JP2005182186A - Vehicular travel track setting system - Google Patents

Vehicular travel track setting system Download PDF

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JP2005182186A
JP2005182186A JP2003418452A JP2003418452A JP2005182186A JP 2005182186 A JP2005182186 A JP 2005182186A JP 2003418452 A JP2003418452 A JP 2003418452A JP 2003418452 A JP2003418452 A JP 2003418452A JP 2005182186 A JP2005182186 A JP 2005182186A
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vehicle
setting
target
gazing point
travel locus
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Akira Hattori
彰 服部
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Toyota Motor Corp
トヨタ自動車株式会社
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular travel track setting system that sets an appropriate travel track depending on a curved road. <P>SOLUTION: The vehicular travel track setting system 1, which detects division lines indicating a lane ahead of a vehicle by imaging means 2 and sets a travel track of the vehicle depending on the division lines, comprises position detecting means 4a for detecting the position of the inner division line in a position ahead of the vehicle, tangent angle calculating means 4a for calculating a tangent angle formed between the travel direction of the vehicle and a tangent to the inner division line in the detected position of the inner division line, correction value calculating means 4a for calculating a correction value depending on the tangent angle, and travel track position setting means 4a for setting a travel track position inward by the correction value from the center between both right and left division lines in the position ahead of the vehicle. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicular travel path setting device that sets an appropriate travel path according to a curved road.

In recent years, a steering assist device has been developed to assist the steering of the driver. In the steering assist device, a target travel path is set, and the steering angle is controlled so that the vehicle travels on the set travel path (see Patent Document 1). As a method for setting a travel track, generally, a white line on both the left and right sides for dividing a lane in which the vehicle is traveling is detected, and the center of the two white lines (lanes) is obtained.
JP-A-6-300580 JP-A-6-300581

  However, in the conventional setting method, the traveling track is uniformly set at the center of the lane for both straight and curved roads, so that the traveling track is not appropriate for curved roads. In the case of a curved road, a driver (especially a veteran driver) usually performs steering so as to travel from the center of the curved road from the inside. Therefore, when driving on the center of a curved road by steering by a conventional steering assist device, the driver feels uncomfortable with the difference in course taking. In this case, since the steering angle is larger than the steering by the driver, the slip angle becomes larger, and the behavior of the vehicle becomes more unstable as the vehicle speed and the curve radius are smaller.

  Then, this invention makes it a subject to provide the traveling track setting apparatus for vehicles which sets the appropriate traveling track according to a curve road.

  A traveling track setting device for a vehicle according to the present invention is a traveling track setting device for a vehicle that detects a lane line indicating a lane ahead of the vehicle by an imaging unit and sets a traveling track of the vehicle based on the lane line. It is formed by position detecting means for detecting the position of the inner peripheral lane marking at the vehicle front position, and the traveling direction of the vehicle and the tangent to the inner peripheral lane marking at the position of the inner peripheral lane marking detected by the position detecting means. Tangent angle calculating means for calculating a tangent angle, correction amount calculating means for calculating a correction amount based on the tangent angle calculated by the tangential angle calculating means, and correction amount calculating means from the centers of the left and right lane markings at the vehicle front position And a travel trajectory position setting means for setting the travel trajectory position on the inner circumference side by the correction amount calculated in (5).

  In this vehicle trajectory setting device, the left and right lane markings in front of the vehicle are detected from the image data captured by the imaging means, and the inner periphery of the curved road at the vehicle forward position from the detected lane markings on both sides is detected by the position detection means. The position of the side marking line is detected. Further, in the vehicle traveling track setting device, the tangent angle formed by the traveling direction of the vehicle and the tangent line of the inner peripheral side dividing line is calculated by the tangent angle calculating means at the detected position of the inner peripheral side dividing line. This tangent angle indicates the degree of the curve, and the curve radius decreases as the angle increases (the curve becomes steeper). In the vehicle travel track setting device, the correction amount calculation unit calculates a correction amount corresponding to the degree of the curve based on the tangent angle. Further, in the vehicle travel track setting device, the travel track position setting means sets a travel track position offset from the center of the lane markings on both sides at the vehicle front position to the inner circumference side by the correction amount, and the travel track position is determined based on the travel track position. Form. As described above, in the vehicular traveling track setting device, the traveling track is offset from the center of the curved road to the inner peripheral side according to the degree of the curve, so that it is possible to set an appropriate traveling track according to the curved road. As a result, the set traveling trajectory is close to a course taking that normally travels by steering by the driver. When this running track is used for steering assistance, the steering angle on the curved road is smaller than the conventional running track set at the center of the lane markings on both sides, so the slip angle is also smaller and the vehicle behavior is stable. Turn into.

  In the vehicle travel track setting device of the present invention, the vehicle front position may be set based on the vehicle speed.

  In this vehicular traveling track setting device, the time to reach the vehicle front position varies depending on the vehicle speed, so the vehicle front position is set based on the vehicle speed. In other words, when the travel track to be set is used for control such as steering assistance, the travel track information at the front position is required as the vehicle speed increases, so the travel track at the front position can be set at a higher vehicle speed. .

  A traveling track setting device for a vehicle according to the present invention is a traveling track setting device for a vehicle that detects a lane line indicating a lane ahead of the vehicle by an imaging unit and sets a traveling track of the vehicle based on the lane line. A far position detecting means for detecting the farthest position where the lane line can be detected in front of the vehicle and detecting the position of the inner lane marking at the farthest position, and the inner circumference side section detected by the far position detecting means A tangent angle calculation means for calculating a tangent angle formed by the traveling direction of the vehicle and a tangent to the inner circumferential side dividing line at the position of the line, and a correction for calculating a correction amount based on the tangent angle calculated by the tangent angle calculation means A travel trajectory position setting means for setting the travel trajectory position on the inner circumference side by the correction amount calculated by the correction amount calculation means from the center of the left and right lane markings at the farthest position detected by the far position detection means Characterized in that it comprises a.

  In this vehicle trajectory setting device, the farthest position detecting unit detects the farthest position from which the lane marking can be detected from the image data captured by the imaging unit, and the position of the inner peripheral lane marking at the farthest position is detected. To detect. Further, in the vehicle travel track setting device, the tangent angle formed by the traveling direction of the vehicle and the tangent line of the inner peripheral side dividing line is calculated at the position of the inner peripheral side dividing line detected by the tangential angle calculating means. In the vehicle travel trajectory setting device, the correction amount calculation means calculates the correction amount based on the tangent angle, and the travel trajectory position setting means calculates the correction amount inner circumference from the center of the left and right lane markings at the farthest position. Set the trajectory position on the side. In this way, in this vehicle travel track setting device, the travel track is offset to the inner peripheral side according to the degree of the curve, as in the above-described vehicle travel track setting device, so that the appropriate travel according to the curve road is performed. The trajectory can be set. In particular, this vehicle travel trajectory setting device uses highly reliable data that can reliably detect lane markings, so it is possible to set a reliable travel trajectory according to an actual curved road. it can. In addition, since the vehicle trajectory setting device sets the travel trajectory position at the farthest position obtained from the highly reliable data, the target gazing point can be offset further from the front of the curve, and more with respect to the curve road. A good traveling track can be set.

  In the vehicle travel track setting device of the present invention, the travel track position setting means may be configured to set the travel track position in consideration of the vehicle width.

  In the traveling track position setting means of the traveling track setting device for a vehicle, when the traveling track position is offset to the inner peripheral side, the offset is taken into consideration in consideration of the vehicle width. The reason is that the larger the correction amount, the more likely the vehicle will protrude from the inner perimeter line. Therefore, when offsetting, it is necessary to consider the vehicle width so that the vehicle does not exceed the inner perimeter line. There is.

  According to the present invention, it is possible to set an appropriate travel path according to a curved road.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a vehicular traveling track setting device according to the present invention will be described with reference to the drawings.

  In the present embodiment, the vehicular traveling track setting device according to the present invention is applied to a steering assist device that assists the driver in steering. The steering assist device according to the present embodiment sets a target travel locus based on the white line imaged by the camera, and controls the steering angle using the electric power steering device so as to travel along the target travel locus. In this embodiment, there are two embodiments depending on the setting method of the target travel locus, the first embodiment is the basic setting method, and the second embodiment is the basic setting method. This is a setting method in consideration of the image processing limit and the vehicle width.

  The steering assist device 1 will be described with reference to FIG. FIG. 1 is a configuration diagram of a steering assist device according to the present embodiment.

  For the purpose of lane keeping, the steering assist device 1 assists the driver to steer the vehicle so that the vehicle travels in two white lines (division lines) on both the left and right sides indicating the lane. In particular, the steering assist device 1 sets an optimal target travel path corresponding to the degree of the curve in order to stabilize the behavior of the vehicle during steering on a curved road. For this purpose, the steering assist device 1 includes a camera 2, an image processing ECU [Electronic Control Unit] 3 and a steering assist ECU 4 exclusively, and includes a yaw rate sensor 5, a steering angle sensor 6, a vehicle speed sensor 7, a wiper switch 8, a winker. A switch 9 and an electric power steering device 10 (EPS [Electric Power Steering] ECU 10a, EPS motor 10b, etc.) are used. The steering assist ECU 4 communicates with various sensors 5, 6, 7, various switches 8, 9 and the EPC ECU 10 a via a CAN [Controller Area Network] communication system 11. In the present embodiment, the camera 2 corresponds to the imaging means described in the claims.

  The camera 2 is a camera that is attached to a vehicle and images a wide range including white lines on both the left and right sides in front of the vehicle. The camera 2 transmits the captured image data PD to the image processing ECU 3.

  The image processing ECU 3 is an image processing unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The image processing ECU 3 performs positive / negative edge processing and road approximate curve processing for detecting a white line based on the image data PD from the camera 2. Then, the image processing ECU 3 transmits the image processing result to the steering assist ECU 4 as white line data WD.

  The yaw rate sensor 5 is a sensor that detects the yaw rate (rotational angular velocity) of the vehicle, and transmits the detected value as a yaw rate signal YS to the steering assist ECU 4 via the CAN communication system 11. The steering angle sensor 6 is a sensor that detects the steering angle of the steering wheel, and transmits the detected value to the steering assist ECU 4 via the CAN communication system 11 as a steering angle signal AS. The vehicle speed sensor 7 is a sensor that detects the speed of the vehicle, and transmits the detected value to the steering assist ECU 4 via the CAN communication system 11 as a vehicle speed signal SS. The wiper switch 8 transmits the switch state as the wiper switch signal WS to the steering assist ECU 4 via the CAN communication system 11. The winker switch 9 transmits the switch state to the steering assist ECU 4 via the CAN communication system 11 as a winker switch signal US. Note that the steering support device 1 acquires information necessary for performing steering support in addition to information from these sensors and switches via the CAN communication system 11.

  The electric power steering device 10 adds assist torque from the EPS motor 10b to the steering system to assist the steering force by the driver. The EPS ECU 10a sets the assist torque based on the vehicle speed, the steering torque, and the like, and controls the driving of the EPS motor 10b to generate the assist torque. The EPS ECU 10a receives the steering assistance signal PS from the steering assistance ECU 4 via the CAN communication system 11, and generates the target steering assistance torque indicated by the steering assistance signal PS in addition to the assist torque. Control the drive.

  The steering assist ECU 4 is an electronic control unit including a CPU, a ROM, a RAM, and the like. The steering assist ECU 4 takes in the white line data WD from the image processing ECU 3, the detection signals YS, AS, SS from the various sensors 5, 6, 7 and the switch signals WS, US from the various switches 8, 9 to obtain the target travel locus. The steering assist signal PS is transmitted to the electric power steering apparatus 10 in order to control the steering angle so that the vehicle travels according to the target travel locus. For this purpose, the steering assist ECU 4 includes a target travel locus setting unit 4a, an actual travel locus calculating unit 4b, and a target steering assistance torque calculating unit 4c. In the present embodiment, the target travel locus setting unit 4a is configured with position detection means or far position detection means, tangent angle calculation means, correction amount calculation means, and travel track position setting means described in the claims. .

  The target travel locus setting unit 4a sets a target travel locus based on the white line data WD from the image processing ECU 3, the wiper switch signal WS, and the winker switch signal US. In the target travel locus setting unit 4a, the target travel locus is set at the center of the white line on both the left and right sides for the straight road, and is offset by a predetermined amount from the center of the white line on both the left and right sides to the inner circumference side for the curved road. Set the target travel locus. The target travel locus setting unit 4a performs two forms of target travel locus setting processing, which will be described in detail later.

  The actual travel locus calculation unit 4b calculates an actual travel locus on which the vehicle is actually traveling based on the yaw rate signal YS, the steering angle signal AS, and the vehicle speed signal SS. As for the actual traveling locus, other information such as GPS [Global Positioning System] may be used when setting, or when the accuracy of the actual traveling locus required in the car navigation system is high. May be.

  The target steering assist torque calculation unit 4c calculates a target steering angle based on the target travel locus and the actual travel locus so that the center of the vehicle coincides with the target travel locus at every predetermined time during which the steering assist control is performed. At this time, the target steering assist torque calculation unit 4c sets the target gazing point Tn (the point that forms the target travel locus) set on the forward gazing point distance Ln as the target position to be controlled. As described above, the target gazing point Tn set in front of the vehicle is controlled because the vehicle is traveling at a predetermined speed. Therefore, the target position of the control target is determined by the vehicle in consideration of the control delay. This is in order not to be behind. Further, the target steering support torque calculation unit 4c calculates a target steering support torque necessary for achieving the target steering angle, and generates a steering support signal PS indicating the target steering support torque.

  With reference to FIG.2 and FIG.3, the target traveling locus setting process which concerns on 1st Embodiment in the target traveling locus setting part 4a is demonstrated along the flowchart of FIG. FIG. 2 is an explanatory diagram of a target travel locus setting process in the target travel locus setting unit according to the first embodiment. FIG. 3 is an explanatory diagram of another setting pattern for the forward gazing distance in the target travel locus setting process according to the first embodiment. FIG. 4 is a flowchart showing a target travel locus setting process in the target travel locus setting unit according to the first embodiment. In the present embodiment, the traveling direction of the vehicle V is the Y direction, and the direction orthogonal to the traveling direction is the X direction.

  In the target travel locus setting unit 4a, the forward gazing distance Ln is set according to the vehicle speed for every predetermined time during which the steering assist control is performed (S10). The higher the vehicle speed, the longer the forward gazing distance Ln. The forward gazing point distance may be set only for target travel locus setting in addition to the steering assist control. The forward gazing point distance Ln may be set by the target steering assist torque calculation unit 4c.

When the forward gazing point distance Ln is set, the target travel locus setting unit 4a detects the white line positions on both the left and right sides at the forward gazing point distance Ln from the white line data WD. Then, in the target travel locus setting unit 4a, the detected white line position of the inner white line WL2 is set as the white line gazing point Pn (X coordinate Pxn, Y coordinate Pyn) (S11). Further, the target travel locus setting unit 4a calculates the center point between the detected white line position of the outer peripheral white line WL1 and the detected white line position of the inner peripheral white line WL2, and uses the center point as the temporary target gazing point Tn 0 (X coordinate). Txn 0 , Y coordinate Tyn 0 ) (S11). In the case of a straight road, one of the detected left and right white line positions (for example, the left white line position) is set as a white line gazing point Pn.

  Subsequently, the target travel locus setting unit 4a calculates a tangent TL of the inner peripheral white line WL2 at the white line gazing point Pn from the white line data WD. Further, the target travel locus setting unit 4a calculates an angle formed by the tangent line TL and the traveling direction AL (that is, the Y direction) of the vehicle, and sets this angle as the tangent angle θLn (S12). Incidentally, the tangent angle θLn is 0 in the case of a straight road. Then, the target travel locus setting unit 4a calculates the gaze point offset amount TSn from the tangent angle θLn according to the equation (1) (S13).

K in Formula (1) is a constant. The tangent angle θLn indicates the degree of the curve, and as the tangent angle θLn increases, the curve becomes steeper (the curve radius becomes smaller), so the amount by which the target travel locus is offset to the inner peripheral side is increased. The gaze point offset amount TSn is an offset amount in the X direction. Incidentally, the gaze point offset amount TSn is 0 in the case of a straight road. Although k is a constant, it may be variable according to the vehicle speed or the like.

In the target travel locus setting unit 4a, the X coordinate Txn of the target gazing point Tn is calculated by the equation (2) using the gazing point offset amount TSn and the X coordinate Txn 0 of the temporary target gazing point Tn 0 to obtain the target gazing point. Tn is set (S14). The target gazing point Tn has an X coordinate of Txn and a Y coordinate of Tyn 0 , and is used for steering assist control in the target steering assist torque calculator 4c. The target traveling locus setting unit 4a obtains the target gazing point Tn every time the forward gazing point distance Ln is set, and sets the target traveling locus TG by the sequentially obtained target gazing points Tn, Tn-1, Tn-2,. Form.

For curved road, the target fixation point Tn is offset to the inner peripheral side from the provisional target fixation point Tn 0, it approaches the inner peripheral side as the curve becomes steeper. Therefore, the radius RA of the target travel locus TG on the curved road is larger than the radius RB of the conventional target travel locus TG 0 on the curved road formed by the temporary target gazing point Tn 0 . Incidentally, in the case of a straight road, the target gazing point Tn is the temporary target gazing point Tn 0 .

As shown in FIG. 3, apart from the forward gazing point distance Ln for steering assist control, a forward gazing point distance Ln ′ dedicated to target gazing point setting may be set ahead of the forward gazing point distance Ln. . In this case, the target travel locus setting unit 4a sets the forward gazing distance Ln ′ ahead of the forward gazing distance Ln for steering assist control from the white line data WD within a range where the white line can be detected. Then, the target travel locus setting unit 4a obtains the white line gazing point Pn ′ and the temporary target gazing point Tn 0 ′ at the forward gazing point distance Ln ′ as described above. Further, the target travel locus setting unit 4a calculates the tangent angle θLn ′ at the white line gazing point Pn ′, and calculates the gazing point offset amount TSn ′ according to the equation (3). Then, the target travel locus setting unit 4a calculates the X coordinate Txn ′ of the target gazing point Tn ′ by the equation (4) to obtain the target gazing point Tn ′. The target travel locus setting unit 4a obtains the target gazing point Tn 'every time the forward gazing point distance Ln' for setting the target traveling locus is set, and sequentially obtains the target gazing points Tn ', Tn-1', Tn-2. A target travel locus TG is formed by ', .... Further, the target travel locus setting unit 4a calculates a target gazing point Tn for steering assist control at the forward gazing point distance Ln from the target traveling locus TG.

In this way, by setting the forward gazing point distance Ln ′ ahead of the forward gazing point distance Ln, the target gazing point Tn ′ can be offset to the inner peripheral side from the front of the curve, and the target having a larger radius can be obtained. A travel locus TG can be formed.

According to the target travel locus setting process according to the first embodiment, the target gazing point Tn (Tn ′) is changed from the temporary target gazing point Tn 0 (Tn 0 ′) (that is, the center of the curve road) on the curved road. By offsetting to the inner peripheral side of the lane according to the tangent angle θLn (θLn ′) (that is, the degree of the curve), it is possible to set the optimum target travel locus TG according to the curve radius. As a result, the curve radius of the target running locus TG increases, the steering assist device 1, as compared with the case of setting the target steering angle based on conventional target running locus TG 0, the target steering angle is reduced. Therefore, the slip angle is also reduced, and the behavior of the vehicle on the curved road is stabilized. Further, according to this target travel locus setting process, the target travel locus TG is taken on the curve side and the course is intended for the in side of the curve. Does n’t give the driver a sense of incompatibility

  Further, according to this target travel locus setting process, when applied to a vehicle equipped with an inter-vehicle control device, the difference between the target travel locus TG and the travel locus of the preceding vehicle becomes smaller on a curved road, so A reduction in recognition accuracy can be prevented, and the probability of losing sight of the preceding vehicle is also reduced. Further, according to this target travel locus setting process, the target travel locus TG is set according to the curve shape ahead, and therefore it is possible to deal with various continuous curves such as a curve with a changing curvature and an S-shaped curve.

  Next, with reference to FIG. 5, the target travel locus setting process according to the second embodiment in the target travel locus setting unit 4a will be described along the flowchart of FIG. FIG. 5 is an explanatory diagram of a target travel locus setting process in the target travel locus setting unit according to the second embodiment. FIG. 6 is a flowchart showing a target travel locus setting process in the target travel locus setting unit according to the second embodiment.

  The target travel locus setting unit 4a first sets a forward gazing point distance Ln 'indicating the farthest position where a white line can be detected from the white line data WD (S20). The forward gazing distance Ln ′ is a limit distance at which a white line can be detected by positive / negative edge processing, and indicates a position farthest from the vehicle V that can be reliably identified as a white line from an image captured by the camera 2. What influences the detection limit of the white line includes the performance of the camera 2, the weather (rain, fog, etc.), daytime and nighttime, the degree of curve, and the like. In the target travel locus setting unit 4a, when setting the forward gazing distance Ln ′, whether the wiper is activated, whether the fog lamp is lit, whether the headlight is lit, You may consider conditions, such as whether it is operate | moving.

When the forward gazing point distance Ln ′ is set, the target travel locus setting unit 4a detects the white line positions on the left and right sides at the forward gazing point distance Ln ′, and sets the white line gazing point Pn ′ and the temporary target gazing point Tn 0 ′. (S21). Further, the target travel locus setting unit 4a calculates a tangent angle θLn ′ formed by the tangent TL at the white line gazing point Pn ′ and the traveling direction AL of the vehicle V (S22).

  Subsequently, the target travel locus setting unit 4a calculates the gaze point offset amount TSn 'by the equation (3) based on the tangent angle θLn' (S23). In addition, the target travel locus setting unit 4a calculates a vehicle offset allowable distance an by equation (5) based on the vehicle width w (S24).

In Expression (5), s is a length indicating a margin from the side end of the vehicle V to the inner peripheral white line. The vehicle offset allowable distance an is at least necessary from the white line gazing point Pn ′ to the target gazing point Tn ′ so that the vehicle V does not exceed the inner white line when the vehicle V is steered and controlled according to the target travel locus TG. It is a long distance.

Subsequently, the target travel locus setting unit 4a uses the X coordinate Txn 0 ′ of the gazing point offset amount TSn ′ and the temporary target gazing point Tn 0 ′, and the X coordinate of the temporary target gazing point Tn ″ according to the equation (6). Txn ″ is calculated (S25). Since the provisional target gazing point Tn ″ does not consider the vehicle offset allowable distance an, when the target gazing point Tn ′ is obtained from the provisional target gazing point Tn ″, the vehicle V may exceed the inner white line. . Therefore, the target travel locus setting unit 4a subtracts the X coordinate Txn ″ of the temporary target gazing point Tn ″ from the X coordinate Pxn ′ of the white line gazing point Pn ′, and determines whether the subtraction value is larger than the vehicle offset allowable distance an. (S25). When the subtraction value is larger than the vehicle offset allowable distance an, the vehicle V does not exceed the white line on the inner circumference side. Therefore, the target travel locus setting unit 4a has the X coordinate of the target gazing point Tn ′ as shown in the equation (7). Txn ′ is set as the X coordinate Txn ″ of the provisional target gazing point Tn ″ (S25). On the other hand, when the subtraction value is equal to or less than the vehicle offset allowable distance an, the vehicle V may exceed the inner peripheral white line. Therefore, the target travel locus setting unit 4a determines the X coordinate Pxn ′ of the white line gazing point Pn ′ and the vehicle. Using the offset allowable distance an, the X coordinate Txn ′ of the target gazing point Tn ′ is calculated by Expression (8) (S25). The target gazing point Tn ′ has an X coordinate of Txn ′ and a Y coordinate of Tyn 0 ′. The target travel locus setting unit 4a obtains a target gazing point Tn 'every time the forward gazing point distance Ln' is set, and sequentially calculates the target gazing points Tn ', Tn-1', Tn-2 ',. A target travel locus TG is formed.

As described above, the target gazing point Tn ′ is basically offset from the temporary target gazing point Tn 0 ′ to the inner peripheral side by the gazing point offset amount TSn ′, but the vehicle V may exceed the white line. Is offset from the white line gazing point Pn ′ to the center side by the vehicle offset allowable distance an. In any case, since the target gazing point Tn ′ is offset from the temporary target gazing point Tn 0 ′ to the inner circumference side, the radius RA on the curve path of the target travel locus TG is the curve path of the conventional target travel locus TG 0 . It becomes larger than the radius RB at.

  Further, since the target gazing point Tn for the steering assist control used in the target steering assist torque calculating unit 4c is required, the target travel locus setting unit 4a first uses the current vehicle speed Vn by the equation (9). The temporary forward gazing point distance Ln ″ is calculated (S26). Then, the target travel locus setting unit 4a determines whether the temporary forward gazing point distance Ln ″ is longer than the forward gazing point distance Ln ′ for setting the target gazing point. (S26). When the provisional forward gazing distance Ln ″ is longer than the forward gazing distance Ln ′, the target travel locus setting unit 4a sets the forward gazing distance Ln for steering assist control as the target gazing point as shown in Expression (10). (S26) On the other hand, when the provisional forward gazing point distance Ln ″ is less than or equal to the forward gazing point distance Ln ′, the target travel locus setting unit 4a represents the following equation (11). The forward gazing point distance Ln for steering assist control is set as the provisional forward gazing point distance Ln ″ corresponding to the vehicle speed (S26).

In formula (9), α and β are constants. Thus, when setting the forward gazing distance Ln for steering assist control, the distance is basically set according to the vehicle speed, and the longer the higher the vehicle speed, the longer the gazing distance Ln for setting the target gazing point. Since the target travel locus TG is still set before ', the upper gazing point distance Ln' is set as the upper limit.

  Subsequently, the target travel locus setting unit 4a calculates a target gazing point Tn for steering assist control at the forward gazing point distance Ln based on the target traveling locus TG set up to the position of the target gazing point Tn ′ ( S27). The target gazing point Tn is used for steering assist control in the target steering assist torque calculator 4c. Further, in the target travel locus setting unit 4a, the upper limit vehicle speed Lim_Vn may be calculated by the equation (12) using the front gazing point distance Ln ′.

When applied to a vehicle equipped with an inter-vehicle control device or cruise control, the vehicle speed may be controlled with the upper limit vehicle speed Lim_Vn as the upper limit during vehicle speed control. Even when such vehicle speed control is not performed, when the vehicle speed becomes higher than the upper limit vehicle speed Lim_Vn, a display or a warning that prompts the driver to decelerate may be output.

  According to the target traveling locus setting process according to the second embodiment, in addition to the operational effects in the target traveling locus setting process according to the first embodiment, there are the following operational effects. According to this target travel locus setting process, since the limit distance of the forward gazing point for setting the target travel locus is set in consideration of the positive / negative edge processing limit of the image processing, a highly accurate target gazing point Tn ′ is obtained. be able to. In other words, since only stable data that can reliably recognize the white line is used, and uncertain data is not used as data exceeding the positive / negative edge processing limit, the reliability of the target gazing point Tn ′ obtained from the highly reliable data is not used. The nature is also high. Further, according to this target travel locus setting process, the target gazing point Tn ′ can be set at the farthest possible position in image processing, and therefore the target gazing point Tn ′ is offset further to the inner circumference side from the front of the curve. And a target travel locus TG having a larger radius can be formed.

  Further, according to this target travel locus setting process, the target gazing point Tn ′ is set in consideration of the vehicle width, so that the vehicle V does not protrude from the white line during the steering assist, and is excellent in safety. ing. Furthermore, according to this target travel locus setting process, since the limit distance of the forward gazing point distance is set, the upper limit of the forward gazing point distance Ln for steering assist control can be set, and the upper limit of the vehicle speed can also be set.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in this embodiment, the vehicular travel trajectory setting device is applied to the steering assist device, but the present invention can also be applied to other devices that require a travel trajectory such as an automatic travel device.

  In this embodiment, the steering assist control method for obtaining the target steering assist torque based on the target travel locus and the actual travel locus is used. However, various control methods may be applied to the steering assist control method.

  Further, the target travel locus is set in consideration of the vehicle width only in the target travel locus setting according to the second embodiment, but the vehicle width is also set in the target travel locus setting according to the first embodiment. It is good also as a structure which sets a target travel locus in consideration.

It is a block diagram of the steering assistance apparatus which concerns on this Embodiment. It is explanatory drawing of the target travel locus setting process in the target travel locus setting part which concerns on 1st Embodiment. It is explanatory drawing of the other setting pattern of the front gaze distance in the target travel locus setting process which concerns on 1st Embodiment. It is a flowchart which shows the target travel locus setting process in the target travel locus setting part which concerns on 1st Embodiment. It is explanatory drawing of the target travel locus setting process in the target travel locus setting part which concerns on 2nd Embodiment. It is a flowchart which shows the target travel locus setting process in the target travel locus setting part which concerns on 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Steering assistance apparatus, 2 ... Camera, 3 ... Image processing ECU, 4 ... Steering assistance ECU, 4a ... Target traveling locus setting part, 4b ... Actual traveling locus calculating part, 4c ... Target steering assistance torque calculating part, 5 ... Yaw rate Sensor: 6 ... Steering angle sensor, 7 ... Vehicle speed sensor, 8 ... Wiper switch, 9 ... Winker switch, 10 ... Electric power steering device, 10a ... EPSECU, 10b ... EPS motor, 11 ... CAN communication system

Claims (4)

  1. A vehicle trajectory setting device for detecting a lane marking indicating a lane ahead of the vehicle by an imaging means and setting a travel trajectory of the vehicle based on the lane marking,
    Position detecting means for detecting the position of the inner peripheral lane marking at the vehicle front position;
    A tangent angle calculation means for calculating a tangent angle formed by the traveling direction of the vehicle and the tangent to the inner circumference side marking line at the position of the inner circumference side marking line detected by the position detection means;
    Correction amount calculation means for calculating a correction amount based on the tangent angle calculated by the tangent angle calculation means;
    Vehicular travel characterized by comprising travel trajectory position setting means for setting the travel trajectory position on the inner circumference side by the correction amount calculated by the correction amount calculation means from the center of the left and right lane markings at the vehicle front position. Orbit setting device.
  2.   The vehicle travel path setting device according to claim 1, wherein the vehicle front position is set based on a vehicle speed.
  3. A vehicle trajectory setting device for detecting a lane marking indicating a lane ahead of the vehicle by an imaging means and setting a travel trajectory of the vehicle based on the lane marking,
    A far position detecting means for detecting the farthest position where the lane line can be detected in front of the vehicle, and detecting the position of the inner circumference side lane line at the farthest position;
    A tangent angle calculation means for calculating a tangent angle formed by the traveling direction of the vehicle and the tangent to the inner circumference side marking line at the position of the inner circumference side marking line detected by the remote position detection means;
    Correction amount calculation means for calculating a correction amount based on the tangent angle calculated by the tangent angle calculation means;
    Travel trajectory position setting means for setting the travel trajectory position on the inner circumference side by the correction amount calculated by the correction amount calculation means from the center of the left and right lane markings at the farthest position detected by the far position detection means. A traveling trajectory setting device for a vehicle.
  4.   The vehicle travel track setting according to any one of claims 1 to 3, wherein the travel track position setting means sets the travel track position in consideration of a vehicle width. apparatus.
JP2003418452A 2003-12-16 2003-12-16 Vehicular travel track setting system Pending JP2005182186A (en)

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JP2003418452A JP2005182186A (en) 2003-12-16 2003-12-16 Vehicular travel track setting system

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WO2009057705A1 (en) * 2007-11-01 2009-05-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
WO2009057703A1 (en) * 2007-11-01 2009-05-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
WO2009057649A1 (en) * 2007-11-01 2009-05-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
JP2009134455A (en) * 2007-11-29 2009-06-18 Toyota Motor Corp Traveling support device, inter-vehicle distance setting method
JP2011198281A (en) * 2010-03-23 2011-10-06 Nec Corp Running support apparatus, running support method, and program
JP2015202760A (en) * 2014-04-14 2015-11-16 日野自動車株式会社 Steering control apparatus
JP2015202758A (en) * 2014-04-14 2015-11-16 日野自動車株式会社 Drive support apparatus
CN105163994A (en) * 2013-05-01 2015-12-16 丰田自动车株式会社 Driving support apparatus and driving support method
WO2016110731A1 (en) * 2015-01-05 2016-07-14 日産自動車株式会社 Forward fixation point distance setting device and travel control device
WO2018047292A1 (en) * 2016-09-09 2018-03-15 日産自動車株式会社 Vehicle travel control method and travel control device
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WO2009057705A1 (en) * 2007-11-01 2009-05-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
WO2009057703A1 (en) * 2007-11-01 2009-05-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
WO2009057649A1 (en) * 2007-11-01 2009-05-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
US8255110B2 (en) 2007-11-01 2012-08-28 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
US8364394B2 (en) 2007-11-01 2013-01-29 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
US8428812B2 (en) 2007-11-01 2013-04-23 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
JP2009134455A (en) * 2007-11-29 2009-06-18 Toyota Motor Corp Traveling support device, inter-vehicle distance setting method
JP2011198281A (en) * 2010-03-23 2011-10-06 Nec Corp Running support apparatus, running support method, and program
CN105163994B (en) * 2013-05-01 2017-09-29 丰田自动车株式会社 Drive support apparatus and driving support method
US9643649B2 (en) * 2013-05-01 2017-05-09 Toyota Jidosha Kabushiki Kaisha Driving support apparatus and driving support method
CN105163994A (en) * 2013-05-01 2015-12-16 丰田自动车株式会社 Driving support apparatus and driving support method
US20160052547A1 (en) * 2013-05-01 2016-02-25 Toyota Jidosha Kabushiki Kaisha Driving support apparatus and driving support method
JP2015202758A (en) * 2014-04-14 2015-11-16 日野自動車株式会社 Drive support apparatus
JP2015202760A (en) * 2014-04-14 2015-11-16 日野自動車株式会社 Steering control apparatus
WO2016110731A1 (en) * 2015-01-05 2016-07-14 日産自動車株式会社 Forward fixation point distance setting device and travel control device
US10597031B2 (en) 2015-06-02 2020-03-24 Denso Corporation Drive assist apparatus
US10684133B2 (en) 2015-07-22 2020-06-16 Honda Motor Co., Ltd. Route generator, route generation method, and route generation program
CN107851392A (en) * 2015-07-22 2018-03-27 本田技研工业株式会社 Coordinates measurement device, path generating method and path generation program
CN109690651A (en) * 2016-09-09 2019-04-26 日产自动车株式会社 The travel control method and travel controlling system of vehicle
US10474158B2 (en) 2016-09-09 2019-11-12 Nissan Motor Co., Ltd. Vehicle travel control method and travel control device
RU2715667C1 (en) * 2016-09-09 2020-03-02 Ниссан Мотор Ко., Лтд. Method of vehicle movement control and movement control device
WO2018047292A1 (en) * 2016-09-09 2018-03-15 日産自動車株式会社 Vehicle travel control method and travel control device
CN109690651B (en) * 2016-09-09 2020-09-08 日产自动车株式会社 Vehicle travel control method and travel control device

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