JP2010018185A - Direction indicator control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a direction indicator control device capable of ending the direction indicating action of a direction indicator at proper timing in accordance with the behavior of a vehicle. <P>SOLUTION: The direction indicator control device determines whether or not the direction indicating action of the direction indicator should be ended based on the comparison result between a detected yaw rate (yaw rate signal SY) or a steering angle (steering angle detection signal Sθ) and a determination reference value TH set for each of speed regions of one's own vehicle. The direction indicator control device learns the change of a traveling state for each of the speed regions, and based on the leaned result, sets the determination reference value TH which is the optimum determination reference value for ending the direction indicating action of the direction indicator for each of the speed regions when the direction indicating action of the direction indicator is detected during traveling in a speed of the speed region. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a direction indicator control device that controls a direction indication operation of a direction indicator.

  Conventionally, in a vehicle, for example, when turning right or left or adjacent lanes by blinking turn lamps (turn signal lamps) provided before and after the vehicle by operating a turn lever provided near the steering wheel. When changing lanes, a direction indicator is provided to indicate the traveling direction of the host vehicle intended by the driver.

  The direction indicator includes a turn switch that activates a turn lamp in a traveling direction when the turn lever is operated in a direction corresponding to the traveling direction of the host vehicle, and a steering wheel is set in a direction opposite to the operating direction of the turn lever. And a release mechanism for automatically releasing the direction indication by returning the turn lever to the original position when the angle is rotated by more than the angle and returned to the original position. When the turn lever is operated in the direction corresponding to the traveling direction of the host vehicle and the turn switch is activated, the turn lamp in the traveling direction flashes. Then, when the turn of the host vehicle is finished and the steering wheel is returned to the straight traveling position, the turn lever is returned to the original position by the release mechanism, and the turn lamp is turned off.

  By the way, the direction indicator provided with such a release mechanism based on the steering angle is obtained by turning the steering wheel by a predetermined angle or more in the direction opposite to the operation direction of the turn lever and returning it to the original direction indicator. This direction instruction operation is terminated. For this reason, if the steering angle of the steering wheel in the direction of operation of the turn lever is small, such as when the host vehicle changes lanes to an adjacent lane, the direction of the direction indicator is The instruction operation may not be terminated.

  Therefore, in order to end the direction indicating operation of the direction indicator at an appropriate timing even when the lane change is completed in this way, a direction indicator control device as shown in Patent Document 1, for example, has been conventionally proposed. .

This direction indicator control device includes a steering angle sensor that detects the absolute steering angle of the steering, and calculates a differential value that is a time change of the steering angle from the absolute steering angle. Then, when the steering angle determined based on the differential value falls within the range of the determination reference value and the host vehicle shifts to the straight traveling state, the direction indicating operation of the direction indicator is ended.
JP 2003-237461 A

  However, there are usually individual differences in the steering amount and steering timing when changing the course, such as when changing lanes or turning left and right, so depending on the setting of the determination reference value, the behavior of the vehicle and the end of the direction indication operation There is a concern that the timing may deviate from the timing, causing the driver to feel uncomfortable. Further, since the steering amount and the steering timing when changing the course are usually affected by the traveling state of the vehicle, such as the speed of the vehicle, for example, this also causes a difference between the behavior of the vehicle and the end timing of the direction indicating operation. There is a concern that this may cause a shift and give the driver an uncomfortable feeling.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a direction indicator control device capable of terminating the direction indication operation of the direction indicator at an appropriate timing according to the behavior of the vehicle. There is to do.

  The invention according to claim 1 comprises operating state detecting means for detecting an operating state of a direction indicator provided in the host vehicle, and driving state detecting means for detecting a driving state including the speed of the host vehicle, When the direction indication operation of the direction indicator is detected by the operating state detection means, the running condition of the host vehicle and a determination criterion for performing an end determination to end the direction indication operation of the direction indicator A direction indicator control device that determines that the direction indicator operation of the direction indicator is to be terminated based on the comparison result, and learns the change in the driving state for each speed region, Based on the learning result, when a direction indicating operation of the direction indicator is detected while traveling at a speed in the speed region, an optimum criterion for ending the direction indicating operation of the direction indicator For each speed region As its gist to set.

  Normally, the steering amount and timing when changing the course, such as when changing lanes or turning left and right, are affected by the speed of the vehicle, so that it is determined to end the direction indicating operation of the direction indicator Depending on the setting of the running state that is the determination criterion, there is a concern that a deviation may occur between the behavior of the vehicle and the end timing of the direction indicating operation, which may give the driver a sense of discomfort. According to the present invention, the direction indicator control device learns the change in the driving state for each speed region, and based on the learning result, the direction indicator operation of the direction indicator during the traveling at the speed in the speed region is performed. When detected, a traveling state that is an optimum determination criterion for ending the direction indicating operation of the direction indicator is set for each speed region. For this reason, when the direction indicating operation of the direction indicator is detected, the end indicator is determined based on the optimum determination criterion for ending the direction indicating operation of the direction indicator according to the speed of the vehicle. be able to. Therefore, the direction indicating operation of the direction indicator can be terminated at an appropriate timing according to the behavior of the vehicle.

  The invention according to claim 2 includes road shape acquisition means for acquiring a road shape in front of the host vehicle, and learns, for each road shape, changes in the driving state during driving at a speed corresponding to the speed region. Then, based on the learning result, when a direction indicating operation of the direction indicator is detected while traveling on a road corresponding to the road shape at a speed corresponding to the speed region, the direction of the direction indicator The gist of the present invention is to set, for each of the road shapes, a traveling state that is an optimum criterion for ending the instruction operation with respect to the speed region.

  Normally, the steering amount and timing when changing the course, such as when changing lanes and turning left and right, are affected not only by the speed of the vehicle but also by the shape of the road on which the vehicle is traveling. Depending on the setting of the running state that is a criterion for determining whether to end the operation, there is a difference between the behavior of the vehicle and the end timing of the direction indicating operation, which gives the driver a sense of incongruity. There is a concern that In this regard, according to the present invention, the direction indicator control device learns, for each road shape, a change in traveling state during traveling at a speed corresponding to the speed region. Based on the learning result, the direction indicator control device detects the direction indicator operation when the direction indicator operation of the direction indicator is detected while traveling on the road corresponding to the road shape at the speed corresponding to the speed region. A traveling state that is an optimum determination criterion for ending the direction indicating operation is set for each road shape with respect to the speed region. For this reason, when the direction indicator operation of the direction indicator is detected, the direction indicator of the direction indicator is based on the optimum determination criterion for ending the direction indicator operation of the direction indicator according to the road shape on which the host vehicle travels. An end determination can be made. Therefore, the direction indicating operation of the direction indicator can be terminated at a more appropriate timing according to the behavior of the vehicle.

The gist of the invention described in claim 3 is that the road shape acquisition means acquires the road shape based on map information around the host vehicle including the front of the host vehicle.
According to the present invention, by acquiring a road shape based on map information around the host vehicle, it is also possible to acquire a road shape in a range that cannot be directly confirmed from the host vehicle. Therefore, it is possible to set a running state that is a determination criterion for performing the end determination based on a wide range of road shapes, and to end the direction indicating operation of the direction indicator at a more appropriate timing according to the behavior of the vehicle. be able to.

  ADVANTAGE OF THE INVENTION According to this invention, the direction indicator control apparatus which can complete | finish the direction indication operation | movement of a direction indicator at the appropriate timing according to the behavior of the vehicle can be obtained.

Hereinafter, an embodiment in which the present invention is embodied in a turn indicator for a four-wheeled vehicle will be described with reference to the drawings.
As shown in FIG. 1 (a), the direction indicator indicates the traveling direction of the host vehicle by driving the pair of left and right turn lamps 2a, 2b, 3a, 3b provided on the front and rear sides of the vehicle 1, respectively. A direction indicating operation to notify a person or the like is performed.

<Overview of direction indicator operation>
The direction indicator is operated through an operation lever 4 provided on the steering column C of the vehicle 1 as shown in FIG. The operation lever 4 is disposed on the back side of the steering wheel W indicated by a two-dot chain line in FIG. The base end portion of the operation lever 4 is cantilevered inside the steering column C, and the distal end portion of the operation lever 4 protrudes outside the steering column C. The base end portion of the operation lever 4 can be tilted with respect to the steering column C by a predetermined angle in a direction along the rotational direction of the steering wheel W around a rotation shaft (not shown) disposed inside the steering column C. It is supported.

  The central axis of the operation lever 4 is held at an operation neutral position P indicated by a one-dot chain line in FIG. When the operation lever 4 is held at the operation neutral position P and applied with an operation force in the counterclockwise direction indicated by the arrow AL, the operation lever 4 is centered on the rotation axis as shown in FIG. Tilt to the left turn operation position PL indicated by the chain line. As a result, the left turn lamps 2a and 2b (see FIG. 1A) provided on the front and rear sides of the vehicle 1 blink. When the operating force in the direction of the arrow AL is released, the operation lever 4 returns to the operation neutral position P by the action of a return mechanism (not shown). Even when the operation lever 4 returns to the operation neutral position P, the left turn lamps 2a and 2b continue to blink. Further, as shown in FIG. 1B, when the operation force in the clockwise direction indicated by the arrow AR is applied while the operation lever 4 is held at the operation neutral position P, the operation lever 4 is centered on the rotation axis. As shown in FIG. 1 (b), it tilts to the right turn operation position PR indicated by a one-dot chain line. As a result, the right turn lamps 3a and 3b (FIG. 1B) provided on the front and rear sides of the vehicle 1 blink. When the operation force in the direction of the arrow AR is released, the operation lever 4 returns to the operation neutral position P by the action of the return mechanism. Even when the operation lever 4 returns to the operation neutral position P, the right turn lamps 3a and 3b continue to flash.

<Electrical configuration>
Next, the electrical configuration of the direction indicator operated through the operation lever 4 will be described. As shown in FIG. 2, the direction indicator 10 includes a direction indicator control device 11 composed of a CPU, a ROM, a RAM, and the like (not shown). The ROM of the direction indicator control device 11 stores various control programs and data for comprehensively controlling the entire direction indicator 10. The control program includes a lighting control program for performing lighting control of the turn lamps 2a, 2b, 3a, 3b, for example. The RAM is a data storage area, that is, a work area for the microcomputer to execute various processes by developing a control program stored in the ROM.

  A vehicle speed sensor 12, a steering angle sensor 13, and a yaw rate sensor 14 are connected to the direction indicator control device 11. The vehicle speed sensor 12, the rudder angle sensor 13, and the yaw rate sensor 14 correspond to the traveling state detection means.

The vehicle speed sensor 12 detects the traveling speed of the vehicle 1 and outputs a vehicle speed detection signal SV corresponding to the detected speed to the direction indicator control device 11.
When the steering wheel W is rotated by the driver, the steering angle sensor 13 detects a steering angle that is the rotation angle, and controls the steering angle detection signal Sθ according to the detected steering angle by a direction indicator. Output to the device 11. More specifically, the rudder angle sensor 13 detects whether the steering wheel W has been rotated in the left or right direction with respect to the rudder angle midpoint (steering angle when the vehicle 1 is traveling straight), and in either case. Steering angle information having a positive value with respect to the steering angle midpoint is output as the steering angle detection signal Sθ. Note that the steering angle information includes steering direction information indicating whether the steering wheel W is steered in the left or right direction.

  The yaw rate sensor 14 detects, for example, the yaw rate (behavior in the rotational direction of the vehicle 1) when the host vehicle turns right or left or changes lanes, and controls the yaw rate detection signal SY corresponding to the detected yaw rate with a direction indicator. Output to the device 11.

  Further, a body ECU (Electronic control unit) 15 is connected to the direction indicator control device 11. The body ECU 15 is connected with a turn switch 15a as an operation state detecting means that is turned on and off in conjunction with the operation of the operation lever 4. When the body ECU 15 detects that the operation lever 4 is tilted from the operation neutral position P to the left turn operation position PL through the turn switch 15a, the body ECU 15 outputs an operation position detection signal SP indicating that to the direction indicator control device 11. . When the body ECU 15 detects that the operation lever 4 is turned to the right turn operation position PR through the turn switch 15a, the body ECU 15 outputs an operation position detection signal SP indicating that to the direction indicator control device 11. The body ECU 15 is connected with two left turn lamps 2a and 2b and two right turn lamps 3a and 3b.

  When the direction indicator control device 11 detects an operation of the operation lever 4 to each of the operation positions PL and PR based on the operation position detection signal SP from the body ECU 15, the direction instruction device signals the traveling direction of the vehicle 1 to the periphery. An instruction start signal Ss for starting the operation is output to the body ECU 15. The body ECU 15 intermittently supplies drive current to the turn lamps 2a, 2b, 3a, 3b based on the instruction start signal Ss from the direction indicator control device 11, and blinks them. Specifically, when the direction indicator control device 11 detects that the operation lever 4 is tilted from the operation neutral position P to the left turn operation position PL based on the operation position detection signal SP from the body ECU 15, An instruction start signal Ss for flashing the two left turn lamps 2a and 2b is output to the ECU 15. Based on the instruction start signal Ss, the body ECU 15 intermittently supplies drive currents to the two left turn lamps 2a and 2b and blinks them. Further, when the direction indicator control device 11 detects that the operation lever 4 has been turned to the right turn operation position PR based on the operation position detection signal SP from the body ECU 15, the right turn control device 11 performs two right turn operations on the body ECU 15. An instruction start signal Ss for blinking the lamps 3a and 3b is output. Based on the instruction start signal Ss, the body ECU 15 intermittently supplies drive currents to the two right turn lamps 3a and 3b and causes them to blink.

  Further, the direction indicator control device 11 detects the traveling state of the host vehicle from the elapsed time from the starting time, the traveling speed of the host vehicle, the steering angle, the yaw rate, and the like when the direction instruction operation is started. Based on the running state, an end determination is made to end the direction indicating operation of the direction indicator 10. Then, based on the end determination, the direction indicating operation by the direction indicator 10 is ended.

  Specifically, when the direction indicator control device 11 starts a direction indication operation to signal the traveling direction of the vehicle 1 to the periphery through blinking of the left turn lamps 2a, 2b or the right turn lamps 3a, 3b, in other words, The elapsed time from when the instruction start signal Ss is output is counted by a timer provided therein. When a certain time has passed since the start of the direction indicating operation and the duration of the direction indicating operation normally assumed in a state where the host vehicle is traveling at a certain speed or more has elapsed, the direction indicator control device 11 Determines that a condition (end determination condition) for ending the direction indicating operation is satisfied, and performs an end determination to end the direction indicating operation of the direction indicator 10. Based on this end determination, the direction indicator control device 11 outputs to the body ECU 15 an instruction end signal Se for ending the direction indicating operation. The body ECU 15 stops the supply of drive current to the two left turn lamps 2a, 2b or the two right turn lamps 3a, 3b based on the instruction end signal Se, and turns them off.

  The ROM of the direction indicator control device 11 stores a cancel preparation angle θ1 and a cancel angle θ2 smaller than the cancel preparation angle θ1. When the direction indicator control device 11 starts the direction indication operation, it detects a change in the steering angle θ of the steering wheel W through the steering angle sensor 13. When the steering angle θ reaches the cancel preparation angle θ1 (θ> θ1) and falls within the range of the cancel angle θ2 (θ <θ2), the direction indicator control device 11 ends the direction indication operation. It is determined that the condition is satisfied, and an end determination is made to end the direction indicating operation of the direction indicator 10. As a result, the steering wheel W reaches the cancel preparation angle θ1 in the direction indicated by the direction indicator 10 as in the case where the vehicle turns straight after turning right or left at an intersection or the like. Is returned to within the range, the end instruction of the direction indicating operation is determined based on the steering angle θ, and the direction indicating operation is automatically ended.

  Further, the direction indicator control device 11 starts changing the yaw rate based on the yaw rate detection signal SY when the direction start operation is started, in other words, from the time when the instruction start signal Ss is output (the turning direction of the host vehicle). Change amount of rotation angle). The ROM of the direction indicator control device 11 stores a determination reference value that is a determination reference for determining the end of the direction indicating operation. Usually, the yaw rate changes so as to take a maximum value and a minimum value between the start and end of the course of the host vehicle such as turning left and right or changing lanes. The direction indicator control device 11 is configured to terminate the direction indicating operation when the yaw rate reaches a maximum value and then falls below the determination reference value, or exceeds the determination reference value after a minimum value (end) It is determined that (determination condition) is satisfied. Further, the direction indicator control device 11 detects (calculates) a change amount of the steering angle θ based on the steering angle detection signal Sθ. The ROM of the direction indicator control device 11 stores a determination reference value that is a determination reference for determining the end of the direction indicating operation. Normally, the steering angle θ changes so as to take the maximum value and the minimum value during the period from when the own vehicle starts changing the course to when it ends, like the yaw rate. The direction indicator control device 11 terminates the direction indicating operation when the steering angle θ is below the determination reference value after taking the maximum value or when the steering angle θ exceeds the determination reference value after taking the minimum value. It is determined that (end determination condition) is satisfied.

  The direction indicator control device 11 performs an end determination to end the direction indicating operation of the direction indicator 10 when either one of the end determination condition based on the yaw rate and the end determination condition based on the steering angle θ is satisfied. Do. Accordingly, even when the steering angle θ of the steering wheel W in the direction indicated by the direction indicator 10 is small and the steering angle θ does not reach the cancel preparation angle θ1, for example, when the lane is changed to an adjacent lane. Then, the end of the direction indicating operation is determined based on the change in the yaw rate or the steering angle θ. That is, even if the above-described end determination condition based on the steering angle θ is not satisfied, if the end determination condition based on the yaw rate or the steering angle θ is satisfied, an end determination is made to end the direction indicating operation, and the right of an intersection or the like is determined. The direction indicating operation is automatically terminated not only when turning left but also when changing lanes to adjacent lanes, for example.

  Here, the determination reference value TH, which is a determination reference for performing the end determination to end the direction indicating operation of the direction indicator 10, will be described. In the present embodiment, a determination reference value TH (X1 to X56) for determining the end based on the yaw rate is stored in the ROM of the direction indicator control device 11 according to the course direction of the host vehicle or the host vehicle. It is set according to the road shape and the speed of the host vehicle.

  Specifically, as shown in FIG. 3, the determination reference value TH is set in the course direction taken by the host vehicle, in other words, for each direction indicated by the direction indicator 10 (right or left). This is because the amount of steering and the steering timing at the time of course change, such as when changing lanes or turning left and right, are affected by the direction of the course. The purpose is to alleviate the deviation from the end timing.

  Further, the determination reference value TH is set for each road shape. Specifically, the road shape is divided into a straight road, a right curve, and a left curve. The straight road is a road having a radius of curvature r equal to or greater than the first radius R1. For the right curve and the left curve, when the radius of curvature r is smaller than the first radius R1 and greater than or equal to the second radius R2, the radius of curvature smaller than the second radius R2 and greater than or equal to the third radius R3, and Three cases are assumed, each of which is smaller than the third radius R3 (where R1> R2> R3). It should be noted that the steering amount and the steering timing at the time of course change are affected by the shape of the road on which the vehicle travels, so the behavior of the own vehicle caused by the influence of the road shape and the end timing of the direction indicating operation The purpose is to alleviate the gap between the two.

  The determination reference value TH is set for each speed region of the vehicle 1. Specifically, it is assumed that the speed range of the host vehicle is a four-stage of a first speed region VR1, a second speed region VR2, a third speed region VR3, and a fourth speed region VR4. A speed region lower than the first speed V1 is a first speed region VR1, a speed region higher than the first speed V1 and lower than the second speed V2 is a second speed region VR2, and a second speed V2 The speed region lower than the third speed V3 is the third speed region VR3, and the speed region equal to or higher than the third speed V3 is the fourth speed region VR4 (where V3> V2> V1). In addition, since the steering amount and the steering timing at the time of the course change are affected by the speed of the vehicle, there is a difference between the behavior of the own vehicle caused by the influence of the speed of the vehicle and the end timing of the direction indicating operation. The purpose is to alleviate the gap. That is, in the present embodiment, 56 determination reference values TH for the yaw rate are set.

  Further, in the present embodiment, as with the yaw rate determination reference value TH, the determination reference value TH of the steering angle θ also depends on the course direction of the host vehicle, the road shape on which the host vehicle is traveling, and the speed of the host vehicle. Is set accordingly. That is, in the present embodiment, 56 determination reference values TH for the steering angle θ are also set.

  As shown in FIG. 2, the direction indicator control device 11 is connected to a road shape acquisition device (GPS-equipped device) 16 such as a car navigation system mounted on the vehicle 1. The road shape acquisition device 16 corresponds to road shape acquisition means. The road shape acquisition device 16 stores map information around the host vehicle including the front of the host vehicle, and acquires the curvature radius of the road ahead of the host vehicle based on the map information and the position of the host vehicle. Then, the acquired curvature radius of the road is output to the direction indicator control device 11.

  When the direction indication operation is started, the direction indicator control device 11 acquires the indication direction of the direction indicator 10 based on the operation position detection signal SP from the turn switch 15a, and the vehicle direction detection signal SV from the vehicle speed sensor 12 is obtained. Based on the speed V of the host vehicle, the curvature radius r of the road on which the host vehicle travels is acquired from the road shape acquisition device 16. Then, the direction indicator control device 11 compares the determination reference value TH corresponding to the indicated direction, the speed V and the curvature radius r with the yaw rate acquired based on the yaw rate detection signal SY from the yaw rate sensor 14. Further, the direction indicator control device 11 obtains the steering angle θ obtained based on the determination reference value TH corresponding to the indicated direction, the speed V and the curvature radius r and the steering angle detection signal Sθ from the steering angle sensor 13. And compare. That is, the end of the direction indicating operation is determined based on the determination reference value TH according to the traveling state of the host vehicle such as the traveling direction of the host vehicle, the shape of the road on which the host vehicle is traveling, and the speed of the host vehicle. .

  Further, the direction indicator control device 11 according to the present embodiment learns a change in the running state during running at a speed corresponding to the speed regions VR1 to VR4 for each road shape, and based on the learning result, the speed indicator Ideal for ending the direction indicating operation of the direction indicator 10 when the direction indicating operation of the direction indicator 10 is detected while traveling on the road corresponding to the road shape at a speed corresponding to the areas VR1 to VR4. The determination reference value TH that is a correct determination reference is set.

  Specifically, the direction indicator control device 11 calculates the average value of the minimum value and the maximum value of the change in the yaw rate at the time of lane change, and determines the half value based on the yaw rate for the next end determination. Set as reference value TH. Further, the direction indicator control device 11 calculates the minimum value and the maximum value of the change in the steering angle θ when the lane is changed, and uses the half value as a determination reference value for performing the next end determination based on the steering angle θ. Set as TH. This is based on the assumption that when changing the lane, the yaw rate or the steering angle θ takes a value approximately halfway between the maximum value and the minimum value, respectively, which is the optimal timing for ending the direction indicating operation. Therefore, the setting standard (foundation) of the determination standard value TH can be changed as appropriate.

  Here, the processing procedure of the end indicator processing for determining the direction indicator configured as described above will be described with reference to the flowchart shown in FIG. The processing of this flowchart is repeatedly executed at a predetermined cycle by the direction indicator control device 11 according to the lighting control program stored in the ROM.

  As shown in the flowchart of FIG. 6, first, in step 101, the direction indicator control device 11 determines whether or not the turn lamps 2a, 2b, 3a, 3b are in an operating state. If it is determined in step 101 that the turn lamps 2a, 2b, 3a, 3b are not in the operating state, the direction indicator control device 11 ends this process. On the other hand, if it is determined in step 101 that the turn lamps 2a, 2b, 3a, 3b are in an operating state, the direction indicator control device 11 proceeds to step 102.

  In the next step 102, the direction indicator control device 11 determines whether or not a certain time has elapsed since the start of the direction indication operation. In other words, after starting the direction indicating operation in Step 102, in other words, when it is determined that a certain time has elapsed since the output of the instruction start signal Ss, the direction indicator control device 11 proceeds to Step 103. Then, in step 103, the direction indicator control device 11 outputs an instruction end signal Se for ending the direction indicating operation to the body ECU 15 and ends the present process. That is, when a predetermined time has elapsed since the start of the direction indicating operation, the direction indicating operation is automatically ended based on the determination in step 102.

  On the other hand, in step 102, in other words, when it is determined that a certain time has not elapsed since the instruction start signal Ss was output, the direction indicator control device 11 proceeds to step 104. To do. In step 104, the direction indicator control device 11 determines whether or not an end determination condition at the time of lane change based on the yaw rate or the steering angle θ is satisfied.

  When it is determined in step 104 that the end determination condition at the time of lane change based on the yaw rate or the steering angle θ is satisfied, that is, when it is determined that the end determination condition at the time of lane change is satisfied, the direction indicator control device 11 Control goes to step 103. Then, in step 103, the direction indicator control device 11 outputs an instruction end signal Se for ending the direction indicating operation to the body ECU 15 and ends the present process. That is, when the lane change is completed, the direction indicating operation is automatically ended based on the determination in step 103, that is, the yaw rate or the steering angle θ. On the other hand, when it is determined in step 104 that the end determination condition at the time of lane change based on the yaw rate or the steering angle θ is not satisfied, the direction indicator control device 11 proceeds to step 105. In step 105, the direction indicator control device 11 determines whether or not an end determination condition for a right / left turn based on a change in the steering angle θ of the steering wheel W is satisfied.

  If it is determined in step 105 that the right / left turn end determination condition is satisfied, the direction indicator control device 11 proceeds to step 103. In step 103, the direction indicator control device 11 outputs an instruction end signal Se for ending the direction indicating operation to the body ECU 15, and the process ends. That is, when the steering wheel W is operated beyond the cancel preparation angle θ1 at the time of lane change or right / left turn (particularly at the time of right / left turn), the direction based on the determination in step 105, that is, the change in the steering angle θ. The instruction operation is automatically terminated. If it is determined in step 105 that the right / left turn end determination condition is not satisfied, the direction indicator control device 11 does not output the instruction end signal Se to end the direction indicating operation. The process ends. That is, the direction indicating operation of the direction indicator 10 is continued.

<Operation of direction indicator>
Next, the operation of the direction indicator configured as described above will be described.
Normally, the operation lever 4 is held at the operation neutral position P, and the left turn lamps 2a, 2b and the right turn lamps 3a, 3b are kept in the extinguished state. When turning right or left or changing lanes, the driver tilts the operation lever 4 in a direction corresponding to the direction of the vehicle's path to signal the fact to the surroundings, and the left turn lamps 2a and 2b. Alternatively, the right turn lamps 3a and 3b are blinked.

  For example, assume that the lane is changed to the adjacent right lane. In this case, when the lane change to the adjacent lane is started, the yaw rate or the steering angle θ of the host vehicle decreases, and the yaw rate or the steering angle θ increases as the vehicle moves straight. When the yaw rate or steering angle θ exceeds the determination reference value TH, the direction indicator control device 11 determines that the end determination condition at the time of changing lanes is satisfied, and thus the direction instruction operation is automatically ended.

  Here, since the steering amount and the steering timing at the time of course change, such as when changing lanes or turning left and right, are affected by the speed of the vehicle, for example, the determination reference value TH is constant regardless of the speed of the vehicle. When fixed (in this case, TH = X1), as shown in FIG. 4B, even when the direction indicating operation is terminated at an optimal timing according to the behavior of the vehicle 1 during low-speed driving, As shown in FIG. 4 (c), there may be a difference between the behavior of the vehicle 1 and the end timing of the direction indicating operation during high speed traveling. Further, since the steering amount and the steering timing at the time of course change are also affected by the shape of the road on which the host vehicle travels, for example, the determination reference value TH is fixed to a constant value regardless of the road shape on which the host vehicle travels. 5 (in this case, TH = X13), as shown in FIG. 5 (a), when changing lanes on a road with a small radius of curvature r (in this case, r <R3), the behavior of the vehicle 1 is changed. Even when the direction indicating operation is completed at an optimal timing, as shown in FIG. 5B, when changing lanes on a road having a large curvature radius r (in this case, R1> r> = R2), There may be a difference between the behavior of the vehicle and the end timing of the direction indicating operation.

  In this regard, in the present embodiment, the direction indicator control device 11 changes the traveling state (in this case, the yaw rate or the steering angle θ) while traveling at a speed corresponding to the speed region VR1 to VR4 as described above. Learning is performed for each road shape, and based on the learning result, the determination reference value TH that is an optimal determination reference for ending the direction indicating operation of the direction indicator 10 is set. Therefore, when the direction indicating operation of the direction indicator 10 is detected while traveling on the road corresponding to the road shape at the speed corresponding to the speed region VR1 to VR4, the direction indicating operation of the direction indicator is ended. On the basis of the optimum determination reference value, the end indicator of the direction indicator is determined. Therefore, the direction indicating operation of the direction indicator is terminated at an appropriate timing according to the behavior of the vehicle 1. That is, since the optimum reference value TH for ending the direction indicating operation of the direction indicator 10 is set for each speed region of the vehicle, it becomes possible to match the vehicle behavior with the end timing of the direction indicating operation. It is possible to prevent the driver from feeling uncomfortable.

Next, the operational effects of the above embodiment will be described below.
(1) The direction indicator control device 11 learns the change in the traveling state for each of the speed regions VR1 to VR4, and based on the learning result, the direction indicator 10 during traveling at the speeds of the speed regions VR1 to VR4. When the direction indicating operation is detected, a traveling state that is an optimum determination criterion for ending the direction indicating operation of the direction indicator 10 is set for each of the speed regions VR1 to VR4. For this reason, when the direction indicating operation of the direction indicating device 10 is detected, the direction indicating device 10 is terminated based on the determination criterion that is optimal for ending the direction indicating operation of the direction indicating device 10 according to the speed of the vehicle. Judgment can be made. Therefore, the direction indicating operation of the direction indicator 10 can be terminated at an appropriate timing according to the behavior of the vehicle.

  (2) The direction indicator control device 11 learns, for each road shape, a change in the traveling state during traveling at a speed corresponding to the speed regions VR1 to VR4. Based on the learning result, the direction indicator control device 11 detects the direction indication operation of the direction indicator 10 while traveling on the road corresponding to the road shape at the speed corresponding to the speed regions VR1 to VR4. In this case, a traveling state that is an optimum determination criterion for ending the direction indicating operation of the direction indicator 10 is set for each road shape with respect to the speed region. For this reason, when the direction indicating operation of the direction indicator 10 is detected, the direction indication is based on the optimum determination criterion for ending the direction indicating operation of the direction indicator 10 according to the shape of the road on which the host vehicle travels. The end determination of the vessel 10 can be made. Therefore, the direction indicating operation of the direction indicator 10 can be terminated at a more appropriate timing according to the behavior of the vehicle.

  (3) Since the direction indicator control device 11 acquires a road shape on which the host vehicle travels based on map information around the host vehicle, the direction indicator control device 11 can also acquire a road shape in a range that cannot be directly confirmed from the host vehicle. Accordingly, it is possible to set the determination reference value TH for performing the end determination based on a wide range of road shapes, and to end the direction indicating operation of the direction indicator 10 at a more appropriate timing according to the behavior of the vehicle. Can do.

In addition, you may change this Embodiment as follows.
In the above embodiment, the end determination condition is the change in the yaw rate and the steering angle θ so that the end determination is made at the time of lane change in addition to the end determination at the time of right / left turn. . For example, the direction determination operation end determination may be made based only on the end determination condition based on the steering angle θ of the steering wheel W, that is, the end determination condition at the time of right / left turn. In this case, the steering angle θ of the steering wheel W is learned, and the determination reference value TH is set based on the learning result.

  In the above embodiment, the end determination at the time of lane change is performed based on the change in the yaw rate and the steering angle θ. However, the present invention is not limited to such a mode, and the end determination is performed based on only one of them. It may be.

  In the above embodiment, the change in the running state during running at the speed corresponding to the speed area is learned for each road shape, and the determination reference value TH is set based on the learning result. However, the present invention is not limited to this mode, and the change in the running state may be learned for each speed region, and the determination reference value TH may be set based on the learning result.

  In the above embodiment, the road shape acquisition device 16 acquires the road shape based on map information around the host vehicle. However, the present invention is not limited to such a mode, and the road ahead of the host vehicle is a camera. Alternatively, the road shape may be acquired from the captured image.

  In the above embodiment, the automatic return type operation lever 4 that returns to the operation neutral position P when the operation force is released is used. However, the operation lever having a structure that is held at each operation position PL, PR is used. Also good.

(A) is the schematic when the vehicle is seen from the top, (b) is the schematic around the steering wheel. The block diagram which shows the electrical structure of a direction indicator. Explanatory drawing which shows an example of the determination reference value. (A) is explanatory drawing for demonstrating the course of the own vehicle, (b) And (c) is explanatory drawing which shows the completion | finish timing of the direction instruction | indication operation | movement in the case of lane change at the time of a straight lane driving | running | working. (A) is explanatory drawing for demonstrating the course of the own vehicle, (b) And (c) is explanatory drawing which shows the completion | finish timing of the direction instruction | indication operation | movement in the case of changing lanes at the time of right curve driving | running | working. The flowchart which shows the process sequence of a direction indicator.

Explanation of symbols

  TH: Determination reference value, 10: Direction indicator, 11: Direction indicator control device as end determination means, 12: Vehicle speed sensor as travel state detection means, 13 ... Rudder angle sensor as travel state detection means, 14 ... A yaw rate sensor as a running state detection means, 15a ... a turn switch as an operation state detection means, 16 ... a road shape acquisition device as a road shape acquisition means, V ... speed, VR1 to VR4 ... speed region.

Claims (3)

An operating state detecting means for detecting an operating state of a direction indicator provided in the host vehicle;
Traveling state detection means for detecting a traveling state including the speed of the host vehicle,
Criteria for determining whether or not the vehicle is in a running state and that the direction indicator operation of the direction indicator is to be terminated when the direction indicator operation of the direction indicator is detected by the operating state detection means. A direction indicator control device that compares the traveling state to be determined and determines that the direction indication operation of the direction indicator is to be terminated based on the comparison result,
The change of the driving state is learned for each speed region, and when the direction indicating operation of the direction indicator is detected while traveling at the speed in the speed region based on the learning result, the direction indicator A direction indicator control device characterized in that a running state that is an optimum determination criterion for ending a direction indication operation is set for each speed region. Road shape acquisition means for acquiring the road shape ahead of the host vehicle,
A change in the running state during traveling at a speed corresponding to the speed area is learned for each road shape, and a road corresponding to the road shape is traveled at a speed corresponding to the speed area based on the learning result. When the direction indicator operation of the direction indicator is detected during, the driving state which is the optimum determination criterion for ending the direction indicator operation of the direction indicator for each road shape with respect to the speed region The direction indicator control device according to claim 1, wherein the direction indicator control device is set.   The direction indicator control device according to claim 2, wherein the road shape acquisition unit acquires the road shape based on map information around the host vehicle including the front of the host vehicle.

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