JP2003026027A - 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, allowing a driver to easily set an optional target lane position in an allowable range at starting automatic steering control. SOLUTION: An arithmetic part 4 finds a relative position between the lane detected by a lane detecting part 3 and the vehicle, and it controls a steering actuator 5 using the relative position as the target lane position of the vehicle if the relative position is in a predetermined range in the lane when the start of the automatic steering control is instructed by the starting switch 1 and actuates an alarm part if the relative position is out of the predetermined range in the lane when the start of the automatic steering control is instructed by the starting switch 1, thereby promoting the driver to move the vehicle to such a direction that the relative position can be in the predetermined range.

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.
Explaining using (1), it is usually considered that it is desirable to drive in the center of the lane, so in the case of the above lane detection unit, the lane obtained from the detected left lane LL and right lane RL. The width center position CL is controlled as the target lane position of the automatic steering device, and in the case of the above lane detection unit, the marker row is laid at the lane width center position CL as the target lane position, and the automatic steering device is operated. Controls with this as the position in the target lane.

Therefore, a vehicle for which automatic steering control is performed
10 is controlled such that the vehicle center line CC, which is the center of the vehicle in the left-right direction, is in a state (state A) in which the vehicle center line CC matches the in-lane center position CL. 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.

[0006]

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 vehicle is greater than a certain level, the driver feels anxious as in the above (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) become 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.

In this case, when the automatic steering control is started, the vehicle 10 is moved to the left side lane L as in the state B shown in FIG.
If it is closer 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 10 is closer 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.

However, for example, if the target lane position is set at the end of the detection range of the lane detection section, there is a risk of losing the lane to be detected by the lane detection section due to a curve or the like.
Therefore, the settable target lane position has an allowable range such as the target lane position settable range 100 shown in (2) of the same figure. In addition, it is necessary to avoid the driver from setting a target lane position outside the allowable range, which is closer to the right lane RL.

In this case, it is possible to configure the automatic steering device so as not to accept the setting of the target lane position outside the allowable range, but when considering the usability of the driver,
It is desirable for the automatic steering device to have a function of guiding the driver so that a target lane position that is close to the desired position within the allowable range can be set.

Therefore, the present invention enables a driver to easily set an arbitrary target in-lane position within an allowable range at the start of automatic steering control in an automatic steering device for a vehicle to perform lane keeping traveling. The purpose is to

[0013]

In order to achieve the above object, an automatic steering apparatus according to the present invention includes a start switch for instructing the driver to start automatic steering control, a lane detecting section, and a vehicle lane detecting section. A warning unit that prompts the driver in the direction of movement, a relative position between the lane detected by the lane detection unit and the vehicle, and the relative position when the start switch is instructed to start the automatic steering control If the position is within a predetermined range within the lane, the relative position is set as the position within the target lane of the vehicle, and if the position is outside the predetermined range, the relative position of the vehicle is in the direction in which the relative position is within the predetermined range. The present invention is characterized by including a calculation unit that operates a warning unit so as to prompt the driver to move, and an actuator that performs steering control based on the target in-lane position.

That is, in the present invention, the arithmetic unit determines the relative position between the lane detected by the lane detection unit and the vehicle (for example, the lane width center position or the relative position between the divided lane position and the vehicle reference position). Further, the calculation unit determines that the relative position when the start switch instructs the start of the automatic steering control is within a predetermined range within the lane (for example, within the target lane position settable range 100 in FIG. 1 (2)). If there is, this relative position is set as the position in the target lane of the vehicle.

Further, if the relative position when the start switch instructs the start of the automatic steering control is out of the predetermined range within the lane, the arithmetic unit operates the warning unit to set the relative position to the predetermined position. Encourage the driver to move the vehicle in the direction of the range. That is, in the figure, when the vehicle 10 is in the state D when the start of the automatic steering control is instructed, the vehicle is moved leftward so that the vehicle center line CC is within the target lane position settable range 100. Encourage the driver to do so.

The actuator controls the steering based on the target in-lane position determined by the calculation unit. Thus, in the present invention, if the lateral position of the host vehicle in the lane at the time when the driver instructs the start of the automatic steering control by the start switch is within a predetermined range, this position is set as the target lane position. As an automatic steering control.

However, if the lateral position of the host vehicle in the lane at the time when the driver instructs the start of the automatic steering control by the start switch is outside the predetermined range, the automatic steering control is not performed and the target lane is not performed. The warning unit guides the driver to move the vehicle in a direction within a predetermined range that can be set as the inner position.

Therefore, the driver can easily set an arbitrary target in-lane position within the allowable range at the start of the automatic steering control. Further, in the automatic steering device according to the present invention, if the relative position is within the predetermined range when the calculation unit instructs the start of the automatic steering control, The adjustment amount may be stored.

That is, if the relative position when the start switch instructs the start of the automatic steering control is within a predetermined range, the arithmetic unit sets the relative position to the target lane position so that the target lane position is set. The position adjustment amount is stored at the start of automatic steering control. The warning unit may be a lamp of a direction indicating device installed in a vehicle cabin or a voice warning device.

[0020]

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 includes a start switch 1, an end switch 2, a lane detection unit 3, a calculation unit 4, a steering actuator 5, and a flasher unit 6.

The start switch 1 and the end switch 2 are used by the arithmetic unit 4 to instruct the driver to start and end automatic steering control.
It is sufficient to use a well-known signal which is given as an instruction signal to the. The lane detection unit 3 outputs information regarding the relative position of the lane detected with respect to the own vehicle, and is configured by a combination of a camera and an image processing device, a combination of a lane marker sensor and a signal processing device, and the like. A known one that can be used may be used.

The operation unit 4 inputs an input unit 41 for reading a start switch signal from the start switch 1, an end switch signal from the end switch 2 and lane information from the lane detection unit 3, and an output signal of the input unit 41. CPU42 that performs calculation / judgment regarding automatic steering control using RA and RA used by CPU42 for calculation
M43, ROM44 for storing the control program and control parameters, output unit 45 for driving the steering actuator 5 according to the output data obtained by the CPU42, and for supplying necessary power from the vehicle power supply to these units. It is composed of a power supply unit 46.

The steering actuator 5 may be a known device that automatically operates the steered wheels (not shown) of the vehicle by the output from the output section 45. Further, the flasher unit 6 blinks the left and right flasher lamps 7a, 7b by operating a flasher switch (not shown) by the driver, and also turns on the left and right indicator lamps 8a, 8b provided in the meter in the vehicle compartment. A known device for blinking may be used. However, the diodes D1 to D4 are provided between the output unit 45 of the calculation unit 4 and the flasher unit 6 as shown in the figure, and the calculation unit 4 and the flasher unit 6 independently provide the left and right indicator lamps 8a and 8b. Enable to turn on / off.

The left and right indicator lamps 8a and 8b in the figure move toward the allowable range when the position in the target lane is outside the allowable range when the driver instructs the start of automatic steering control. It serves as a warning part for guiding the driver to move the vehicle.

In this way, the left and right indicator lamps 8
Instead of using a and 8b as the warning unit, for example, the warning device 9 may be connected to the output unit 45 of the calculation unit 4 in FIG. As the warning device 9 in this case, a voice warning device that guides the driver by voice can be used.

FIG. 3 shows the ROM 44 in the arithmetic unit 4 shown in FIG.
2 shows the flow of the control program stored in FIG. 2. The operation of the embodiment of FIG. 2 will be described below with reference to FIG. 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.

(1) The driver gives an instruction to start automatic steering control
When in First, the driver operates the start switch 2, an operation immediately after that instruction to start the automatic steering control. CPU42
Is the start switch 1 and the end switch 2 via the input unit 41.
The start switch signal and the end switch signal from and the lane information of the lane detection unit 3 are read (step S1). in this case,
The lane information from the lane detection unit 3 is information about the relative position of the lane detected based on the center line in the left-right direction of the host vehicle (in the case of division lane detection, position information of left and right division lanes,
In the case of marker row detection, it is the marker row position information).

Next, the CPU 42 confirms the end switch signal read in step S1 (step S2). When the driver gives an instruction to start the automatic steering control, the end switch is set to "OF".
Since it is F ”, the lane width center position is calculated based on the lane information read in step S1 (S6). In this case, if the lane information of the lane detection unit 3 is the segment lane information, the left segment lane Normally, the center of the right lane is set as the lane width center position, and when the marker row information is used, the position of the marker row is normally set as the lane width center position.

Next, the CPU 42 confirms the start switch signal read in step S1 (at step S7). Start switch is "O
Since it is N ”, the lane width center position calculated in step S6 is compared with the set value 1 and the set value 2 in steps S8 and S9, respectively. The set value 1 and the set value 2 set the target in-lane position. These are the left and right limit values of the adjustment amount.

Therefore, if the lane width center position is smaller than the set value 1 in step S8, it means that the vehicle is too close to the right with respect to the lane width center position, and the vehicle should be moved to the left. Left indicator light to guide the driver
8a is turned on (at step S15), and if the lane width center position> set value 2 at step S9, the right indicator lamp 8b is turned on to guide the driver to move the vehicle to the right ( (S16).

When the left and right indicator lamps 8a and 8b are turned on in step S15 or S16, the control flag is confirmed in step S17. The control flag is a flag indicating whether or not the automatic steering control is being performed. At this point, the control flag is "OFF", so that the steering is not controlled (the same S5) as shown in the figure, and the process ends. .

If the setting value 1 ≤ lane width center position ≤ setting value 2 in steps S8 and S9, the adjustment amount can be set, so the value obtained by subtracting the lane width center position from "0" is the adjustment amount. (Same as S10), set the control flag to “ON” (Same as S11), and
The left and right indicator lamps 8a and 8b are turned off (S12 of the same).

Further, the CPU 42 determines the target in-lane position by adding the adjustment amount stored in step S10 to the lane width center position calculated in step S6 (at 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 S18). That is, when the target lane position = 0 (a),
Since the target in-lane position exists on the center line in the vehicle left-right direction, in step S19, the steering actuator 5 is controlled to be held neutral.

If the target lane position <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 5 is controlled to turn left in step S20. 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, the steering actuator 5 is turned to the right in step S21.

(2) During Automatic Steering Control Next, the operation during automatic steering control after the adjustment amount is stored in step S10 in (1) above will be described. As in the case of (1) above, the CPU 42 reads the start / end switch signal and the lane information (step S1).

Next, the CPU 42 confirms the end switch signal read in step S1 (step S2). Since the end switch is "OFF" during the automatic steering control, the lane is read based on the lane information read in step S1. The width center position is calculated (at step S6).
Further, the CPU 42 confirms the start switch signal read in step S1 (at step S7). Normally, the driver operates the start switch 1 only at the start of the automatic steering control, and the start switch is "OFF" during the automatic steering control. Therefore, the control flag is checked in step S14. Since the control flag has already been turned “ON” in step S11 of (1) above, the left and right indicator lamps 8a and 8b are turned off (step S12), and the lane width center position calculated in step S6 is set to the above.
The target lane position is determined by adding the adjustment amounts stored in step S10 of (1) (step S13).

With respect to the position in the target lane thus determined, the processes of steps S18 to S21 are performed in the same manner as in the above (1). If the left or right indicator lamps 8a, 8b are turned on in step S15 or S16 in (1) above and the steering non-control (step S5) ends, the control flag is set to "OFF" in step S14. Therefore, the left and right indicator lamps 8a and 8b are turned off (S4), and steering is not controlled (S5).
The processing ends.

As an exceptional process, assuming the case where the start switch 1 is operated during the automatic steering control, the same process as the above (1) is performed, but step S15 or
Even if the left or right indicator lamps 8a and 8b are turned on in S16, the control flag is "ON" in step S17, and therefore the automatic steering control is continued with the adjustment amount stored previously. .

(3) At the end of automatic steering control or manual steering
During then, the driver during the automatic steering control by operating the end switch 2, the operation will be described during or manual steering immediately instructs the termination of the automatic steering control. Similar to (1) and (2) above,
First, the CPU 42 reads the start / end switch signal and the lane information (step S1).

Next, the CPU 42 confirms the end switch signal read in step S1 (step S2). Since the end switch is "ON" during the end or manual steering, the control flag is set to "OF".
F ”(at step S3), the left and right indicator lamps 8a and 8b are turned off (at step S4), the steering is not controlled (at step S5), and the process ends.

In the above embodiment, the target in-lane position of the vehicle is obtained by adding the adjustment amount to the center position of the lane width, which is relatively obtained with reference to the center line in the vehicle left-right direction. 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.

[0044]

As described above, according to the automatic steering apparatus of the present invention, the arithmetic unit obtains the relative position between the lane detected by the lane detection unit and the vehicle, and the automatic steering control is performed by the start switch. If the relative position when the start of the vehicle is instructed is within a predetermined range in the lane, the steering actuator is controlled with this relative position as the target lane position of the vehicle, and the automatic steering control is started by the start switch. If the relative position at the time of is instructed to be outside the predetermined range, the warning part is operated to prompt the driver to move the vehicle in the direction in which the relative position is within the predetermined range. Therefore, the driver can easily set an arbitrary target in-lane position within the allowable range at the start of the automatic steering 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.

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

[Explanation of symbols]

1 Start switch 2 Exit switch 3-lane detector 4 Arithmetic section 5 Steering actuator 6 Flasher unit 7,7a, 7b Flasher lamp 8,8a, 8b Indicator lamp 9 Warning device 10 vehicles 100 Target lane position setting range 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.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 B60R 21/00 626D 628 628B G08G 1/16 G08G 1/16 C F term (reference) 3D032 CC20 DA84 DA88 DA91 DC09 DC33 DC34 DC35 DD02 EB04 EC22 GG01 5H180 AA01 CC04 CC17 CC24 LL01 LL02 LL04 LL07 LL08 LL09

Claims (5)

[Claims] 1. A start switch for a driver to instruct the start of automatic steering control, a lane detection unit, a warning unit for urging the driver in the moving direction of the vehicle, and a lane detected by the lane detection unit. And the relative position between the vehicle and the vehicle, and if the relative position when the start switch instructs the start of the automatic steering control is within a predetermined range within the lane, the relative position is set as the target of the vehicle. A position within the lane, and if it is outside the predetermined range, a calculation unit that operates a warning unit to prompt the driver to move the vehicle in the direction in which the relative position falls within the predetermined range; An automatic steering device comprising: an actuator that performs steering control based on an inner position; 2. The target lane position adjustment according to claim 1, wherein the arithmetic unit adjusts the target in-lane position if the relative position is within the predetermined range when the start switch instructs the start of the automatic steering control. An automatic steering device characterized by storing a quantity. 3. The automatic steering device according to claim 1 or 2, wherein the warning portion is a lamp of a direction indicator installed in a vehicle compartment. 4. The automatic steering device according to claim 1, wherein the warning unit is a voice warning device. 5. The automatic steering according to any one of claims 1 to 4, 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.