JP2003026025A - Automatic steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic steering device for allowing a vehicle to travel while being held in a lane, having an automatic steering control starting switch installed in a well-operable position for allowing a driver to optionally set a target lane position at staring automatic steering control. SOLUTION: A switch for allowing the driver to instruct the start of constant speed travel control using a constant speed travel control device and a switch for allowing the driver to instruct the start of the automatic steering control are combined in use with the single starting switch 3. An arithmetic part 5 finds a relative position between the lane detected by a lane detecting part 4 and the vehicle and controls a steering actuator 6 using the relative position as the target lane position of the vehicle when the start of the automatic steering control is instructed by the starting switch 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic steering system, and more particularly to an automatic steering system for a vehicle to keep running in a lane.

[0002]

2. Description of the Related Art In such an automatic steering apparatus, a lane detecting section for detecting the lane in which a vehicle is traveling is provided. The lane detection unit visually detects the lane markings using a camera or the like, lays a marker array consisting of magnets and radio wave transmitters in the lane, and detects the marker array with a magnetic sensor or radio wave antenna. Things, etc. are generally known.

The control by such an automatic steering device is shown in FIG.
In general, it is considered desirable to drive in the center of the lane. Therefore, in the case of the above lane detection unit, the detected left lane LL and right lane RL are detected.
The lane width center position CL obtained from is controlled as the target lane position of the automatic steering device, and in the case of the above lane detection unit, a marker row is laid at the lane width center position CL as the target lane position, The automatic steering device controls with this as the position in the target lane.

Therefore, a vehicle for which automatic steering control is performed
The vehicle 20 is controlled so that the vehicle center line CC, which is the center of the vehicle in the left-right direction, coincides with the in-lane center position CL (state A). That is, when the vehicle center line CC is close to the left side lane LL side as in the state B, the steering to the right is automatically performed. On the contrary, when the vehicle center line CC is close to the right lane lane RL as in the state C, steering to the left is automatically performed.

As described above, in any of the above-mentioned lane detecting section, the center of the lane width is controlled as the target in-lane position of the automatic steering device. On the other hand, a constant-speed traveling control device that automatically controls the vehicle speed so that the driver travels at a constant vehicle speed, and a control that measures the inter-vehicle distance with the vehicle in front with a radar or the like to maintain a predetermined inter-vehicle distance. 2. Description of the Related Art A constant-speed traveling control device with an inter-vehicle distance control function having a function (hereinafter, a device with an inter-vehicle distance control function is also referred to as a constant-speed traveling control device) is already generally mounted on a vehicle.

In such a constant speed traveling control device, after the main switch is turned on, a set switch for instructing the driver to start control is provided. The set switch is a momentary type (auto return type) switch for setting the vehicle speed for constant-speed traveling control and the inter-vehicle distance for performing inter-vehicle distance control. Control starts from the time when the driver operates it. It is generally configured to

[0007]

If the center of the lane is always controlled as the target lane position of the automatic steering device as described above, the following problems occur. (1) In a section where the road shoulder is narrow adjacent to the own lane or a section where the adjacent lane is under construction, the driver's psychology is that the road shoulder and the adjacent lane side have anxiety when there is no room.

(2) If the difference between the speed of the traffic flow in the adjacent lane and the traveling speed of the host vehicle exceeds a certain level, the driver feels anxious as in the case of (1). (3) In the case of a road maintenance work vehicle, it is not possible to drive at the lane edge by automatic steering control.

The above-mentioned problems (1) to (3) are serious problems especially in a large vehicle having a small lane width. In order to solve such a problem, it is desirable that the driver can arbitrarily set the target in-lane position at the start of the automatic steering control. Therefore, it may be possible to control the position of the host vehicle in the lane at the time when the driver operates the start switch for starting the automatic steering control as the target lane position in the automatic steering device as well.

In this case, at the start of the automatic steering control, the vehicle 20 is left side lane L as shown in the state B shown in FIG.
If it is close to L, the position of the vehicle centerline CC in state B is set as the target in-lane position instead of the lane width center position CL, and if the vehicle 20 is close to the right lane lane RL as in state C, the state is set. The position of the vehicle center line CC at C may be set as the target in-lane position.

Here, it is assumed that both the automatic steering device and the constant speed traveling control device are mounted on a vehicle. In this case, as for the automatic steering device, as in the case of the above-described constant speed traveling control device, after the main switch for automatic steering control is turned ON, the automatic steering device is configured to start automatic steering by operating the start switch as follows. Requires 4 switches.

(1) Constant-speed traveling main switch (2) Set switch (for constant-speed traveling) (3) Automatic steering main switch (4) Start switch (for automatic steering) Among these, constant-speed traveling main switch (1) And the automatic steering main switch (3) is operated in advance, and when the constant speed traveling control is started by observing the surroundings of the vehicle and the condition of the traveling path, the set switch is set.
When (2) is operated to start the automatic steering control, the start switch (4) is operated. Therefore, the operability of the set switch (2) and the start switch (4) needs to be better than that of the constant speed traveling main switch (1) and the automatic steering main switch (3).

Since the constant speed traveling control device is already generally mounted on the vehicle, the set switch (2) is often installed around the steering wheel which is very easy to operate. Considering the current installation situation of the switches around the driver's seat of the vehicle, there is a cost problem in providing the start switch (4) with another switch in a place having excellent operability.
However, if the start switch (4) is installed in a place where operability is poor, there is a risk that the vehicle may wander or become careless in the front when the driver operates it.

Therefore, according to the present invention, in the automatic steering device for the vehicle to keep running in the lane, the start switch for the automatic steering control is installed in a place with good operability, and the driver aims at the start of the automatic steering control. The purpose is to be able to set the in-lane position arbitrarily.

[0015]

In order to achieve the above object, in the automatic steering system according to the present invention, the driver performs both the start of the constant speed traveling control by the constant speed traveling control device and the start of the automatic steering control. And a lane detection unit for determining the relative position between the lane and the vehicle detected by the lane detection unit, and the start switch instructs the start of the automatic steering control. It is characterized in that it is provided with an arithmetic unit that sets the relative position at this time as a target in-lane position of the vehicle, and an actuator that performs steering control based on the target in-lane position.

That is, in the present invention, a single switch is used by the driver to serve as both a switch for instructing the start of the constant speed traveling control by the constant speed traveling control device and a switch for instructing the start of the automatic steering control. It is used as a start switch. Further, the calculation unit obtains the relative position between the lane and the vehicle detected by the lane detection unit (for example, the lane width center position or the divided lane position and the vehicle reference position), and the automatic steering control of the automatic steering control is performed by the start switch. The relative position when the start is instructed is the position in the target lane of the vehicle.

The actuator performs steering control based on the target in-lane position determined by the calculation unit. As described above, in the present invention, the switch for instructing the start of the automatic steering control, which also serves as the switch for instructing the start of the constant speed traveling control, is operated in the same manner as the conventional set switch for the constant speed traveling control. It is possible to install it in a place with good operability around the wheel.

When the driver operates the start switch, if the vehicle 20 in FIG. 1 is in state B, the target lane position is set to the left side lane LL, and if it is state C, the target lane position is set. Is set closer to the right lane RL, and the driver can arbitrarily set the target in-lane position at the start of the automatic steering control.

The above-mentioned start switch may output a signal common to the automatic steering control start and the constant speed traveling control start by one operation, and the signal for the automatic steering control start and the automatic steering control start signal may be output by one operation. A signal for starting the constant speed traveling control may be output respectively. The automatic steering device according to the present invention may further include an automatic steering main switch and a constant speed traveling main switch that invalidate the automatic steering control and the constant speed traveling main switch, respectively.

That is, the automatic steering main switch and the constant speed traveling main switch invalidate the automatic steering control and the constant speed traveling control, respectively. Therefore, when the driver operates the start switch, if the automatic steering main switch is “ON” and the constant speed traveling main switch is “OFF”, only the automatic steering control is performed and the automatic steering main switch is “ON”. Only the automatic steering control can be started if the constant speed traveling main switch is "OFF", and the automatic steering control and constant speed traveling control can be started if both the automatic steering main switch and the constant speed traveling main switch are "ON". Become.

After starting the automatic steering control and the constant speed traveling control as described above, if either the automatic steering main switch or the constant speed traveling main switch is turned off, the automatic steering control or the constant speed traveling control is performed. Drive control can be disabled. In this way, it becomes possible for the driver to perform appropriate control according to the situation by selecting each switch.

The above-mentioned constant speed traveling control device may have a vehicle distance control function. The automatic steering device according to the present invention may include the above-mentioned constant speed traveling control device.

[0023]

FIG. 2 shows the configuration of an embodiment of an automatic steering device according to the present invention. The automatic steering device according to this embodiment is integrated with a constant speed traveling control device, and includes an automatic steering main switch 1, a constant speed traveling main switch 2, a start switch 3, a lane detection unit 4, a calculation unit 5, and a steering actuator. 6, own vehicle status detection unit 7, and power train control unit 8
It is composed of.

The automatic steering main switch 1 and the constant speed traveling main switch 2 are provided for the driver to select in advance whether or not to execute the automatic steering control and the constant speed traveling control, respectively. The start switch 3 is operated by the driver when starting the automatic steering control and / or the constant speed traveling control,
This is for starting the automatic steering control and / or the constant speed traveling control according to the selection status of the automatic steering main switch 1 and the constant speed traveling main switch 2, and a momentary type (auto return type) switch may be used. .

The lane detector 4 outputs information about the relative position of the lane detected with respect to the own vehicle.
A well-known device that can be configured by a combination of a camera and an image processing device, a combination of a lane marker / sensor and a signal processing device, or the like may be used.

The calculation unit 5 receives the respective switch signals from the automatic steering main switch 1, the constant speed traveling main switch 2, and the start switch 3, the lane information from the lane detection unit 4, and the own vehicle status detection unit 7 from the own vehicle. The input unit 51 that reads the vehicle information of the vehicle, the CPU 52 that uses the output signal of the input unit 51 to perform calculation / judgment regarding automatic steering control and constant speed traveling control, and C
A RAM 53 used by the PU 52, a ROM 54 that stores a control program and control parameters, an output unit 55 that drives the steering actuator 4 and the powertrain control device 8 in accordance with output data obtained by the CPU 52, and a vehicle power source for these. It is composed of a power supply unit 56 for supplying necessary power to each unit.

The steering actuator 6 may be a known device that automatically operates the steered wheels (not shown) of the vehicle by the output from the output unit 55. The own vehicle status detection unit 7
A known device may be used to detect vehicle information such as vehicle speed and brake pedal operation status necessary for automatic steering control and constant speed traveling control.

The power train controller 8 is composed of an engine controller and a transmission controller (not shown),
A known device that performs constant-speed traveling control based on the output from the output unit 55 may be used. In addition, when the constant speed traveling control device has an inter-vehicle distance control function, in addition to the above configuration,
The radar device 9 for measuring the inter-vehicle distance to the preceding vehicle, and the brake control device 10 for operating the brake or the auxiliary brake (exhaust brake, retarder) of the vehicle by the output from the output unit 55 are provided, and the CPU 52 is the inter-vehicle distance. It is also possible to perform calculation / judgment regarding distance control.

3 and 4 show the flow of the control program stored in the ROM 54 in the arithmetic unit 5 shown in FIG. 2. Hereinafter, referring to FIG. 3 and FIG. The operation of this embodiment will be described. It should be noted that this flowchart is assumed to be started at a predetermined time interval and only the part related to the control of the control device is described, but the initial processing at the time of activating the hardware such as the CPU is omitted.

Note that FIG. 3 is a flow relating to the automatic steering control, and FIG. 4 is a flow relating to the constant speed traveling control. Depending on the driver's selection of the automatic steering main switch 1 and the constant speed traveling main switch 2, Each flow will be implemented. Further, the steering control flag and the constant speed traveling control flag used in the flowchart are flags indicating whether or not the automatic steering control and the constant speed traveling control are respectively executed, and at the time of starting the automatic steering apparatus of the present embodiment. It is assumed that it is set to "OFF" in the initialization process.

(1) Start of automatic steering control and constant speed traveling control
When First, the driver assumes a state in which the automatic steering main switch 1 and the constant-speed running main switch 2 and are both "ON", then the driver operates the start switch 3, the automatic steering control and cruise control The operation immediately after the start is instructed will be described.

The CPU 52 uses the input unit 51 to output the respective switch signals from the automatic steering main switch 1, the constant speed traveling main switch 2, and the start switch 3, the lane information from the lane detection unit 4, and the own vehicle condition detection unit. The vehicle information of the own vehicle is read from 7 (step S1). In this case, the lane information from the lane detection unit 4 is information about the relative position of the lane detected with the center line in the vehicle's left-right direction as a reference (in the case of division lane detection, position information of the left and right division lanes, and a marker string). In the case of detection, it is the position information of the marker row).

Next, the CPU 52 confirms the automatic steering main switch signal read in step S1 (step S2). In this case, since the automatic steering main switch is "ON", the steering control flag is further confirmed (the same). S3). At this point, the steering control flag is "OFF", so the start switch signal is confirmed (at step S4). Immediately after the driver operates the start switch 3, the start switch is "ON", so the steering control flag is set to "ON" (S8) and the lane width center position is calculated based on the lane information read in step S1. Yes (S9).

In this case, if the lane information of the lane detection unit 4 is the lane information, the center of the left lane and the right lane is set as the lane width center position, and the position of the marker row is used when the marker row information is used. It is normal to keep the lane width center position as it is. Next, the CPU 32 stores the value obtained by subtracting the lane width center position obtained in step S6 from “O” as the adjustment amount (S1
0) Furthermore, the target lane position is determined by adding it to the lane width center position calculated in step S6 (step S1).
3). The position in the target lane is as follows since it is based on the center line in the vehicle left-right direction. (a) Position in target lane = 0: The position in the target lane is on the center line in the lateral direction of the vehicle. (b) Position in target lane <0: The position in the target lane is on the left side of the center line in the vehicle left-right direction. (c) Position in target lane> 0: The position in the target lane is on the right side of the center line in the lateral direction of the host vehicle.

It is determined whether the position in the target lane thus determined corresponds to any of the above cases (step S14). That is, when the target lane position = 0 (a),
Since the target in-lane position exists on the center line of the vehicle in the left-right direction, in step S15, the steering actuator 4 is controlled to be held neutral.

When the target lane position is less than 0 (b),
Since the position in the target lane is on the left side of the center line in the left-right direction of the host vehicle, the steering actuator 4 is controlled to turn left in step S16. If the target lane position> 0 (c),
Since the position in the target lane is on the right side of the center line in the left-right direction of the host vehicle, right steering control of the steering actuator 4 is performed in step S17.

Next, the CPU 52 confirms the constant speed traveling main switch signal read in step S1 (step S18 in FIG. 4). In this case, since the constant speed traveling main switch is "ON", further constant speed traveling is performed. Check the control flag (at step S19). At this point, the constant speed traveling control flag is "OFF", so the start switch signal is confirmed (at step S20). Driver start switch 3
Immediately after operating the, the start switch is "ON", so the constant speed traveling control flag is set to "ON" (S24), and the set value for constant speed traveling control is set based on the vehicle speed information read in step S1. Calculate and substitute (S25 in the same), and perform constant-speed traveling control via the powertrain control device 8 so that the set value is obtained.
(S27).

(2) During Automatic Steering Control and Constant Speed Travel Control Next, operations during automatic steering control and constant speed travel control will be described. Similar to the case of (1) above, the CPU 52, via the input unit 51, the automatic steering main switch signal, the constant speed traveling main switch signal,
Read start switch signal, lane information, and vehicle information
(Step S1 in FIG. 3).

Next, the CPU 52 confirms the automatic steering main switch signal read in step S1 (step S2). In this case, since the automatic steering main switch is "ON", the steering control flag is further confirmed (the same). S3). Since the steering control flag is "ON" in step S8 of (1) above, the release condition is confirmed (step S11). The release condition may be, for example, a case where a brake operation is detected, but the detailed description is omitted here.

If the release condition is satisfied, step S5
After resetting the adjustment amount to "0", the steering control flag is set to "OFF" (S6) and the steering is not controlled (S7). If the release condition is not satisfied in step S11, the automatic steering control is continued, so the lane width center position is calculated (step S12), and the lane width center position is set in step S10 of the above (1).
Calculate the target lane position by adding the adjustment amount stored in
(S13).

With respect to the target in-lane position thus determined, the processes of steps S14 to S17 are thereafter performed in the same manner as in the case of the above (1). Next, the CPU 52 confirms the constant speed traveling main switch signal read in step S1 (step S1 in FIG. 4).
8) In this case, since the constant speed traveling main switch is "ON", the constant speed traveling control flag is further checked (at step S19).

Since the constant speed traveling control flag is "ON" in step S24 of (1) above, the release condition is confirmed (step S24).
26). If the release condition is satisfied, the process proceeds to step S21, the set value is reset to "0", the constant speed traveling control flag is set to "OFF" (S22), and constant speed traveling is not controlled (S).
The process ends as 23).

If the release condition is not satisfied in step S26, the constant speed traveling control is continued, so the power train control is performed so that the set value is obtained using the set value obtained in step S25 of (1) above. Constant speed traveling control is performed via the device 8 (at step S27). (3) When only automatic steering control is carried out Next, assuming that the driver has turned on the automatic steering main switch 1 and turned the constant speed traveling main switch 2 off, the driver starts the start switch. The operation in the case of operating 3 and instructing to start only the automatic steering control will be described.

In this case, the CPU 52 executes the step S1 of the above (1).
After performing steps S17 to S17, the constant speed traveling main switch is "OFF" in step S18 of FIG. 4, so the process proceeds to step S21, the set value is reset to "0", and then the constant speed traveling control flag is set. The control is turned “OFF” (step S22 in FIG. 4), the constant speed traveling is not controlled (step S23), and the process ends.

Therefore, the constant speed traveling control is not executed, but only the automatic steering control is executed. (4) When only constant speed traveling control is performed Next, the driver starts assuming that the driver has set the automatic steering main switch 1 to “OFF” and the constant speed traveling main switch 2 to “ON”. The operation when the switch 3 is operated to instruct to start only the constant speed traveling control will be described.

In this case, the CPU 52 causes the step S2 of (1) above to be performed.
At, since the automatic steering main switch is "OFF",
After proceeding to step S5 and resetting the adjustment amount to "0", the steering control flag is set to "OFF" (see step S5 in FIG. 3).
6) The steering is not controlled (at step S7) and the process ends.

Therefore, the automatic steering control is not executed, but only the constant speed traveling control is executed. If the constant speed traveling control device has an inter-vehicle distance control function, the CPU 52
In step S1 of the above flowchart, the radar device
The front inter-vehicle distance information is read from 9, and the set value for inter-vehicle distance control is included in the set value calculated in step S25, and in step S27, constant speed traveling control is performed via the power train control device 8 and the brake control device 10. Inter-vehicle distance control may be performed.

Further, in the automatic steering control of the above-described embodiment, the target in-lane position of the vehicle is obtained by adding the adjustment amount to the center position of the lane width relatively obtained with the center line in the left-right direction of the own vehicle as a reference. There is. In this case, the relative position of the vehicle and the lane is the relative position of the lane (lane width center position) with respect to the vehicle.

On the contrary, the relative position of the vehicle with respect to the lane can be used as the relative position between the vehicle and the lane. In other words, the same operation as described above is achieved even if the target in-lane position of the vehicle is obtained by adding the adjustment amount to the specific position of the own vehicle, which is relatively obtained with reference to the lane (divided lane position or lane width center position). can do.

[0050]

As described above, according to the automatic steering device of the present invention, the switch for instructing the driver to start the constant speed traveling control by the constant speed traveling control device and the start of the automatic steering control. A single start switch is also used as a switch for instructing, the calculation unit obtains the relative position between the lane detected by the lane detection unit and the vehicle, and the start switch instructs the start of automatic steering control. Since the steering actuator is controlled with the relative position at this time as the position in the target lane of the vehicle, the start switch for automatic steering control can be installed in a place with good operability. It is possible for the driver to arbitrarily set the target in-lane position at the start of control.

[Brief description of drawings]

FIG. 1 is a diagram for explaining a target in-lane position in automatic steering control.

FIG. 2 is a block diagram showing an embodiment of an automatic steering device according to the present invention.

FIG. 3 is a flowchart showing a flow related to automatic steering control of a control program used in the embodiment of the automatic steering device according to the present invention shown in FIG. 2.

FIG. 4 is a flowchart showing a flow related to constant speed traveling control of a control program used in the embodiment of the automatic steering device according to the present invention shown in FIG. 2.

[Explanation of symbols]

1 Automatic steering main switch 2 Constant speed running main switch 3 Start switch 4-lane detector 5 Arithmetic section 6 Steering actuator 7 Vehicle status detector 8 Powertrain controller 9 Radar device 10 Brake control device 20 vehicles CC vehicle center line CL lane width center position RL Right-hand division lane LL Left side lane In the drawings, the same reference numerals indicate the same or corresponding parts.

Continued front page    F term (reference) 3D032 CC20 DA23 DA84 DA93 DB01                       DD02 DE02 DE08 DE20 FF01                       FF02 FF07 GG01                 3G093 BA23 CB11 DA00 DB05 DB15                       DB16 EB00

Claims (7)

[Claims] 1. A single start switch for a driver to instruct both the start of constant speed traveling control by a constant speed traveling control device and the start of automatic steering control, a lane detecting section, and the lane detecting section. A relative position between the lane detected by the vehicle and the vehicle, and a calculation unit that sets the relative position when the start switch instructs the start of the automatic steering control as the target in-lane position of the vehicle; An automatic steering device comprising: an actuator that performs steering control based on a position in the lane. 2. The automatic steering apparatus according to claim 1, wherein the start switch outputs a common signal for starting automatic steering control and starting constant speed traveling control by one operation. 3. The automatic steering device according to claim 1, wherein the start switch outputs a signal for starting automatic steering control and a signal for starting constant speed traveling control by one operation. 4. The automatic steering apparatus according to claim 1, further comprising an automatic steering main switch and a constant speed traveling main switch that invalidate the automatic steering control and the constant speed traveling control, respectively. . 5. The automatic steering device according to claim 1, wherein the constant speed traveling control device has an inter-vehicle distance control function. 6. The automatic steering according to any one of claims 1 to 5, wherein the arithmetic unit sets the relative position to a relative position between a lane width center position or a divided lane position and a vehicle reference position. apparatus. 7. An automatic steering system according to any one of claims 1 to 6, comprising the constant speed traveling control device.