The opposite direction for being applied with the direction of steering force occurs to turn to (reply of corner).But, even if the operation of direction indicator itself
It is the steering wish in expression driver, but because physics or electric steering input may not be accompanied by, is only operating
In the case of direction indicator, the steer phenomenon of the steering wheel occurred due to the end that control is maintained along with track, vehicle
Deflect.No matter when runway maintenance control is entered, steering mechanism is accompanied by the change of steering angle and is controlled, again without
Controlled with the change (including fully little situation) of steering angle, the deflection of such vehicle is all equally produced.Additionally, so
The deflection of vehicle produce not in accordance with the wish of driver, therefore deflection of the driver to the vehicle feels uncoordinated
Probability is high, particularly when track maintenance control is performed, the change of steering angle is not accompanied by (including fully little in steering mechanism
Situation) it is controlled in the case of, there is a possibility that driver feels significantly uncoordinated.
Therefore, in the control device of vehicle according to the present invention, end unit is following composition：Maintain to control in track
The term of execution based on direction indicator mode of operation and steering mechanism controlled state make track maintain control terminate.
How the deflection of the vehicle that driver produces at the end of control is maintained to track is perceived in big degree by indicating
The mode of operation of device and the controlled state of steering mechanism or so, wherein, the mode of operation of indicator includes whether to indicate direction
Device has carried out operation or the direction indication is which direction etc., and the controlled state of the steering mechanism is included when execution track
Maintain whether to be applied with the applying direction of steering force or steering moment or the steering force or steering moment or whether deposit during control
Be input in the steering of driver etc..
Therefore, as described above, the controlled state of the mode of operation and steering mechanism based on direction indicator, suitably adjoint
The decision of the various end forms that control is maintained to track or select to terminate track maintenance control, thus, it is possible at least one
Determine to mitigate in degree the incongruity that may be applied to driver.Wherein, the various end forms of the track maintenance control are
Refer to：For example, if track should be immediately finished and maintained control, whether should be continued track within fixed or unfixed period
Maintain control, which on opportunity start over be related to program, which on opportunity complete the program that end is related to or be should
Terminate track to the two-value and maintain control, still should be along with steering force or gradually weakening step by step or continuously for steering moment
Terminate track and maintain control etc.
In a form of the control device of vehicle according to the present invention, the controlled state is that the track maintains control
The generation direction of the steering moment in the implementation procedure of system, the mode of operation is the direction indication of the direction indicator, institute
Whether stating end unit, to be same direction according to the generation direction and the direction indication maintain control switching the track
End opportunity.
If track maintains the instruction side for producing direction and direction indicator of the steering moment in the implementation procedure of control
It is identical to (i.e. direction desired by driver), then at the end of track maintains control, the yawing moment of vehicle and the instruction side
To contrary.On the contrary, if the generation direction of steering moment is different from the direction indication of direction indicator, the maintenance when track is controlled
At the end of system, the yawing moment of vehicle is same direction with the direction indication.Specifically, the undesirable vehicle of driver
Equivalent to the former situation, therefore by the form, terminating the generation of incongruity when track maintains control is had for deflection
Imitate and efficiently suppress.
Additionally, in the form, when the generation direction is identical with the direction indication, with the generation direction with
The different situation of the direction indication is compared, and the end unit can be postponed and terminate the track maintenance control.
Terminate track maintenance control by so postponing, along with track the end of control is maintained, the deflection of vehicle is at least
Will not occur as a succession of phenomenon with the operations linkage of direction indicator, therefore be have when the generation of incongruity is suppressed
Effect.
In addition, in the form, when the generation direction is identical with the direction indication, the end unit can be with
Carrying out terminating the track maintenance control after turning to input.
When carried out by driver be input into steering input (can be make steering angle occur change, or turn
To the input of torque) after terminate track maintain control when (i.e., in other words, when maintain track maintain control until turn to input
During generation), the sart point in time of the program that the end of maintenance control is related in track, at least driver are carrying out and are turning to wish
Corresponding steering operation, even if therefore generate the deflection of vehicle, its scale is less, and can according to the scale for turning to input
Suppress the deflection of vehicle itself.Therefore, it is effective when the incongruity applied to driver is suppressed.
Additionally, in the form, when the generation direction is different from the direction indication, the end unit can be with
Terminate the track in the time point of the operation for having carried out the direction indicator and maintain control.
When the generation direction of steering moment is different from the direction indication of direction indicator, as indicated above, when
End track maintains the change of the corner produced during control identical with the direction indication, therefore turns to input regardless of whether having,
The deflection of the vehicle meets the wish of driver.Therefore, the time point in the operation for carrying out direction indicator terminates the car
Road maintains control that big problem will not be produced in practice, in addition, because can as rapidly as possible reflect the steering of driver
Wish is so be preferred.
In other forms of the control device of vehicle according to the present invention, when being operated to the direction indicator
When, there is steering moment in input and the steering moment of the input is more than the threshold determined according to the steering moment of the input
In the case of value, the end unit terminates the track and maintains control.
According to the form, first, the time point that the program that the end of control is related to starts is maintained in track, by driver
Input steering moment, therefore the painful vehicle generation for maintaining the end for controlling and producing along with track will not be produced partially
Situation about turning, in addition, by suitably given threshold, can be reliably prevented and apply incongruity to driver.
In addition, second, it is in as the steering moment for turning to input and is subject to logical during execution track maintains control
Cross steering mechanism be applied to steering spindle steering moment impact state, therefore when track maintain control implementation procedure in
Steering moment direction with as direction (i.e. steering direction, the feelings do not slipped up in driver for turning to the steering moment being input into
The direction indication of the direction indicator under condition) it is identical when, diminish as the steering moment for turning to input is relative.Conversely, working as track
When the direction of the steering moment in the implementation procedure of maintenance control is different from the direction as the steering moment for turning to input, as
The relative change of steering moment for turning to input is big.Using the phenomenon, by as the steering moment for turning to input, making to direction
The judgement of the direction indication of indicator becomes easy.
Therefore, threshold value is being set to greatly, equally as the steering moment relatively small region for turning to input by taking
Threshold value is set to into little measure of Denging in steering moment relatively large region, can effectively suppress to apply uncoordinated to driver
Sense.
Such effect of the present invention and other benefits are illustrated by the embodiment of following explanation.
Description of the drawings
Fig. 1 is the schematic configuration diagram of the composition for conceptually representing the vehicle that the first embodiment of the present invention is related to；
Fig. 2 is the flow chart of the LKA finishing controls carried out in the vehicle of Fig. 1；
Fig. 3 is the flow chart that the LKA performed in the LKA finishing controls of Fig. 2 terminates to judge to process；
Fig. 4 is the flow chart that the LKA that second embodiment of the present invention is related to terminates to judge to process；
Fig. 5 is to represent to terminate during judgement is processed by the steering moment MT of reference and steering moment threshold value MTth in the LKA of Fig. 4
Relation outline performance plot.
Specific embodiment
Hereinafter, the various embodiments that the control device of the vehicle of the present invention is related to are said with reference to appropriate accompanying drawing
It is bright.
<First embodiment>
<The structure of embodiment>
First, the structure of the vehicle 10 being related to the first embodiment of the present invention with reference to Fig. 1 is illustrated.Here, Fig. 1
It is the summary construction diagram of the composition for conceptually representing vehicle 10.
In FIG, vehicle 10 is configured to the front-wheel FL and FR with the pair of right and left as steering wheel, and by these
The steering of front-wheel, can advance to desired direction.Vehicle 10 has ECU100, steering mechanism 200, EPS actuators 300, EPS
Driving means 400, VGRS actuators 500 and VGRS driving means 600.
ECU100 has respectively CPU, ROM and RAM (not shown), is the overall work for being configured to control vehicle 10
Electronic control unit, be an example of " control device of vehicle " according to the present invention.ECU100 be configured to by
LKA finishing controls described later are performed according to the control program for being stored in ROM.
Additionally, ECU100 is configured to as the respective of " performance element " according to the present invention and " end unit "
The electronic control unit of the integral type that one example plays a role, the work that these units are related to all is held by ECU100
OK.But, physics, the machinery and electric structure of these units according to the present invention are not limited to that, example
Such as these each units can also be configured to multiple ECU, various processing units, various controllers or personal computer device
Various computer systems etc..
Steering mechanism 200 is the transmission mechanism that the steering operation of driver is passed to each steering wheel, with steering wheel
210th, turning-bar 220, upper steering spindle 230, lower steering spindle 240, little gear 250 and tooth bar 260.
Steering wheel 210 is the operating unit that steering operation is carried out by driver.
Turning-bar 220 is the box unit of the rotating shaft for accommodating steering wheel 210.
Upper steering spindle 230 is the steering input shaft being connected with steering wheel 210 via turning-bar 220, be configured to with side
Rotate to mode of the disk 210 substantially into an entirety.
Lower steering spindle 240 is that an end is defeated with the steering that upper steering spindle 230 is connected via VGRS actuators 500 described later
Shaft.Another end of lower steering spindle 240 is connected with the little gear 250 being accommodated in steering box (label omission).
Additionally, lower steering spindle 240 can be directly connected to little gear 250, it is also possible to be indirectly connected with via suitable intermediary.
Little gear 250 be in outer circumferential into the gear part for having the gear teeth, and be configured to with lower steering spindle 240
Mode substantially into an entirety rotates, the gear teeth meshing of the little gear 250 and the surface formation in tooth bar 260.
Tooth bar 260 is the bar-like member for transmitting steering force extended on the transverse direction of vehicle, is formed on its surface
The gear teeth and the side of aforesaid little gear 250 gear teeth meshing, the tooth bar 260 is configured to the rotation of little gear 250
Motion is converted to linear motion of the tooth bar 260 on the transverse direction of vehicle.On the other hand, in the two end portions of the tooth bar 260
Track rod and knuckle (label omission) are not connected with, the tooth bar 260 is connected via these with each steering wheel.Therefore,
By tooth bar 260 along vehicular transverse direction linear motion, steering direction that each steering wheel can be to the left and right turns to.That is, turning to
In mechanism 200, by little gear 250 and tooth bar 260, the steering mode of so-called rack pinion type is realized.
EPS actuators 300 are the electric actuators with the EPS motor (not shown) as Brushless DC motor, wherein,
The Brushless DC motor is comprising the roller (not shown) as the attached rotor for being provided with permanet magnet and as around described
The fixing component of the stator of roller.The EPS motor be configured to by via EPS driving means 400 to the fixed structure
The energization of part forms rotating excitation field in EPS motor, because the effect roller of the rotating excitation field rotates, thus, it is possible in its rotation
Turn to produce assisted diversion torque TA on direction.
On the other hand, reduction gearing (not shown), the deceleration are fixed with the motor drive shaft as the rotating shaft of EPS motor
Gear is also engaged with little gear 250.Therefore, assisted diversion torque TA from EPS motor generation is used as the rotation for aiding in little gear 250
The torque for turning plays a role.Little gear 250 is connected as previously mentioned with lower steering spindle 240, and lower steering spindle 240 is via VGRS actuators
500 are connected with upper steering spindle 230.Therefore, the steering moment MT for applying via 210 pairs of upper steering spindles 230 of steering wheel is following structure
Into：Tooth bar 260 is delivered in the form of suitably being facilitated by assisted diversion torque TA, so as to the steering for mitigating driver is born
Load.
EPS driving means 400 are to be configured to the fixing component to EPS motor to be powered and comprising pwm circuit, crystalline substance
The electric driver circuit of body pipe circuit and phase inverter etc..EPS driving means 400 are configured to be electrically connected with battery (not shown)
Connect, and can be by supplying driving voltage from the electric power of the battery supplied to EPS motor.In addition, EPS driving means 400 are
Hereinafter constitute：Electrically connect with ECU100, its work is by ECU100 controls.
Additionally, in the present embodiment, consisting of EPS actuators 300 and EPS driving means 400 has a kind of electronics control
Standard power steering gear, for aiding in the composition of this power steering gear of driver steering moment MT to be not limited in
This composition for illustrating, for example, from assisted diversion torque TA of EPS motor output reduction gearing (not shown) can be accompanied by
The reduction of caused rotary speed is directly passed to lower steering spindle 240, it is also possible to used as the back and forth movement of auxiliary rack 260
Power and be applied in.
VGRS actuators 500 are that the corner with outer housing, VGRS motors and reducing gear (any one is all not shown) is passed
Ratio of two term variset.
Outer housing is the case for accommodating VGRS motors and reducing gear.The downstream of steering spindle 230 is fixed with the outer housing
The end of side, outer housing can be substantially to rotate with upper steering spindle 230 in the way of an entirety.
VGRS motors are that have the roller as rotor, the fixing component as stator and as driving power output shaft
The Brushless DC motor of rotating shaft.The fixing component is fixed on inside outer housing, and roller is rotatably retained inside outer housing.
Rotating shaft by by can with roller coaxial rotating in the way of fix, downstream the end of side is connected with reducing gear.
Reducing gear is that there are the multiple rotation compositions for being capable of differential rotation (central gear, pinion frame and interior to nibble
Close gear) planetary gears.Central gear and VGRS horses in the plurality of rotation composition, as the first rotation composition
The rotating shaft connection for reaching, in addition, being connected with outer housing as the pinion frame of the second rotation composition.And as the 3rd rotation composition
Inside engaged gear be connected with lower steering spindle 240.
According to the reducing gear with such composition, by steering angle MA pair with the operation angle as steering wheel 210
The anglec of rotation (that is, the anglec of rotation of the outer housing being connected with pinion frame) and the anglec of rotation of VGRS motors of the upper steering spindle 230 answered
(that is, the anglec of rotation of the rotating shaft being connected with central gear), is connected with the inside engaged gear as remaining one rotation composition
The anglec of rotation of lower steering spindle 240 is now uniquely determined.
Now, increase and decrease control is carried out to the rotary speed of VGRS motors by using being rotated into point mutual differential action
System, can carry out increase and decrease control to the rotary speed of lower steering spindle 240.That is, by the effect of VGRS motors and reducing gear, on
Steering spindle 230 and lower steering spindle 240 can be rotated against.Further, since the composition of each rotation composition in reducing gear,
The rotary speed of VGRS motors is with according to the shape for being respectively rotated into the predetermined speed reducing ratio deceleration that point mutual gear ratio determines
Lower steering spindle 240 is delivered under state.
So, in vehicle 10, because upper steering spindle 230 and lower steering spindle 240 can be rotated against, so conduct
Turned according to (also having relation with the gear ratio of rack-and pinion gear mechanism described later) that the anglec of rotation of lower steering spindle 240 is now uniquely determined
The ratio of the steering angle MA of the actual rotational angle δ r to disk and the anglec of rotation as upper steering spindle 230 corner transmission than (additionally,
In practice corner transmission than in any case regulation can, but here is defined as MA/ δ r) can be in predetermined scope
Interior consecutive variations.
Additionally, reducing gear is not limited to the planetary gears of here illustration, but there can also be other shapes
State (for example, makes the gear connection that steering spindle 230 and lower steering spindle 240 are different from the number of teeth respectively, arranges and each gear parts ground
The flexible gear of contact simultaneously makes the flexible gear by the motor torque rotation transmitted via wavegenerator, thus makes to turn
Form rotated against with lower steering spindle 240 to axle 230 etc.), if planetary gears then can also have with it is above-mentioned
Different physics, machinery or mechanism forms.
VGRS driving means 600 be configured to be powered the fixing component of VGRS motors and comprising pwm circuit,
The electric driver circuit of transistor circuit and phase inverter etc., the VGRS driving means 600 are by driving VGRS actuators 500
And play a role than variset together as corner transmission with VGRS actuators 500.VGRS driving means 600 be configured to
Battery electrical connection (not shown), and driving voltage can be supplied to VGRS motors by the electric power from the battery supplied.In addition,
VGRS driving means 600 are following composition：Electrically connect with ECU100, its work is by ECU100 controls.
Here, steering mechanism of the present embodiment 200 is formed together with EPS actuators 300 and VGRS actuators 500
It is according to the present invention " can make that the corner of steering wheel change in the case where not affected by the steering input of driver turn
To mechanism " example.More specifically, EPS actuators 300 can apply to promote the steering force of its steering to steering wheel,
But in the case where the rotation of the little gear 250 of the linear motion for causing tooth bar 260 is carried out as usual, lower steering spindle 240 is also together
Rotation, therefore under fixed corner transmission ratio, steering angle MA does not change with the relation of corner δ st.I.e., although can
Steering wheel is promoted independently to turn to the wish of driver, but as a result steering wheel 210 is also with the wish of driver independently
Rotate.
Therefore, VGRS actuators 500 are driven in the form synchronous with the control of such EPS actuators 300.More specifically
Ground says, when apply from the driving force (assisted diversion torque TA) of EPS actuators 300 cause the wish of steering wheel and driver without
When closing ground change, VGRS actuators 500 make corner transmission than reducing.That is, for definition just now, VGRS motors are by with acquisition
Steering angle MA (or actual rotational angle δ st) required for one actual rotational angle δ st (or steering angle MA) reduces the mode of (or increase)
Control.As a result, even if EPS actuators 300 make the actual rotational angle δ st of steering wheel change, lower steering spindle 240 corresponding with this
Rotation be also difficult to be delivered to steering spindle 230, so as to the rotation of steering wheel 210 will not be caused.
As supplement, only realize that function is halfway using VGRS actuators 300, if it is desired to activate merely with VGRS
Device 500 realizes that this kind is turned to, then replace steering wheel to turn to, and steering wheel 210 is turned to round about.Therefore, by VGRS actuators
500 offers are applied to the steering force of steering wheel may be with the difficulty in practice.That is, by coordinating the He of control EPS actuators 300
VGRS actuators 500, can suitably realize this steering.
On the other hand, vehicle 10 has steering angle sensor 11, steering torque sensor 12, vehicle speed sensor 13, yaw
Rate sensor 14, blinker 15, turn signal lamp stand 16 and in-vehicle camera 17.
Steering angle sensor 11 is the steering angle MA for being configured to detect the rotation amount for representing upper steering spindle 230
Sensor.Steering angle sensor 11 is following composition：Electrically connect with ECU100, and detected steering angle MA passes through
ECU100 is by with fixed or unfixed cycle reference.
Steering torque sensor 12 is to be configured to detect the steering force applied via steering wheel 210 by driver
The sensor of square MT.More specifically, upper steering spindle 230 has following composition：It is divided into upstream portion and downstream portion, and passes through
Torque arm (not shown) is connected with each other.It is fixed with for detecting rotation at the both ends of the upstream side of the torque arm and downstream
The ring of phase contrast.The torque arm is configured to：When the operator steering wheel 210 of vehicle 10, the torque arm is corresponding
Reverse to its direction of rotation in the steering moment being passed via the upstream portion of upper steering spindle 230, and producing the same of torsion
When can downstream portion transmission steering moment.Therefore, when steering moment is transmitted, use in the rotational phase difference detection mentioned just now
Ring generation rotational phase difference each other.Steering torque sensor 12 is configured to examine the rotational phase difference
Survey, and the rotational phase difference can be scaled steering moment and export as electric signal corresponding with steering moment MT.Separately
Outward, steering torque sensor 12 is following composition：Electrically connect with ECU100, and detected steering moment MT passes through
ECU100 is by with fixed or unfixed cycle reference.
Vehicle speed sensor 13 is the sensor of the vehicle velocity V for being configured to detect the speed as vehicle 10.Speed
Sensor 13 is following composition：Electrically connect with ECU100, and detected vehicle velocity V passes through ECU100 by fix or not consolidate
Fixed cycle reference.
Yaw rate sensor 14 is the yaw-rate for being configured to detect the speed as vehicle 10 in the transverse direction
The sensor of γ.Yaw rate sensor 14 is following composition：Electrically connect with ECU100, and detected yaw rate gamma passes through
ECU100 is by with fixed or unfixed cycle reference.
Blinker 15 is the indicator for the direction of advance of vehicle 10 to be informed surrounding, the front portion of vehicle 10,
Pair of right and left is respectively arranged with instrument mask in front of rear portion, rearview mirror portion and operator's seat.Blinker 15 is following
Constitute：It is connected with the bright light drive division electrically connected with battery (not shown), and by carrying out the supply of electric power of selfigniting light drive division, with
Suitable time interval flicker bright light.
Turn signal lamp stand 16 is the left side that turning-bar 220 is fixed in the way of it can rotate along the vertical direction
Operating unit.The turn signal lamp stand 16 be configured to as follows with the collaborative work of blinker 15：When from front
During direction of observation disk 210, top and right direction, lower section and left direction correspond to respectively (additionally, according to the different of vehicle, it is also possible to
Turn signal lamp stand 16 is arranged on into the right side of turning-bar 220, and make over and under respectively with left direction and right direction pair
Should), and when the turn signal lamp stand 16 is operated to lock position along a rotation direction, it is corresponding with rotation direction
Blinker 15 flashes bright light.In addition, the turn signal lamp stand 16 is following composition：When turn signal lamp stand 16 is from locking
When position returns to neutral position, correspondingly, the flicker bright light of blinker 15 also terminates.
On the other hand, the turn signal lamp stand 16 for being operated to lock position is following composition：By being arranged at turning-bar
Lockable mechanism in 220, the turn signal lamp stand 16 is physically locked in the lock position.Turn signal lamp stand 16
Locking is released in a case where：Turn signal lamp stand 16 is forcibly set to return to neutral position or perform aftermentioned by driver
The turn signal lamp closing that is related to of turn signal lamp closing control process.
Additionally, the bright light drive division of the blinker 15 mentioned just now is following composition with the lockable mechanism：With
ECU100 is electrically connected, and respectively by ECU100 drive controls.Turn signal lamp stand 16 (also including lockable mechanism) refers to direction
Show that lamp 15 (also including bright light drive division), as an example of " direction indicating device " according to the present invention, constitutes so-called steering
Signal lamp device.Hereinafter, when general name is carried out to these, it is suitably used " direction indicator " one word.
In-vehicle camera 17 is the camera head for being configured to image the presumptive area in the front of vehicle 10, institute
State in-vehicle camera 17 and be arranged at front headstock or front bumper of vehicle 10 etc..In-vehicle camera 17 is following composition：With ECU100
Electrical connection, and the front region photographed is passed out to ECU100 as view data with the fixed or unfixed cycle.
ECU100 is parsed to described image data such that it is able to obtain the necessary various data of LKA controls described later.
<The work of embodiment>
<The details of LKA controls>
In vehicle 10, as one kind of the traveling assist control of vehicle 10, LKA controls are performed by ECU100.Additionally,
LKA controls are the control for making vehicle 10 follow target travel route (track), are " track maintain control " according to the present invention
One example.LKA controls are approximately as carrying out：
ECU100 enters to whether have selected LKA patterns (that is, an example of " track maintains to require " according to the present invention)
Row judges, is operated with operation button as startup is controlled to the LKA being arranged in advance in the car room of vehicle 10 by driver
Deng result.When have selected LKA patterns, ECU100 is right based on what is detected using the view data sent from in-vehicle camera 17
The white line (in addition, it is not necessary to be white) that the target travel route of LKA is specified, calculates vehicle 10 of sening as an envoy to and follows target line
Sail required various information of road surface during route.Additionally, calculating target travel road curvature of a curve R (i.e. the inverse of radius), white line
With the driftage angular displacement of deviation Y in the transverse direction of vehicle 10 and white line and vehicle 10Deng as the information of road surface.This
Outward, this calculating form for following the information required for control to target travel route can be known using known image is included
The various forms of other algorithm, because less with associating for the substantial portion of invention, here is not described.
When various information of road surface are calculated, ECU100 calculate in order that vehicle 10 follow target travel route institute it is required
Target transverse acceleration.Additionally, now target transverse acceleration can be calculated according to known various algorithms or formula, it is also possible to
With reference to be previously stored in the suitable memory element such as ROM with above-mentioned curvature R, transverse direction deviation Y and driftage angular displacementFor
Target transverse acceleration mapping of parameter etc. obtains aimed acceleration.When target transverse acceleration is calculated, ECU100 calculates LKA
Target auxiliary torque, and EPS actuators 300 are controlled based on the LKA targets auxiliary torque for calculating, thus produce
Assisted diversion torque TA corresponding with the LKA targets auxiliary torque.
In addition, now be used for make vehicle 10 follow target travel route corner δ st change not appear as steering wheel
The mode of 210 action change (i.e. the change of steering angle MA) is driven control by VGRS actuators 500.As a result, driver
State in steering wheel 210 is almost only kept such that it is able in the state of the generation of incongruity is suppressed, make
Vehicle 10 follows target travel route running.Additionally, such LKA controls only make vehicle 10 follow target travel route
One example of control, its form in reality can adopt known various forms.
On the other hand, it is this traveling miscellaneous function not surmounted driver wish function, therefore ECU100 be with
Lower composition：When driver illustrates steering wish, forthwith stop this traveling auxiliary.For LKA controls, when carrying out
When the operation of steering wheel 210, the operation of brake pedal or the operation of turn signal lamp stand 16, ECU100 terminates LKA controls
System.Additionally, when LKA controls are terminated, car is corresponded to by assisted diversion torque TA that EPS actuators 300 are supplied in the time point
Fast V and be gradually reduced.That is, high-speed side is elongated during being gradually reduced.It is corresponding with speed as by carrying out to be gradually reduced place
Reason, it is therefore prevented that the action for controlling to terminate fore-aft vehicle in LKA becomes unstable.
<The details of LKA finishing controls>
Such LKA controls are necessary to terminate when driver illustrates and clearly turns to wish, but there are such feelings
Condition：When the operation of turn signal lamp stand 16 has been carried out as such behavior for turning to wish is represented, because being not accompanied by
Steering input, so vehicle 10 is deflected to the direction different from direction desired by driver.Therefore, ECU100 is by performing
LKA finishing controls, can exactly terminate LKA controls when operation has been carried out to turn signal lamp stand 16.
Next, with reference to Fig. 3, illustrating to the details of LKA finishing controls.Here, Fig. 3 is LKA finishing controls
Flow chart.
In fig. 2, ECU100 judges whether to be carrying out LKA controls (step S101).When LKA controls are not carried out,
Repeat the process that step S101 is related to.(step S101 when being carrying out LKA and controlling：It is), ECU100 is determined whether
Operation (step S102) is indicated via the direction of turn signal lamp stand 16.(step S102 when operation is indicated without direction：It is no),
The processing returns to step S101.
On the other hand, (step S102 when there is direction and indicating operation：It is), ECU100 performs LKA and terminates judgement process
(step S200).Perform LKA terminate judgement process after, the processing returns to step S101, repeat a series of process.
LKA finishing controls are executed as described above.
Next, with reference to Fig. 3, illustrating to the details of LKA finishing controls.Here, Fig. 3 is LKA finishing controls
Flow chart.
In figure 3, ECU100 judge the direction indication of turn signal lamp stand 16 and assisted diversion torque TA (that is, with it is aforementioned
The corresponding steering moment of LKA target auxiliary torques) generation direction whether be same direction (step S201).Work as direction indication
(step S201 when different from the generation direction of assisted diversion torque TA：It is no), ECU100 makes process advance to step S204.
On the other hand, (step S201 when the direction of direction indication and steering moment TA is same direction：It is), ECU100
Judge steering angle MAdrv corresponding with the steering input of driver whether less than or equal to the steering angle that generation is controlled due to LKA
MALKA (step S202).(step S202 when steering angle MAdrv is bigger than steering angle MAlka：It is no), i.e. when generation is more than LKA
When the steering of the driver of the controlled quentity controlled variable that control is related to is input into, ECU100 makes process proceed to step S204.
On the other hand, (step S202 when steering angle MAdrv is less than or equal to steering angle MAlka：It is), ECU100 judges car
10 whether target travel routes (step S203) being related to departing from LKA controls.When vehicle 10 is without departing from target travel road
(step S203 during line：It is no), ECU100 makes to the processing returns to step S202.In addition, when vehicle 10 is departing from target travel route
(step S203：It is), ECU100 makes process be moved to step S204.
In step S204, LKA controls terminate.After LKA controls terminate, LKA terminates judgement process and terminates, and processes and returns
To LKA finishing controls.
So, according to present embodiment, when the direction by being carried out by turn signal lamp stand 16 indicates that operation makes LKA controls
At the end of, if the direction indication of turn signal lamp stand 16 is different from the generation direction of assisted diversion torque TA, sentence following
Under disconnected, LKA controls are immediately finished：Along with the gradually decrease for making assisted diversion torque TA at the end of LKA controls, vehicle 10
Yawing moment become steering wish identical direction with driver, therefore incongruity will not be produced.On the other hand, institute is worked as
When the generation direction for stating direction indication and assisted diversion torque TA is same direction, along with the auxiliary made at the end of LKA controls
The gradually decrease of steering moment TA, the yawing moment of vehicle 10 becomes the direction contrary with the steering wish of driver, so as to deposit
In the probability of generation incongruity, therefore the end of LKA controls is not carried out until the steering with driver is input into corresponding turn
To angle MAdrv more than steering angle MAlka caused by LKA controls.On the other hand, even if being less than or equal to due to steering angle MAdrv
Steering angle MALKA and do not carry out LKA controls end during, when 10 breakaway travel route of vehicle, due to driver's
Turn to wish fully to be reflected, so can also ignore incongruity LKA produced along with the end of LKA controls making
Control terminates.Therefore, when there is the operation carried out to turn signal lamp stand 16, LKA controls can exactly be terminated.
<Second embodiment>
In the LKA finishing controls for illustrating in fig. 2, the LKA that step S200 is related to terminates judgement and processes and can also put
It is changed to other process.Here, illustrating to the second embodiment of the present invention based on such main idea with reference to Fig. 4.Here,
Fig. 4 is the flow chart that the LKA that second embodiment of the present invention is related to terminates to judge to process.Additionally, in the diagram, pair with Fig. 3 weights
Simultaneously the description thereof is omitted as appropriate for multiple position mark identical label.
In the diagram, whether ECU100 exceedes steering moment threshold value to the steering moment MT of the steering input as driver
MTth is judged (step S301).(step S301 when steering moment MT is less than or equal to steering moment threshold value MTth：It is no), weight
The process that multiple execution step S301 is related to.On the other hand, (the step when steering moment MT exceedes steering moment threshold value MTth
S301：It is), ECU100 terminates LKA controls (step S204).
Here, with reference to Fig. 5 to being provided for being compared steering moment threshold value MTth of judgement with steering moment MT
Details is illustrated.Here, Fig. 5 is the relation to steering moment threshold value MTth and steering moment MT being illustrated
Outline performance plot.
As illustrated, steering moment threshold value MTth is the function of steering moment MT, and it is set to little in steering moment MT
Region in it is big, it is little (additionally, being gradually reduced region as illustrated, there is also) in the big regions of steering moment MT.Here, by
The steering moment MT of driver's input is affected by the auxiliary torque TA supplied by EPS actuators 300, therefore when driver is uncommon
When the steering direction (that is, the generation direction of steering moment MT) of prestige is same direction with the generation direction of auxiliary torque TA, turn to
Torque MT only need it is less, on the contrary when steering direction desired by driver (that is, the generation direction of steering moment MT) and auxiliary
When the generation direction of torque TA is rightabout, it is necessary to have larger steering moment MT.
That is, in the region that steering moment MT is relatively small, auxiliary torque TA's gradually subtracts caused by the end controlled due to LKA
Little, vehicle 10 produces the different direction deflection in direction to from steering moment MT, in the relatively large regions of steering moment MT, due to
Auxiliary torque TA is gradually reduced caused by the end of LKA controls, and vehicle 10 to the generation direction of steering moment MT deflects.
In view of this, in the region that steering moment MT is relatively small, steering moment threshold value MTth is set to greatly, so as to postpone
The end of LKA controls is until correspondingly producing big steering moment MT (i.e. corresponding with the clear and definite steering wish of driver) (this
Outward, by assisted diversion torque TA, vehicle 10 is carried out course changing control to desired direction, therefore will not produce any problem),
In the relatively large regions of steering moment MT, steering moment threshold value MTth is set to it is little, so as to be quickly accomplished LKA control knot
(further, since assisted diversion torque TA is gradually reduced, vehicle 10 is carried out course changing control to beam to desired direction, therefore will not
Produce any problem), thereby, it is possible to terminate the LKA controls that driver will not be made to produce incongruity exactly.
The invention that not limited by above-mentioned embodiment of the present invention, but can not violating from all claim and
Appropriate change is carried out in the range of the main idea or thought of the invention read in description, along with the vehicle of such change
Control device be also contained in the present invention technical scope in.
Label declaration
FL、FR：Steering wheel
10：Vehicle
11：Steering angle sensor
12：Steering torque sensor
13：Vehicle speed sensor
14：Yaw rate sensor
15：Blinker
16：Turn signal lamp stand
17：In-vehicle camera
100：ECU
200：Steering mechanism
210：Steering wheel
220：Turning-bar
230：Upper steering spindle
240：Lower steering spindle
250：Little gear
260：Tooth bar
300：EPS actuators
400：EPS driving means
500：VGRS actuators
600：VGRS driving means
Industrial applicability
The present invention can be applied to make turning for steering wheel using in the case where not affected by the steering input of driver
The steering mechanism of angle change is able to carry out the vehicle that track maintains control.
Claims (5)
1. a kind of control system of vehicle, including：
Turn signal lamp device, the turn signal lamp device is used for driver's travel direction and indicates operation；And
Control device, the control device produces auxiliary torque, and the auxiliary torque is used to follow target line into the enforcement vehicle
The track for sailing route maintains control；
Wherein, the direction that the control device is carried out in turn signal lamp device described in Jing indicate the direction indication of operation with it is described
The generation direction of auxiliary torque is terminated the track and maintains control when different, identical with the generation direction in the direction indication
When make the track maintain control to continue,
When the generation direction is identical with the direction indication, if exceeded with the steering of the driver corresponding steering angle of input
Track maintains the steering angle that control causes, then the control device terminates the track maintenance control.
2. the control system of vehicle as claimed in claim 1, wherein, the control device maintains control to be held in the track
In the case of row, the track is set to maintain control to terminate or continue.
3. the control system of vehicle as claimed in claim 2, wherein, the control device is in the generation direction and the finger
Show that direction stops the generation of the assist torque when different, make when the generation direction is identical with the direction indication described
The generation of assist torque continues.
4. the control system of vehicle as claimed in claim 1, wherein, it is identical with the direction indication in the generation direction
When, if vehicle derailing target travel route, the control device terminates the track and maintains control.
5. a kind of control method of vehicle, including：
Detecting step, the direction that detecting the diverted signal lamp device of driver is carried out indicates operation；
Rate-determining steps, produce auxiliary torque, and the auxiliary torque is used to into the enforcement vehicle follow the track of target travel route
Maintain control；
End step, when the direction of the detection indicates that the direction indication of operation is different from the generation direction of the auxiliary torque
Terminate the track and maintain control；And
Continue step, make the track maintain control to continue when the direction indication is identical with the generation direction, also,
If tieed up more than track with the steering of the driver corresponding steering angle of input when the direction indication is identical with the generation direction
The steering angle that control causes is held, is then terminated the track and is maintained control.
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 |
|---|---|---|---|
| CN201410302785.8A CN104129424B (en) | 2009-04-10 | 2009-04-10 | Control system and control method for vehicle |
| CN200980158654.4A CN102448798B (en) | 2009-04-10 | 2009-04-10 | Controller of vehicle |
Related Parent Applications (1)
| 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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| CN104129424A CN104129424A (en) | 2014-11-05 |
| CN104129424B true CN104129424B (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6547969B2 (en) * | 2016-11-30 | 2019-07-24 | トヨタ自動車株式会社 | Vehicle driving support device |
| DE102016226067A1 (en) * | 2016-12-22 | 2018-06-28 | Volkswagen Aktiengesellschaft | Method and device for transferring a motor vehicle from a manual operating mode to an automated or assisting operating mode |
| DE102019206882A1 (en) * | 2019-05-13 | 2020-11-19 | Volkswagen Aktiengesellschaft | Support for the end of a banquet trip of a motor vehicle |
| JP7321993B2 (en) * | 2020-12-25 | 2023-08-07 | 本田技研工業株式会社 | moving body |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6134491A (en) * | 1997-09-13 | 2000-10-17 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for vehicle |
| CN101062676A (en) * | 2006-04-28 | 2007-10-31 | 日产自动车株式会社 | Lane departure prevention apparatus and method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7510038B2 (en) * | 2003-06-11 | 2009-03-31 | Delphi Technologies, Inc. | Steering system with lane keeping integration |
| JP4211684B2 (en) * | 2004-05-31 | 2009-01-21 | トヨタ自動車株式会社 | Driving assistance device |
| DE102006028610B4 (en) * | 2006-06-22 | 2023-02-09 | Volkswagen Ag | Driver assistance system with a warning function for monitoring a lane change of a motor vehicle |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6134491A (en) * | 1997-09-13 | 2000-10-17 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for vehicle |
| CN101062676A (en) * | 2006-04-28 | 2007-10-31 | 日产自动车株式会社 | Lane departure prevention apparatus and method |
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| CN104129424A (en) | 2014-11-05 |
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