JP2006199134A - Vehicular steering device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid a secondary collision caused by a rear surface collision, when an own vehicle 5 is rear surface collided under a condition changing a traveling direction. <P>SOLUTION: A controller 4 makes an electric power steering device 21 operate a steering angle of a steered wheel in a direction decreasing an angle θ, on the basis of the angle θ between a lane direction and the orientation of the steered wheel which are detected by lane/steered wheel angle detecting means (a steering angle sensor 12, and a lane detecting means 13), when a rear collision predicting means 16 predicts rear collision, while traveling direction changing condition detecting means (a vehicular speed sensor 11, a navigation system 14, and a turn signal detecting means 15) detect that the own vehicle 5 is under the condition changing the traveling direction. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle steering apparatus that automatically operates a steering angle of a steered wheel in a predetermined state.

2. Description of the Related Art Conventionally, as disclosed in, for example, Patent Document 1, a device that includes a collision prediction unit that predicts a collision of the host vehicle and prohibits a driving operation by a driver when a collision is predicted by the collision prediction unit. It has been known. In this apparatus, by prohibiting the driving operation, an erroneous operation by the driver is prevented, and the behavior of the host vehicle is prevented from becoming unstable.
Japanese Patent No. 3460610

  By the way, as shown in FIG. 4, for example, when the host vehicle 5 is waiting in a state of making a right turn at the intersection, it is generally stopped with the steering wheel turned to the right. When the host vehicle 5 collides rearward by the following vehicle 61, the host vehicle moves forward due to the impact and protrudes to the opposite lane side. In that case, there is a risk of causing a so-called secondary collision in which the oncoming vehicle 62 and the host vehicle collide. Even if the steering wheel is in a straight-running state (even if the steering wheel is not turned to the right), if the direction of the host vehicle has an angle with respect to the lane direction, the secondary collision caused by the rear impact is similarly applied. There is a risk of causing a collision.

  Further, such a secondary collision is not limited to a state of waiting in a state of making a right turn at an intersection, but may occur in a similar manner when the direction of travel including a left turn is changed.

  The present invention has been made in view of the above points, and its purpose is to avoid a secondary collision or the like associated with a rear collision when the host vehicle is subjected to a rear collision in a posture to change the traveling direction. There is to do.

  The vehicle steering apparatus according to the present invention is a lane / steering device that detects the angle formed by the traveling direction change attitude detection means for detecting that the host vehicle is ready to change the traveling direction, and the direction of the lane and the direction of the steering wheel. Wheel angle detection means, rear collision prediction means for predicting that the host vehicle will collide rearward, steering angle operation means for operating the steering angle of the steering wheel, and steering angle operation by the steering angle operation means are controlled. Control means.

  The control means detects the lane / steering when the rear collision prediction means predicts a rear collision in a state where the movement direction change attitude detection means detects that the vehicle is ready to change the traveling direction. Based on the angle formed by the direction of the lane and the direction of the steered wheel detected by the wheel angle detecting means, the steered angle operating means causes the steered angle of the steered wheel to be operated in a direction in which the angle becomes smaller.

  With this configuration, when a rear-end collision is predicted in a state where it is detected that the host vehicle is ready to change the traveling direction, the control means reduces the angle formed by the lane direction and the steering wheel direction. Since the steering angle of the steered wheel is operated, the vehicle is prevented from protruding into the oncoming lane even if the host vehicle moves forward due to a rear collision. As a result, the secondary collision accompanying the rear collision is avoided in advance.

  Here, the lane / steering wheel angle detecting means detects the angle between the direction of the lane and the direction of the host vehicle by imaging the front of the host vehicle, and sets a value related to the steering angle of the steering wheel. Steering angle detection means for detecting, an angle formed by the direction of the lane detected by the lane detection means and the direction of the host vehicle, and the steering angle of the steered wheels based on the detection value of the steering angle detection means, The angle formed by the direction of the lane and the direction of the steering wheel may be detected based on the above.

  That is, it is possible to detect the angle formed by the direction of the lane and the direction of the host vehicle by processing the image data picked up by the lane detecting means and detecting the position of the white line, for example. Further, as a value related to the steering angle of the steered wheel, for example, the steering wheel angle with respect to the host vehicle can be detected by detecting the steering angle with a rudder angle detecting means. Therefore, the angle formed between the direction of the lane and the direction of the steering wheel can be detected based on the angle formed by the direction of the lane and the direction of the host vehicle and the angle of the steering wheel with respect to the host vehicle.

  It is preferable that the control means causes the steering angle operating means to operate the steering angle of the steered wheel so that the angle is substantially zero.

  By doing this, when the host vehicle is moved forward due to a rear impact, the vehicle moves along the lane direction, and the host vehicle does not protrude into the oncoming lane, and further, on the side opposite to the oncoming lane (the own vehicle). Moving to the lane side) is also suppressed, and secondary collisions are further avoided.

  The steering steering apparatus for a vehicle further includes a rear collision detection unit that detects that the host vehicle has collided with the rear side, and the control unit uses the rear collision detection unit after the rear collision prediction by the rear collision prediction unit. When the rear collision detection is not performed, the steering angle of the steered wheel operated by the steering angle operation means in accordance with the prediction of the rear collision may be returned to the original steering angle.

  In this way, when the rear collision is avoided after the rear collision prediction, the driver returns the rudder angle of the steered wheel operated in accordance with the rear collision prediction to the original rudder angle. When starting the vehicle, the vehicle starts with the steering angle intended by the driver, so that the driver does not feel uncomfortable.

  The rudder angle operating means may manipulate the rudder angle of the steered wheel by electric control. That is, for example, the steering angle operating means can be configured by an electric power steering device that operates the steering angle of the steering wheel by electric control, and by doing so, the device can be configured at low cost.

  The steering steering apparatus for a vehicle may further include occupant protection means that operates upon receiving a rear collision detection by the rear collision detection means, thereby protecting the occupant. By doing so, the occupant can be protected at the time of rear-end collision.

  The occupant protection means may be a pretensioner mechanism that holds the occupant with a predetermined tension by winding the seat belt. The occupant protection means may be a headrest drive mechanism that reduces the distance from the occupant's head by moving the headrest.

  According to the steering steering device for a vehicle of the present invention, when a rear collision is predicted in a state in which it is detected that the vehicle is ready to change the traveling direction, the angle formed between the direction of the lane and the direction of the steering wheel is small. Since the steering angle of the steered wheel is operated in the direction of the second position, it is possible to prevent the own vehicle from protruding into the oncoming lane even if the own vehicle moves forward due to a rear collision. Can be avoided in advance.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a block diagram of a vehicle steering apparatus 1 according to an embodiment of the present invention. The steering apparatus 1 includes a controller 4 as a control means. As an input side of the controller 4, a vehicle speed sensor 11, a steering angle sensor 12, a lane detection means 13, a navigation system 14, a turn signal ( A winker detection means 15, a rear collision prediction means (rear collision prediction means) 16, and a rear collision detection means (rear collision detection means) 17 are provided.

  Further, the steering device 1 includes an electric power steering device 21 and a pretensioner mechanism 31 and a headrest drive mechanism 32 as occupant protection means 3 on the output side of the controller 4.

  Among these, the vehicle speed sensor 11 is a sensor for detecting the own vehicle speed, and detects that the vehicle speed of the own vehicle 5 (see FIGS. 3 and 4) is substantially zero based on the detection result of the vehicle speed sensor 11. The steering angle sensor 12 is a sensor that detects the steering angle of the steering wheel, and functions as a steering angle detection means for detecting the steering angle of the steered wheels 51 based on the detected value (the steering wheel steering angle here). .

  The lane detecting means 13 images the front of the host vehicle, detects the white line 7 by processing the image data, detects the own lane and the opposite lane from the detected white line, and also detects the host vehicle 5 with respect to the lane. Is a means for detecting the direction of the vehicle (the angle formed by the direction of the lane and the direction of the host vehicle 5), and includes an imaging unit such as a camera provided at the front of the host vehicle.

  The navigation system 14 detects point information of the host vehicle 5 using, for example, GPS (Global Positioning System), and the host vehicle 5 is based on the point information and map information detected by the navigation system 14. Can be detected within the intersection.

  The turn signal detection means 15 is a means for detecting that the turn signal is operating. Based on the detection result of the turn signal detection means 15, it is detected that the host vehicle 5 is ready to turn right or left. Is done.

  That is, as will be described in detail later, based on the detection / detection results of the vehicle speed sensor 11, the navigation system 14, and the turn signal detection means 15, the host vehicle 5 is waiting in a posture to turn right or left at the intersection. These sensors and means 11, 14, 15 function as a traveling direction change attitude detection means.

  The rear collision prediction means 16 is means for predicting that the host vehicle 5 will collide rearward before the subsequent collision, and various structures can be adopted as the rear collision prediction means 16. For example, as an example, an imaging unit that captures the rear of the host vehicle 5 is provided, and the subsequent vehicle 61 (see FIG. 4) is detected based on image data captured by the imaging unit. The relative speed and the distance between the following vehicle and the host vehicle 5 can be detected, and a rear collision can be predicted based on the detected relative speed and distance. The rear impact prediction means 16 transmits a radar wave such as a millimeter wave to the rear of the own vehicle 5 to detect the subsequent vehicle 61 based on the reflected wave, and between the subsequent vehicle 61 and the own vehicle 5. It is also possible to predict a rear collision by detecting the relative speed and the distance between the following vehicle and the host vehicle 5.

  The rear collision detection means 17 is, for example, a G sensor attached to the rear portion of the host vehicle 5. The G sensor detects an impact on the host vehicle 5 to detect that the host vehicle 5 has been rear-projected. To do.

  The electric power steering device 21 includes an electric motor (not shown), and assists the driver's steering force by applying motor torque to the steering column, pinion gear or rack gear, and also steers the steering wheel. Since the electric power steering device 21 steers the steering wheel, the electric power steering device 21 functions as a steering angle operating means for operating the steering angle of the steering wheel of the host vehicle 5.

  The pretensioner mechanism 31 is a mechanism for winding a seat belt of a seat belt device (not shown) and holding an occupant with a predetermined tension when a rear collision is detected by the rear collision detection means 17. . The headrest drive mechanism 32 moves the headrest provided at the upper part of the seat back to the front of the occupant when the rear collision detection is detected by the rear collision detection means 17, although not shown. This is a mechanism for reducing the distance between the head and the headrest.

  The controller 4 controls the electric power steering device 21, the pretensioner mechanism 31, and the headrest drive mechanism 32 based on input values of the various sensors and means.

  Next, control by the controller 4 of the steering device 1 will be described with reference to a flowchart shown in FIG.

  This flow starts when IG is turned on, and in step S1, the own lane and the oncoming lane are recognized based on the detection result by the lane detecting means 13.

  In the subsequent step S2, it is determined whether or not the host vehicle 5 is in a posture to change the traveling direction. Specifically, this determination is that the vehicle speed of the host vehicle 5 is substantially zero based on the detection result of the vehicle speed sensor 11, that the vehicle is about to turn right (or left) based on the detection result of the turn signal detection means 15, And when three conditions that the own vehicle 5 is located in the intersection based on the detection result of the navigation system 14 are satisfied, it is determined that the traveling direction is changed (that is, YES), and so on. If not, it may be determined as NO. If YES in step S2, the process proceeds to step S3, and if NO, the process returns.

  In said step S3, it is determined whether it is a predetermined rudder angle state. As shown in FIG. 3, this determination is performed when the angle θ formed by the direction of the lane (white line 7) and the direction of the steering wheel 51 of the host vehicle 5 is equal to or greater than zero degrees on the opposite lane side. It determines with it being in a state (that is, YES), and when that is not right, it determines with NO. Then, when the answer is YES in step S3, the process proceeds to step S4, and when NO, the process returns.

  Here, the angle θ is detected by the rudder angle (so-called wheel rudder angle) of the steered wheels 51 with respect to the host vehicle 5 calculated based on the steering angle of the steering wheel, which is the detection result of the rudder angle sensor 12, and the lane detection means 13. It is possible to detect based on the angle formed by the direction of the lane (white line 7) and the direction of the host vehicle 5. That is, even when the direction of the lane and the direction of the host vehicle 5 are the same, when the steering angle of the steered wheels 51 is not zero, the direction of the lane and the direction of the steered wheels of the host vehicle 5 are formed. Even if the angle θ is greater than or equal to zero and the steering angle of the steered wheels is zero, when the direction of the lane and the direction of the host vehicle 5 do not match, the direction of the lane and the steered wheels of the host vehicle 5 The angle θ formed by the direction of is greater than or equal to zero. Accordingly, the rudder angle sensor 12 and the lane detecting means 13 constitute the lane / steering wheel angle detecting means 10 (see FIG. 1).

  In step S4, it is determined based on the prediction result by the rear collision prediction means 16 whether the possibility of a rear collision is large. If YES, the process proceeds to step S5, and if NO, the process returns.

  In step S5, the controller 4 controls the electric power steering device 21 to change the steering angle of the steered wheels 51 to a predetermined angle. The predetermined angle here is an angle at which the angle θ is substantially zero, as indicated by a one-dot chain line in FIG. By doing so, even if the vehicle 5 is moved backwards and moved forward, the own vehicle 5 is prevented from protruding to the opposite lane side.

  In the subsequent step S6, it is determined whether or not a rear collision has been detected by the rear collision detection means 17, and if the rear collision has occurred, the process proceeds to step S7, where the pretensioner mechanism 31 and the headrest drive mechanism 32 are respectively set. Operate and return. On the other hand, when NO is determined that the rear collision is not performed (after the prediction of the rear collision, when the rear collision is not detected while a predetermined time elapses), the process proceeds to step S8 and the electric power steering apparatus 21 is instructed. Then, the steering angle of the steered wheels 51 changed in step S5 is returned to the steering angle before the change, and the process returns.

  Therefore, in the present embodiment, the rear collision prediction means 16 in a state where the vehicle speed sensor 11, the navigation system 14, the turn signal detection means 15, etc. detect that the host vehicle 5 is ready to change the traveling direction. When a rear collision is predicted, steering is performed by the electric power steering device 21 so that the angle θ formed by the direction of the lane and the direction of the steered wheels 51 calculated by the steering angle sensor 12 and the lane detection means 13 becomes substantially zero. The rudder angle of the wheel 51 is operated. In this way, by manipulating the steering angle of the steered wheels 51 before the rear collision, even if the own vehicle 5 moves forward due to the rear collision, the own vehicle moves along the lane and protrudes to the oncoming lane. Needless to say, movement to the own lane side is also prevented, and a secondary collision associated with a rear collision can be avoided.

  Further, after the rear impact prediction means 16 and the rear impact detection means 17 do not detect a rear impact (when NO in step S6), the steering wheel 51 operated by the electric power steering device 21 is detected. In order to return the rudder angle to the original rudder angle, when the own vehicle 5 is started, the own vehicle 5 moves in the direction intended by the driver, and the driver does not feel uncomfortable.

  Furthermore, when a rear collision is detected by the rear collision detection means 17 (YES in step S6), the pretensioner mechanism 31 and the headrest drive mechanism 32 operate, so that the occupant can be protected against the rear collision. .

  In the above embodiment, the steering angle of the steered wheels 51 is changed so that the angle θ becomes substantially zero when a rear collision is predicted. However, even if the angle θ is not substantially zero, at least the above By changing the rudder angle of the steered wheels 51 in the direction in which the angle θ decreases, it is possible to suppress the own vehicle 5 from protruding into the oncoming lane at the time of a rear collision.

  Further, in the above embodiment, the direction of the lane and the steering wheel 51 based on the steering angle (wheel steering angle) detected by the steering angle sensor 12 and the direction of the host vehicle 5 with respect to the lane detected by the lane detection means 13. However, the detection of the angle θ is not limited to this.

  Furthermore, in the said embodiment, although the vehicle speed sensor 11, the navigation system 14, and the turn signal detection means 15 are included as advancing direction change detection means, the means for detecting the change of the advancing direction of the own vehicle 5 are these. It is not limited and can be set as appropriate. Moreover, in the said embodiment, although this invention is applied for the state which the own vehicle 5 is waiting for the right turn or the left turn in the intersection, this invention is not limited to this, The own vehicle 5 is wide. Applicable when the direction of travel is changed.

  As described above, the present invention is useful as an apparatus mounted on a vehicle because a secondary collision can be avoided when the host vehicle is rearwardly impacted in a posture of changing the traveling direction.

It is a block diagram of a steering device. It is a flowchart which shows control of the controller of a steering steering apparatus. It is a top view explaining the angle which the direction of a lane and the direction of a steering wheel comprise. It is explanatory drawing which shows the example at the time of rear-end collision in the right turn waiting state.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Steering steering apparatus 10 Lane / steering wheel angle detection means 11 Vehicle speed sensor (Advancing direction change attitude detection means)
12 Rudder angle sensor (steering angle detection means)
13 Lane detection means 14 Navigation system (travel direction change attitude detection means)
15 Turn signal detection means (travel direction change attitude detection means)
16 Rear collision prediction means 17 Rear collision detection means 21 Electric power steering device (steering angle operation means)
3 occupant protection means 31 pretensioner mechanism 32 headrest drive mechanism 4 controller (control means)

Claims (8)

A traveling direction change attitude detection means for detecting that the host vehicle is ready to change the traveling direction;
A lane / steering wheel angle detecting means for detecting an angle formed by the direction of the lane and the direction of the steering wheel;
A rear collision predicting means for predicting that the host vehicle will collide with the rear surface;
Rudder angle operating means for operating the rudder angle of the steered wheel;
Control means for controlling the steering angle operation by the steering angle operation means, and
The control means detects the rear lane / steering wheel angle when a rear collision is predicted by the rear collision prediction means in a state where the movement direction change attitude detection means detects that the vehicle is ready to change the movement direction. Based on the angle formed by the direction of the lane and the direction of the steered wheels detected by the detecting means, the steering steering device for a vehicle that causes the steered angle operating means to manipulate the steered angle of the steered wheels in a direction in which the angle becomes smaller . The vehicle steering apparatus according to claim 1,
The lane / steering wheel angle detecting means detects the angle between the direction of the lane and the direction of the host vehicle by imaging the front of the host vehicle, and a rudder that detects a value related to the steering angle of the steering wheel. Angle detection means, based on the angle formed by the lane direction detected by the lane detection means and the direction of the host vehicle, and the steering angle of the steered wheel based on the detection value of the steering angle detection means A steering apparatus for a vehicle that detects an angle formed by the direction of the lane and the direction of the steering wheel. The vehicle steering system according to claim 1 or 2,
The vehicle steering apparatus according to claim 1, wherein the control means causes the steering angle operation means to operate the steering angle of the steered wheel so that the angle is substantially zero. The vehicle steering apparatus according to any one of claims 1 to 3,
The vehicle further comprises a rear collision detection means for detecting that the host vehicle has collided with the rear surface,
When the rear collision detection by the rear collision detection means is not performed after the rear collision prediction by the rear collision prediction means, the control means is a steered wheel that is operated by the steering angle operation means in accordance with the rear collision prediction. Steering device for a vehicle that returns the rudder angle to the original rudder angle. The vehicle steering apparatus according to any one of claims 1 to 4,
The steering angle operating means is a vehicle steering device for operating the steering angle of the steered wheels by electric control. The vehicle steering apparatus according to claim 4,
A vehicle steering system further comprising occupant protection means that operates upon receiving a rear collision detection by the rear collision detection means and thereby protects the occupant. The vehicle steering apparatus according to claim 6,
The vehicle occupant protection means is a vehicle steering device that is a pretensioner mechanism that winds up a seat belt. The vehicle steering apparatus according to claim 6,
The vehicle occupant protection means is a vehicle steering device that is a headrest drive mechanism that moves the headrest.

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