JP2006131072A - Travel safety device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform proper course maintenance support control according to a relative state between an own vehicle and an oncoming vehicle. <P>SOLUTION: An operation part 66 sets reaction torque (i.e. steering reaction force) so that it becomes an increasing tendency in association with an increase in degree of approach of the own vehicle and the oncoming vehicle, and changes the control so as to increase an action of the course maintenance support control. The operation part 66 suppresses the control to increase the action of the course maintenance support control or stops operation thereof so that the own vehicle easily performs contact avoiding operation with regard to the oncoming vehicle when entry of the oncoming vehicle into an advancing track of the own vehicle is detected or presumed, when quantity or speed of steering by a driver is a prescribed value or more, or when recognition of the oncoming vehicle by the driver is detected. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle travel safety device.

Conventionally, for example, when outputting a steering assist torque for assisting a driver's steering force by driving the host vehicle along a travel path detected in a captured image of a camera, the steering assist torque is applied to the travel path. 2. Description of the Related Art A vehicle steering control device that is set based on parameters related to a shape and detected values of the current position of the host vehicle is known (see, for example, Patent Document 1).
JP 2001-10518 A

By the way, in the vehicle steering control device according to the above-described prior art, the presence or absence of the oncoming vehicle, the relative position between the own vehicle and the oncoming vehicle, and the relative movement state (for example, the approaching state of the oncoming vehicle with respect to the own vehicle). By appropriately changing the control content accordingly, for example, contact between the host vehicle and the oncoming vehicle can be prevented, or inappropriate interference with the driver's steering can be prevented. It is desired.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle travel safety device capable of performing appropriate course maintenance support control according to the relative state between the host vehicle and the oncoming vehicle. It is said.

  In order to solve the above-described problems and achieve the object, the vehicle travel safety device according to the first aspect of the present invention is an oncoming vehicle detection means for detecting an oncoming vehicle (for example, an object detection unit in the embodiment). 61, an oncoming vehicle determination unit 62), a motion state detection means for detecting the motion state of the own vehicle (for example, the gyro sensor 32 in the embodiment), and a speed detection means for detecting the speed of the own vehicle (for example, implementation). A vehicle speed sensor 33) in the form of, a travel locus predicting means for predicting a travel locus of the own vehicle based on the detection result of the motion state detecting means (for example, the own vehicle course predicting unit 63 in the embodiment), Appropriate course estimation means for estimating the proper course of the vehicle (for example, the proper course setting unit 64 in the embodiment), the travel path predicted by the travel path prediction means, and the proper course estimated by the proper course estimation means Compare Comparing means (for example, a course comparison unit 65 in the embodiment) and a course maintenance support means (for example, provided in the own vehicle so that the own vehicle does not deviate from the appropriate course based on the comparison result by the comparing means) , An alarm device 16 in the embodiment, and an operating means for operating the EPS actuator 19) (for example, the operating unit 66 in the embodiment). When the oncoming vehicle detected by the vehicle detection means is relatively close to the own vehicle, the start or action of the route maintenance support means is started so that the own vehicle is less likely to deviate from the appropriate course. It is characterized by changing the control to strengthen.

  According to the vehicle safety device described above, when the oncoming vehicle is relatively close to the own vehicle, the operation of the route maintenance support means is started so that the own vehicle is less likely to deviate from the appropriate route. Or, because the control is changed to enhance the action, it is possible to prevent the own vehicle from coming into contact with the oncoming vehicle by deviating from the appropriate course, and the own vehicle and the oncoming vehicle can pass each other appropriately. can do.

  Furthermore, in the vehicle travel safety device according to the second aspect of the present invention, as the degree of proximity between the host vehicle and the oncoming vehicle increases, the operation means tends to have a strong action of the route maintenance support means. It is characterized by setting to change.

  According to the vehicle travel safety device described above, the occurrence of contact between the host vehicle and the oncoming vehicle can be further suppressed.

  Furthermore, in the vehicle travel safety device according to the third aspect of the present invention, the course maintenance support means reduces the steering force input from the driver of the host vehicle and can steer the steering force variably. Means (for example, EPS actuator 19 in the embodiment) are provided, and the actuating means is characterized in that the steering means generates a steering force so that the host vehicle is along the proper course.

  According to the vehicle travel safety device described above, when the oncoming vehicle is relatively close to the host vehicle, the reaction force torque (that is, the steering reaction force) is changed in an increasing tendency by the steering means. Alternatively, by setting the assist torque to change in a decreasing trend, it can be set so that the host vehicle is less likely to deviate from the appropriate route, and the host vehicle contacts the oncoming vehicle by deviating from the appropriate route. Can be suppressed.

  Furthermore, in the vehicle travel safety device according to the present invention as set forth in claim 4, it is predicted or determined that the on-coming vehicle enters the proper course of the host vehicle estimated by the proper course estimation means. In this case, the control for strengthening the action of the route maintenance support means is suppressed or the operation is stopped.

  According to the vehicle travel safety device described above, when the oncoming vehicle enters the proper course of the host vehicle, the control for setting the host vehicle so that it is difficult for the host vehicle to deviate from the proper course is suppressed or the course maintenance support means By stopping the operation, it is set so that the own vehicle can easily perform the contact avoidance operation on the oncoming vehicle, and the course maintenance support control and the contact avoidance operation by the driver are prevented from interfering with each other, It can suppress that an oncoming vehicle contacts with the own vehicle by deviating from an appropriate course.

  Furthermore, in the vehicle travel safety apparatus according to the present invention as set forth in claim 5, the actuating means is in a state where the own vehicle departs from the appropriate course in a direction away from the oncoming vehicle, or the own vehicle is away from the oncoming vehicle. When steering of the driver heading in the direction of separation is detected, the control that strengthens the action of the route maintenance support means is suppressed or the operation is stopped.

  According to the traveling safety device for a vehicle described above, excessive control for maintaining traveling along an appropriate route is performed in a state where the possibility of contact between the host vehicle and the oncoming vehicle is relatively low. It is possible to prevent the driver from feeling uncomfortable with the vehicle behavior.

  Further, the vehicle travel safety device according to the present invention described in claim 6 is a steering detection means for detecting at least one of a steering amount or a steering speed by the driver (for example, the steering angle sensor 51, the steering in the embodiment). A torque sensor 52), and when the steering amount or steering speed detected by the steering detection unit is equal to or greater than a predetermined value, the operation unit suppresses or stops the control to increase the action of the course maintenance support unit. It is characterized by doing.

  According to the above-mentioned vehicle travel safety device, the course maintenance support control and the driver's steering are prevented from interfering with each other, the driver's intention is accurately reflected in the vehicle behavior, and the driver is reflected in the vehicle behavior. It is possible to prevent the user from feeling uncomfortable.

  Furthermore, the vehicle travel safety device according to the seventh aspect of the present invention is a state detection unit that detects whether or not the driver recognizes the oncoming vehicle (for example, the driver state estimation unit 67 in the embodiment). And when the state detecting means detects that the driver recognizes the oncoming vehicle, the operating means suppresses or stops the control to strengthen the action of the route maintenance support means. It is characterized by.

  According to the vehicle travel safety device described above, when it is detected that the driver recognizes the oncoming vehicle, it is prevented that excessive control for maintaining traveling along the appropriate route is performed. In addition, it is possible to accurately reflect the driver's will in the vehicle behavior and to prevent the driver from feeling uncomfortable with the vehicle behavior.

  Furthermore, in the vehicle travel safety device according to the present invention as set forth in claim 8, the route maintenance support means includes notifying means (for example, the alarm device 16 in the embodiment) for notifying the driver, When the oncoming vehicle detected by the oncoming vehicle detecting means is relatively close to the own vehicle, the actuating means informs the driver so that the own vehicle maintains an appropriate course. It is characterized by changing.

  According to the above vehicle safety device, when the oncoming vehicle is relatively close to the host vehicle, the notification content to be notified to the driver is changed so that the host vehicle maintains an appropriate course. Thus, it is possible to effectively alert the driver to the oncoming vehicle.

As described above, according to the vehicle travel safety device of the present invention described in claim 1, the host vehicle is prevented from coming into contact with the oncoming vehicle due to deviating from the proper course, and is opposed to the host vehicle. It is possible to make it possible to pass the vehicle properly.
Furthermore, according to the vehicle travel safety device of the present invention described in claim 2, it is possible to further suppress the occurrence of contact between the host vehicle and the oncoming vehicle.
Furthermore, according to the vehicle travel safety device of the present invention described in claim 3, the reaction force torque (that is, the steering reaction force) is changed to increase by the steering means, or the assist torque is changed to decrease. By setting so as to make it difficult for the host vehicle to deviate from the proper course, it is possible to prevent the host vehicle from coming into contact with the oncoming vehicle due to deviating from the proper course. .

Furthermore, according to the vehicle travel safety device of the present invention as set forth in claim 4, when the oncoming vehicle enters the proper course of the host vehicle, the host vehicle is set so as not to deviate from the proper course. By suppressing the control or stopping the operation of the route maintenance support means, it is set so that the host vehicle can easily perform the contact avoidance operation on the oncoming vehicle, and the route maintenance support control and the contact avoidance operation by the driver are performed. It is possible to prevent interference and prevent the oncoming vehicle from coming into contact with the host vehicle due to deviating from the proper course.
Furthermore, according to the vehicle travel safety device of the present invention as set forth in claim 5, the vehicle travels along an appropriate route with respect to a state in which the possibility of contact between the host vehicle and the oncoming vehicle is relatively low. It is possible to prevent excessive control to be maintained, and to prevent the driver from feeling uncomfortable with the vehicle behavior.

Furthermore, according to the vehicle travel safety device of the present invention as set forth in claim 6, it is possible to prevent the course maintenance support control and the driver's steering from interfering with each other, and to accurately determine the driver's will in the vehicle behavior. This can be reflected to prevent the driver from feeling uncomfortable with the vehicle behavior.
Further, according to the vehicle travel safety device of the present invention as set forth in claim 7, when it is detected that the driver recognizes the oncoming vehicle, it is excessive to maintain the travel along the proper course. It is possible to prevent the control from being performed, to accurately reflect the driver's intention in the vehicle behavior, and to prevent the driver from feeling uncomfortable with the vehicle behavior.
Furthermore, according to the travel safety device for a vehicle of the present invention as set forth in claim 8, when the oncoming vehicle is relatively close to the own vehicle, the driver maintains the proper course. By changing the notification content to be notified to the driver, it is possible to effectively alert the driver to the oncoming vehicle.

  Hereinafter, a vehicle travel safety apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in FIG. 1, the vehicle travel safety device 10 according to the present embodiment, for example, transmits the driving force of the internal combustion engine 11 to a transmission (T / T) such as an automatic transmission (AT) or a continuously variable automatic transmission (CVT). M) mounted on a vehicle that transmits to the driving wheels of the vehicle via 12, a navigation device 13, a control device 14, a brake actuator 15 and an alarm device 16, an imaging device 17 and a radar device 18 that form an external sensor, An EPS actuator 19 is provided.
Note that the photographing device 17 is configured to include a camera 17a and an image processing unit 17b made up of, for example, a CCD camera or a C-MOS camera that can capture images in the visible light region or infrared region, and the camera 17a is, for example, a front window. It is arranged at a position near the rear-view mirror on the vehicle interior side, and images the outside of a predetermined detection range in front of the traveling direction of the host vehicle through the front window. The image processing unit 17b performs predetermined image processing such as filtering and binarization processing on the image obtained by photographing with the camera 17a, generates image data, and outputs the image data to the control device 14.
The radar device 18 includes a radar 18a such as a laser beam or a millimeter wave, and a radar control unit 18b. The radar 18a is, for example, in the nose portion of the body of the host vehicle or in the vicinity of the front window in the vehicle interior. The transmission signal such as a laser beam or a millimeter wave is transmitted in an appropriate detection direction (for example, the traveling direction of the host vehicle) by the control of the radar control unit 18b according to the control command that is arranged and input from the control device 14 to the radar control unit 18b. Forward, etc.), and when the transmission signal is reflected by an object (detection target) outside the host vehicle, the reflection signal is received, and the reflection signal and the transmission signal are mixed to beat A signal is generated and output to the control device 14.

The navigation device 13 includes, for example, a current position detection unit 21, a navigation processing unit 22, a map data storage unit 23, an input unit 24, and a display unit 25.
Further, the current position detection unit 21 corrects an error in the GPS signal using, for example, a GPS (Global Positioning System) signal for measuring the position of the vehicle using an artificial satellite or an appropriate base station, for example. A positioning signal receiving unit 31 that receives a positioning signal such as a D (Differential) GPS signal for improving positioning accuracy, and an inclination angle (for example, a longitudinal axis of the vehicle) A gyro sensor 32 that detects a tilt angle with respect to the vertical direction and a yaw angle that is a rotation angle of the center of gravity of the vehicle about the vertical axis, and a change amount of the tilt angle (for example, a yaw rate) and a vehicle speed (vehicle speed) are detected. A vehicle speed sensor 33, and the current position of the vehicle by a received positioning signal or by an autonomous navigation calculation process based on a detection signal such as a vehicle speed or a yaw rate. The position is calculated.

  The map data storage unit 23 includes a computer-readable storage medium such as a magnetic disk device such as a hard disk device or an optical disk device such as a CD-ROM, CD-R, MO, or DVD. The map data storage unit 23 stores road data such as road width data, intersection angles of multiple roads, intersection shapes and positions, and the like as map data for displaying a map on the display unit 25, for example. Yes.

For example, for the road data acquired from the map data storage unit 23, the navigation processing unit 22 performs the positioning signal and / or autonomous navigation calculation processing in the current position detection unit 21 or the vehicle current obtained from either of them. Map matching is performed based on the position information, the result of position detection is corrected, and the current position of the detected vehicle, or an appropriate input input by the operator via the input unit 24 including various switches, a keyboard, etc. The map display on the display unit 25 is controlled with respect to the position of the vehicle.
In addition, the navigation processing unit 22 performs processing such as vehicle route search and route guidance, and displays, for example, route information to the destination and various additional information along with the road data acquired from the map data storage unit 23. To the unit 25.

The control device 14 includes a travel control unit 41, an engine control unit 42, a shift control unit 43, a brake control unit 44, and an EPS control unit 46, and the direction of the steering angle input by the driver. A steering angle sensor 51 for detecting the magnitude, a steering torque sensor 52 for detecting a steering torque input by the driver, and accelerations generated in the own vehicle (for example, longitudinal acceleration in the vehicle longitudinal direction and lateral acceleration in the vehicle lateral direction). , Etc.) is detected, and each detection signal output from the acceleration sensor 53 is input.
The EPS control unit 46 calculates, for example, an assist amount for power steering that assists the steering torque in accordance with the steering torque input from the driver detected by the steering torque sensor 52, and the assist amount is calculated by the EPS actuator. The assist torque is calculated as a torque command to be output to 19 and the EPS actuator 19 is driven.
Furthermore, the traveling control unit 41 includes an object detection unit 61, an oncoming vehicle determination unit 62, a host vehicle route prediction unit 63, an appropriate route setting unit 64, a route comparison unit 65, an operation unit 66, and a driver state. An estimation unit 67 is provided.

The object detection unit 61 is based on the image data input from the imaging device 17 or the beat signal output from the radar device 18, and the stationary object present in each detection area of the camera 17 a or the radar 18 a in the traveling direction of the host vehicle. An object composed of a moving body is detected, and a relative position, a relative distance, and a relative speed between the detected object and the host vehicle are detected.
The oncoming vehicle determination unit 62 determines the presence or absence of an object that is an oncoming vehicle of the host vehicle, for example, a moving body that moves in the oncoming lane with respect to the traveling lane of the host vehicle among the objects detected by the object detection unit 61.
The own vehicle course prediction unit 63, for example, the time change of the current position of the own vehicle detected by the current position detection unit 21, or the traveling state of the own vehicle, for example, the current speed VP of the own vehicle detected by the vehicle speed sensor 33. And the traveling locus of the host vehicle is calculated based on the yaw rate ω of the host vehicle detected by the gyro sensor 32. For example, when the host vehicle passes through a curve, the turning radius R of the curve is calculated as shown in the following formula (1).

The appropriate route setting unit 64 detects an appropriate route in which the host vehicle and the oncoming vehicle can pass each other appropriately, for example, image data input from the photographing device 17, or, for example, road data or current position detection in the map data storage unit 23. It is set based on the road shape ahead in the traveling direction obtained from the time change of the current position of the host vehicle detected by the unit 21, or a predetermined lateral distance D set for the position of the oncoming vehicle.
For example, the appropriate course setting unit 64 detects, on the image data input from the imaging device 17, for example, as shown in FIG. 2, the travel lane lines L1 and L2 for the travel lane of the host vehicle, and the detected travel lane lines A center line of the traveling lane is calculated based on L1 and L2, and this center line is set as an appropriate route R0.
Further, for example, as shown in FIG. 3, a position PD shifted by a predetermined lateral distance D from the position of the oncoming vehicle to the traveling lane side of the own vehicle is set as a position where the own vehicle should pass, and this position PD is included. The trajectory along the traveling direction of the host vehicle or in the vicinity of the traveling direction of the host vehicle is set as the appropriate course R0.

The course comparison unit 65 compares the travel locus of the host vehicle predicted by the host vehicle course prediction unit 63 with the proper course set by the proper course setting unit 64. For example, as shown in FIG. A deviation d between the position of the host vehicle and the appropriate course after a predetermined time has elapsed from the time is calculated.
Based on the comparison result in the route comparison unit 65, the operation unit 66 performs route maintenance support control so that the host vehicle does not deviate from the appropriate route.

For example, as the deviation d between the position of the host vehicle and the proper course increases from zero to the positive direction or decreases in the negative direction, for example, as shown in FIG. The reaction torque (ie, steering reaction force) output from the EPS actuator 19 is set so as to increase. Then, when the absolute value of the deviation d becomes equal to or greater than the predetermined value dw, the operating unit 66 outputs an audible alarm such as a sound, a visual alarm such as a display, and a tactile alarm such as a steering vibration from the alarm device 16. Let That is, it changes so that the effect | action of course maintenance assistance control may be strengthened.
Furthermore, the operating unit 66 sets the reaction force torque (that is, the steering reaction force) to increase as the degree of approach between the host vehicle and the oncoming vehicle increases, and the operation of the route maintenance support control is performed. Change to strengthen. Thus, for example, as shown in FIG. 4, the reaction torque is increased when the degree of proximity between the host vehicle and the oncoming vehicle is higher than the normal state where the degree of approach between the host vehicle and the oncoming vehicle is relatively low. Increase. Then, for example, as shown in FIG. 5, the operation unit 66 is configured so that the alarm output timing is advanced as the degree of proximity between the host vehicle and the oncoming vehicle increases as compared with the normal state, and the deviation d is increased. When the absolute value is equal to or greater than the predetermined value dw1 smaller than the predetermined value dw, various alarms are changed so as to be output from the alarm device 16, and the notification content is changed as compared with the normal state. Change to strengthen action.
In addition, the EPS actuator 19 normally functions as a well-known power steering, and when the host vehicle and the oncoming vehicle are relatively close to each other or when the approach degree is high, the operation of the route maintenance support control is started. Also good.

  In addition, when the curve radius of the appropriate route becomes equal to or greater than a predetermined value and it can be determined that the appropriate route is linear or almost linear, the operating unit 66 determines that the appropriate route is, for example, as shown in FIG. Compared to the normal state in which the curve radius is less than a predetermined value, the reaction torque (ie, the steering reaction force) in the left-right direction changes in an increasing trend, or compared to the normal state, for example, as shown in FIG. It is set so that the assist torque changes in a decreasing tendency, or a reaction force torque is newly output, so that the straightness of the host vehicle is increased and the action of the route maintenance support control is strengthened.

For example, as illustrated in FIG. 8, the operation unit 66 detects that the oncoming vehicle Q is present in the traveling lane of the host vehicle P on the image data input from the imaging device 17, or, for example, The position of the oncoming vehicle Q after a predetermined time estimated based on the relative position detected by the object detection unit 61 and the speed vector calculated based on the time change of the relative position is within the travel lane of the host vehicle P. When it is predicted that the vehicle is present, for example, as shown in FIG. 9, the reaction force torque (that is, the steering reaction force) is larger than when the oncoming vehicle Q does not enter the traveling lane of the host vehicle P. It sets so that it may change to a decreasing tendency, and it sets so that it may become easy to perform the contact avoidance operation by a driver | operator.
Furthermore, when it is predicted that the oncoming vehicle Q is present in the travel lane of the host vehicle P in a state where the operation unit 66 is changed so as to enhance the action of the route maintenance support control, The control for strengthening the action of the course maintenance support control is suppressed or the operation is stopped.

Further, the operating unit 66 detects the steering amount or the steering speed by the driver based on the detection signal of the steering angle sensor 51 or the steering torque sensor 52, and when the detected steering amount or the steering speed is equal to or greater than a predetermined value. The control that strengthens the action of the route maintenance support control is suppressed or the operation is stopped.
In addition, the driver state estimation unit 67 estimates the state of the driver of the host vehicle, for example, a state related to a degree of attention or concentration with respect to driving such as an awakening state or a side-by-side state.
For example, the driver state estimation unit 67 includes a line-of-sight sensor (not shown) that detects the driver's line of sight, a sensor (not shown) that detects the orientation of the driver's face, etc. Each detection signal output from various sensors (not shown) for detecting a change in the movement state is input, and it is determined based on each detection signal whether the driver recognizes the oncoming vehicle.
When the driver state estimating unit 67 determines that the driver recognizes the oncoming vehicle, the operating unit 66 suppresses or stops the control that enhances the action of the route maintenance support control.

When the operation unit 70 determines that there is a possibility of contact, for example, according to the prediction result by the contact prediction unit 69, an audible alarm such as a sound, a visual alarm such as a display, and a tactile sense such as a steering vibration A contact avoidance control is performed in which an automatic alarm is output from the alarm device 16 or a reaction torque or assist torque is output by the EPS actuator 19.
Furthermore, when the departure determination unit 65 determines that the oncoming vehicle has deviated from the appropriate course, the operation unit 70 suppresses or stops the operation of the contact avoidance control as compared to cases other than this case. Then, setting is made so as to avoid contact by the contact avoidance operation executed in the oncoming vehicle.

As described above, according to the vehicle travel safety device 10 according to the present embodiment, when the oncoming vehicle is relatively close to the host vehicle, the host vehicle is unlikely to depart from the proper course. Since the control is changed so that the operation of the route maintenance support control is started or the action of the route maintenance support control is strengthened, it is possible to prevent the own vehicle from coming into contact with the oncoming vehicle by deviating from the appropriate route. It is possible to allow the vehicle and the oncoming vehicle to pass each other appropriately.
In addition, when the oncoming vehicle enters into the travel locus of the host vehicle, the control of increasing the action of the route maintenance support control is suppressed, so that the host vehicle can easily perform the contact avoidance operation on the oncoming vehicle. It is possible to prevent the course maintenance support control and the contact avoidance operation by the driver from interfering with each other, and to prevent the oncoming vehicle from coming into contact with the host vehicle by deviating from the proper course. .
Further, when the steering amount or the steering speed by the driver is greater than or equal to a predetermined value, the course maintenance support control and the driver's steering are prevented from interfering with each other, and the driver's will is accurately determined in the vehicle behavior. This can be reflected to prevent the driver from feeling uncomfortable with the vehicle behavior.
In addition, when it is detected that the driver recognizes the oncoming vehicle, excessive course maintenance support control is prevented, and the driver's intention is accurately reflected in the vehicle behavior. It is possible to prevent the driver from feeling uncomfortable with the vehicle behavior.

In the above-described embodiment, the operating unit 66 is configured so that the driver is steered in a state in which the own vehicle departs from an appropriate course in a direction away from the oncoming vehicle, or in a direction in which the own vehicle is separated from the oncoming vehicle. When it is detected, the control that strengthens the action of the course maintenance support control is suppressed or the operation is stopped.
In other words, in the above-described embodiment, the operation unit 66 increases the degree of proximity between the host vehicle and the oncoming vehicle. For example, as shown in FIG. However, the present invention is not limited to this. For example, as shown in FIG. 10, the degree of approach between the host vehicle and the oncoming vehicle is set as the reaction force torque output from 19 (that is, the steering reaction force) changes. When the reaction force torque is increased as it increases, the amount of increase in the reaction force torque accompanying the increase in the deviation d in the positive direction is set to a relatively large value, and the increase in the deviation d in the negative direction is set. The amount of increase in the reaction force torque is set to a relatively small value (that is, the increase in the reaction force torque is suppressed), or the increase in the reaction force torque accompanying the increase in the deviation d in the negative direction is prohibited (that is, the reaction force torque is reduced). Set to the same value as in normal conditions) It may be set so as to suppress the deviation in the opposite lane of the vehicle.
Further, in the above-described embodiment, when the operating unit 66 can determine that the appropriate route is linear or almost linear, the curve radius of the appropriate route is a predetermined value as shown in FIG. 6, for example. However, the present invention is not limited to this. For example, as shown in FIG. 11, the reaction force torque in the left and right direction (ie, the steering reaction force) is set to increase. When increasing the reaction torque, the amount of increase in the reaction torque with respect to the opposite lane (for example, the right direction shown in FIG. 11) is set to a relatively large value, and the opposite side (for example, the left direction shown in FIG. 11). ) Is set to a relatively small value (that is, the reaction torque is prevented from increasing), or the reaction torque is not allowed to increase on the opposite side (that is, the reaction torque is equivalent to the normal state). value Setting), and may be set so as to suppress the deviation in the opposite lane of the vehicle.
This prevents excessive course maintenance support control from being performed in a state where the possibility of contact between the host vehicle and the oncoming vehicle is relatively low, and the driver feels uncomfortable with the vehicle behavior. It can be prevented from feeling.

  In the above-described embodiment, the reaction force torque or the assist torque is controlled to increase the straightness of the host vehicle. However, the present invention is not limited to this. For example, the suspension state is controlled to Straightness may be increased.

1 is a functional block diagram illustrating a configuration of a vehicle travel safety device according to an embodiment of the present invention. It is a figure which shows an example of the relative position of the own vehicle and an oncoming vehicle in a straight path. It is a figure which shows an example of the relative position of the own vehicle and an oncoming vehicle in a straight path. It is a graph which shows an example of the reaction force torque which changes according to the deviation d of the position of the own vehicle, and a suitable course. It is a figure which shows an example of the timing of the alarm output according to the deviation d of the position of the own vehicle, and a suitable course. It is a graph which shows an example of the reaction force torque which changes according to the deviation d of the position of the own vehicle, and a suitable course. It is a figure which shows an example of the timing of the alarm output according to the deviation d of the position of the own vehicle, and a suitable course. It is a figure which shows an example of the relative position of the own vehicle and an oncoming vehicle in a straight path. It is a graph which shows an example of the reaction force torque which changes according to the deviation d of the position of the own vehicle, and a suitable course. It is a graph which shows an example of the reaction force torque which changes according to the deviation d of the position of the own vehicle which concerns on the modification of this Embodiment, and a suitable course. It is a graph which shows an example of the reaction force torque which changes according to the deviation d of the position of the own vehicle which concerns on the modification of this Embodiment, and a suitable course.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle travel safety device 16 Alarm device (course maintenance support means, notification means)
19 EPS actuator (course maintenance support means, steering means)
32 Gyro sensor (motion state detection means)
33 Vehicle speed sensor (speed detection means)
51 Steering angle sensor (steering detection means)
52 Steering torque sensor (steering detection means)
61 Object detection unit (oncoming vehicle detection means)
62 Oncoming vehicle determination unit (oncoming vehicle detection means)
63 Self-vehicle course prediction unit (traveling path prediction means)
64 Proper course setting part (Proper course estimation means)
65 Course comparison part (comparison means)
66 Actuating part (actuating means)
67 Driver state estimation unit (state detection means)

Claims (8)

An oncoming vehicle detection means for detecting an oncoming vehicle;
Motion state detection means for detecting the motion state of the host vehicle;
Speed detecting means for detecting the speed of the host vehicle;
Progress trajectory prediction means for predicting the travel trajectory of the host vehicle based on the detection result of the motion state detection means;
An appropriate route estimating means for estimating an appropriate route of the host vehicle;
Comparing means for comparing the progress trajectory predicted by the progress trajectory predicting means with the appropriate course estimated by the appropriate course estimating means;
A travel safety device for a vehicle comprising: an operating means for operating a course maintenance support means provided in the host vehicle so that the host vehicle does not deviate from the appropriate course based on a comparison result by the comparing means;
When the oncoming vehicle detected by the oncoming vehicle detecting means is relatively close to the own vehicle, the actuating means is configured to prevent the own vehicle from deviating from an appropriate course and to maintain the course. A travel safety device for a vehicle, characterized in that the control is changed so as to enhance the start or action of the means. 2. The vehicle according to claim 1, wherein the operation unit is set so that the action of the route maintenance support unit changes in a strong tendency as the degree of proximity between the host vehicle and the oncoming vehicle increases. Travel safety device. The route maintenance support means includes a steering means that can reduce the steering force input from the driver of the host vehicle and can variably output the steering force.
3. The vehicle travel safety device according to claim 1, wherein the actuating unit causes the steering unit to generate a steering force so that the host vehicle follows the proper course. 4. The actuating means suppresses or activates control that enhances the action of the course maintenance support means when it is predicted or determined that an oncoming vehicle enters the proper course of the host vehicle estimated by the appropriate course estimation means. The travel safety device for a vehicle according to any one of claims 1 to 3, wherein the travel safety device is stopped. The actuating means is configured to detect the course when the driver's steering is detected in a state where the own vehicle departs from the appropriate course in a direction away from the oncoming vehicle, or in a direction away from the oncoming vehicle. The vehicle travel safety device according to any one of claims 1 to 3, wherein the control for strengthening the operation of the maintenance support means is suppressed or the operation is stopped. Steering detection means for detecting at least one of a steering amount or a steering speed by the driver,
The operation means suppresses or stops the control for enhancing the action of the course maintenance support means when the steering amount or the steering speed detected by the steering detection means is a predetermined value or more. The travel safety device for a vehicle according to any one of claims 1 to 3. Comprising a state detecting means for detecting whether or not the driver recognizes the oncoming vehicle;
The actuating means suppresses or stops the control for enhancing the action of the route maintenance support means when the state detecting means detects that the driver recognizes the oncoming vehicle. The travel safety device for a vehicle according to any one of claims 1 to 3. The course maintenance support means includes notifying means for notifying the driver,
When the oncoming vehicle detected by the oncoming vehicle detecting means is relatively close to the own vehicle, the actuating means informs the driver so that the own vehicle maintains an appropriate course. The vehicle travel safety device according to any one of claims 1 to 7, wherein the vehicle travel safety device is changed.

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