JP2013088409A - Travel support device for vehicle - Google Patents

Travel support device for vehicle Download PDF

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JP2013088409A
JP2013088409A JP2011232366A JP2011232366A JP2013088409A JP 2013088409 A JP2013088409 A JP 2013088409A JP 2011232366 A JP2011232366 A JP 2011232366A JP 2011232366 A JP2011232366 A JP 2011232366A JP 2013088409 A JP2013088409 A JP 2013088409A
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vehicle
intersection
travel
gazing point
forward gazing
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JP5853582B2 (en
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Hirotoshi Ueda
宏寿 植田
Ichiro Yamaguchi
一郎 山口
Masayasu Shimakage
正康 島影
Yuta Yoshihata
友太 吉畑
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a travel support device for a vehicle, capable of suppressing protrusion to an opposite lane at an intersection and contact with a guard rail or the like.SOLUTION: The travel support device for a vehicle sets a front fixation point Pon a target travel line Lin front of a present vehicle and supports travel of the vehicle so that the present vehicle travels on the set front fixation point P. The travel support device includes: an intersection shape recognition part 11 for recognizing an intersection shape in front of the present vehicle; an advancing direction detection part 15 for detecting an advancing direction of the present vehicle; a front fixation point setting part 14 for determining an advancing destination travel path of the intersection on the basis of the advancing direction of the present vehicle, and setting the front fixation point Pfor the advancing destination travel path at a position more on the inner side of the intersection than an intersection point of the target travel line Land a first straight line Lconnecting both ends Pand Pforming an entrance of the advancing destination travel path; and a steering control part 16 for steering left and right front wheels 1L and 1R so that the present vehicle travels on the front fixation point P.

Description

本発明は、車両用走行支援装置に関する。   The present invention relates to a vehicle travel support apparatus.

従来の車両用走行支援装置では、車速と所定の前方注視時間との積を前方注視点距離として求め、目標走行ライン上の自車前方に前方注視点距離だけ離れた前方注視点を設定し、車両が前方注視点を走行するように操舵制御による走行支援を行っている。   In the conventional vehicle driving support device, the product of the vehicle speed and a predetermined forward gaze time is obtained as a front gaze distance, and a front gaze point separated by a front gaze distance is set in front of the vehicle on the target travel line, Travel assistance by steering control is performed so that the vehicle travels in front of the gazing point.

特開平２００８−１７０４０４号公報Japanese Patent Laid-Open No. 2008-170404

しかしながら、上記従来技術にあっては、交差点進入時も車速に比例した前方注視点が設定されるため、車速によって交差点の外側、すなわち進行先走行路上に前方注視点が設定されることで、車両が対向車線にはみ出したり、ガードレール等に接触したりするおそれがあった。
本発明の目的は、交差点での対向車線へのはみ出しやガードレール等への接触を抑制できる車両用走行支援装置を提供することにある。 However, in the above-described prior art, the forward gazing point proportional to the vehicle speed is set even when the vehicle enters the intersection. However, there was a risk of protruding into the oncoming lane or coming into contact with a guardrail or the like.
An object of the present invention is to provide a vehicular travel support device that can suppress the protrusion to an opposite lane at an intersection or contact with a guardrail or the like.

本発明では、進行先走行路の入口を形成する両端を結ぶ直線と目標走行ラインとの交点よりも交差点内側の位置に、進行先走行路に対する前方注視点を設定する。   In the present invention, a forward gazing point for the destination travel path is set at a position inside the intersection with respect to the intersection of the straight line connecting both ends forming the entrance of the travel destination travel path and the target travel line.

よって、本発明にあっては、車両を進行先走行路の入口手前に誘導できるため、交差点での対向車線へのはみ出しやガードレール等への接触を抑制できる。   Therefore, in the present invention, since the vehicle can be guided before the entrance to the destination travel path, it is possible to suppress the protrusion to the oncoming lane and the contact with the guard rail at the intersection.

実施例１の車両用走行支援装置を適用した車両の操舵系を示す模式図である。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram illustrating a vehicle steering system to which a vehicle travel support device according to a first embodiment is applied. 実施例１のコントロールユニット6の制御ブロック図である。FIG. 3 is a control block diagram of a control unit 6 according to the first embodiment. 実施例１のコントロールユニット6で実行される操舵制御処理の流れを示すフローチャートである。3 is a flowchart showing a flow of steering control processing executed by a control unit 6 of Embodiment 1. 実施例１の前方注視点設定方法を示す交差点進入時の模式図である。It is a schematic diagram at the time of intersection approach showing the forward gazing point setting method of the first embodiment. 交差点における実施例１の前方注視点設定作用を示す交差点進入時の模式図である。It is a schematic diagram at the time of the intersection approach which shows the front gaze point setting effect | action of Example 1 in an intersection.

以下、本発明の車両用走行支援装置を実施するための形態を、図面に示す実施例に基づいて説明する。
〔実施例１〕
図１は、実施例１の車両用走行支援装置を適用した車両の操舵系を示す模式図であり、実施例１の車両の操舵系は、左右前輪（操向輪）1R,1Lと、ステアリングギア2と、ステアリングホイール3と、ステアリングシャフト4と、操舵アクチュエータ5と、コントロールユニット6と、車輪速センサ7と、カメラ8と、ナビゲーションシステム9とを備える。 EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing the driving assistance device for vehicles of this invention is demonstrated based on the Example shown on drawing.
[Example 1]
FIG. 1 is a schematic diagram illustrating a vehicle steering system to which the vehicle travel support device of the first embodiment is applied. The vehicle steering system of the first embodiment includes left and right front wheels (steering wheels) 1R and 1L, and a steering system. A gear 2, a steering wheel 3, a steering shaft 4, a steering actuator 5, a control unit 6, a wheel speed sensor 7, a camera 8, and a navigation system 9 are provided.

ステアリングギア2は、ドライバがステアリングホイール3を回転操作することでステアリングシャフト4に入力された回転運動を車幅方向の平行運動に変換し、左右前輪1L,1Rを転舵させる。
操舵アクチュエータ5は、例えば、電動モータであり、ステアリングシャフト4にトルクを出力して左右前輪1L,1Rを転舵させる。
車輪速センサ7は、各輪に設けられ、車輪の回転速度を検出する。
カメラ8は、自車前方を撮像する。
ナビゲーションシステム9は、GPS衛生からの信号を受信し、地図データベースを参照して自車位置を検出すると共に、ドライバの設定した目標地点までの走行ルートを生成し、当該走行ルートを車室内に設けた図外のディスプレイに表示する。 The steering gear 2 converts the rotational motion input to the steering shaft 4 into a parallel motion in the vehicle width direction when the driver rotates the steering wheel 3, and steers the left and right front wheels 1L and 1R.
The steering actuator 5 is, for example, an electric motor, and outputs torque to the steering shaft 4 to steer the left and right front wheels 1L and 1R.
The wheel speed sensor 7 is provided in each wheel and detects the rotational speed of the wheel.
The camera 8 images the front of the host vehicle.
The navigation system 9 receives a signal from the GPS hygiene, refers to the map database, detects the vehicle position, generates a travel route to the target point set by the driver, and provides the travel route in the passenger compartment. Display on a display outside the figure.

コントロールユニット6は、車輪速センサ7、カメラ8およびナビゲーションシステム9等からの情報を入力し、所定の制御ロジックに基づいて操舵アクチュエータ5を駆動し、走行支援を行う。
コントロールユニット6は、走行支援として、ナビゲーションシステム9により生成された走行ルートに沿って自車を自動運転する。このとき、自車が走行路の車線幅中央の目標走行ライン上を走行するように、自車の走行ラインが目標走行ライン上から逸れたとき、走行路上の自車前方に前方注視点距離だけ離れた前方注視点を設定し、その前方注視点を車両が走行するように操舵アクチュエータ5を駆動して左右前輪1L,1Rを転舵させる操舵制御を実行する。 The control unit 6 inputs information from the wheel speed sensor 7, the camera 8, the navigation system 9, and the like, drives the steering actuator 5 based on a predetermined control logic, and performs driving support.
The control unit 6 automatically drives the vehicle along the travel route generated by the navigation system 9 as travel support. At this time, when the vehicle's travel line deviates from the target travel line so that the vehicle travels on the target travel line in the center of the lane width of the travel path, only the forward gazing distance is in front of the vehicle on the travel path. A remote front gazing point is set, and the steering actuator 5 is driven to steer the left and right front wheels 1L and 1R so that the vehicle travels on the front gazing point.

図２は、実施例１のコントロールユニット6の制御ブロック図であり、コントロールユニット6は、目標走行ライン認識部10と、交差点形状認識部（交差点形状認識手段）11と、車速検出部12と、前方注視点距離設定部13と、前方注視点設定部（前方注視点設定手段）14と、進行方向検出部（進行方向検出手段）15と、操舵制御部（操舵制御手段）16と、を備える。   FIG. 2 is a control block diagram of the control unit 6 of the first embodiment. The control unit 6 includes a target travel line recognition unit 10, an intersection shape recognition unit (intersection shape recognition means) 11, a vehicle speed detection unit 12, A forward gazing point distance setting unit 13, a forward gazing point setting unit (front gazing point setting unit) 14, a traveling direction detection unit (traveling direction detection unit) 15, and a steering control unit (steering control unit) 16 are provided. .

目標走行ライン認識部10は、カメラ8から得られた撮像画像とナビゲーションシステム9から得られた自車位置情報とに基づいて、目標走行ラインL*を認識する。
交差点形状認識部11は、カメラ8から得られた撮像画像やナビゲーションシステム9の地図データベースに基づいて自車前方の交差点形状を認識する。ここでは、進行先走行路毎に、入口を形成する左右両端の点PL,PRと、点PL,PRを結ぶ第１の直線LL-Rと、進行先走行路のセンタラインLCと、第１の直線LL-RとセンタラインLCとの交点PCとを認識する。
車速検出部12は、各車輪速センサ7からの信号に基づいて、自車の車体速（車速）Vを検出する。車速Vの算出方法は任意であり、例えば、４輪の各車輪速の平均値、従動輪である左右後輪の車輪速の平均値を車速Vとしてもよい。 The target travel line recognition unit 10 recognizes the target travel line L * based on the captured image obtained from the camera 8 and the own vehicle position information obtained from the navigation system 9.
The intersection shape recognition unit 11 recognizes the intersection shape in front of the host vehicle based on the captured image obtained from the camera 8 and the map database of the navigation system 9. Here, each traveling destination roadway, point P L of left and right end forming the inlet, P R and the points P L, P and the first straight line L LR connecting the R, the center line L C of the traveling destination roadway When recognizes the intersection P C of the first straight line L LR and centerline L C.
The vehicle speed detector 12 detects the vehicle speed (vehicle speed) V of the host vehicle based on signals from the wheel speed sensors 7. The calculation method of the vehicle speed V is arbitrary. For example, the average value of the wheel speeds of the four wheels and the average value of the wheel speeds of the left and right rear wheels that are the driven wheels may be used as the vehicle speed V.

前方注視点距離設定部13は、車速Vとあらかじめ設定された前方注視時間（例えば、1.5秒）T*との積を前方注視点距離D*として設定する。
前方注視点設定部14は、通常は前方注視点距離D*と目標走行ラインL*との交点を前方注視点P*として設定するが、交差点進入時には、各進行先走行路において、点PLと点PCとを結ぶ第２の直線LL-Cと、自車の進行方向を車両前方に延長した進行方向延長線LFとが交差する進行先走行路が存在しない場合には、第２の直線LL-Cと目標走行ラインL*との交点よりも所定距離だけ交差点内側の位置に、各進行先走行路に対する前方注視点Pを設定し、各前方注視点Pのうち、交差点進入時の車両の進行方向と合致する前方注視点Pを前方注視点P*として選択する。
進行方向検出部15は、ナビゲーションシステム9により生成された走行ルート（自動運転の走行ルート）に基づいて交差点進入時の車両の進行方向を取得する。 The forward gaze distance setting unit 13 sets the product of the vehicle speed V and a preset forward gaze time (for example, 1.5 seconds) T * as the front gaze distance D * .
Forward observation point setting section 14 typically sets the intersection of the forward observation point distance D * and the target traveling line L * a forward observation point P *, but at the time of an intersection approach, each traveling destination travel path, the point P L If there is no destination road that intersects the second straight line L LC that connects the point P C and the traveling direction extension line L F that extends the traveling direction of the host vehicle forward, the second A forward gazing point P is set for each traveling road at a position a predetermined distance from the intersection of the straight line L LC and the target driving line L *, and the vehicle at the intersection approaching of each forward gazing point P. A forward gazing point P that coincides with the traveling direction is selected as the forward gazing point P * .
The traveling direction detection unit 15 acquires the traveling direction of the vehicle when approaching the intersection based on the traveling route (automated traveling route) generated by the navigation system 9.

操舵制御部16は、自車位置と前方注視点P*とを一定曲率で結ぶ目標曲線R*を算出し、目標曲線R*に基づいて左右前輪1L,1Rの操舵制御量を算出すると共に、算出した操舵制御量に基づいて操舵アクチュエータ5を駆動する。このとき、目標曲線R*上を通過するような操舵制御量を算出してもよいが、ステアリングシャフト4上にトルクセンサを設けてドライバの操舵介入を検出し、操舵介入時には操舵制御量をゼロとしたり、目標曲線R*上を通過する左右前輪1L,1Rの転舵角までドライバの操舵操作を誘導するような操舵トルクを与えたりしてもよい。 The steering control unit 16 calculates a target curve R * that connects the vehicle position and the forward gazing point P * with a constant curvature, calculates the steering control amount of the left and right front wheels 1L, 1R based on the target curve R * , The steering actuator 5 is driven based on the calculated steering control amount. At this time, a steering control amount that passes on the target curve R * may be calculated, but a torque sensor is provided on the steering shaft 4 to detect the driver's steering intervention, and the steering control amount is zero during the steering intervention. Alternatively, a steering torque that guides the driver's steering operation up to the turning angle of the left and right front wheels 1L and 1R passing on the target curve R * may be applied.

［操舵制御処理］
図３は、実施例１のコントロールユニット6で実行される操舵制御処理の流れを示すフローチャートで、以下、各ステップについて説明する。
ステップS1では、交差点形状認識部11において、ナビゲーションシステム9から自車位置を読み込む。
ステップS2では、交差点形状認識部11において、車両前方の交差点までの距離lが所定値以下であるか否かを判定し、YESの場合はステップS3へ進み、NOの場合はステップS9へ進む。 [Steering control processing]
FIG. 3 is a flowchart showing the flow of the steering control process executed by the control unit 6 of the first embodiment, and each step will be described below.
In step S1, the intersection shape recognition unit 11 reads the vehicle position from the navigation system 9.
In step S2, the intersection shape recognition unit 11 determines whether the distance l to the intersection ahead of the vehicle is equal to or less than a predetermined value. If YES, the process proceeds to step S3. If NO, the process proceeds to step S9.

ステップS3では、交差点形状認識部11において、交差点形状を認識する。
ステップS4では、交差点形状認識部11において、所定サイズ以下の交差点であるか否かを判定し、YESの場合はステップS5へ進み、NOの場合はステップS9へ進む。ここで、所定サイズ以下の交差点とは、自車の車幅をWとしたとき、交差点手前の目標走行ラインL*と道路左端の点PLとの距離がW/2+α以下の交差点とする。αは、操舵制御性能やドライバの心理的側面による安全マージンで、例えば、1.0[m]などに設定する。
ステップS5では、進行方向検出部15において、ナビゲーションシステム9から得られた自動運転の走行ルートに基づいて交差点進入時の車両の進行方向を取得する。ここでは、ウインカーの状態に基づいて車両の進行方向を取得してもよい。 In step S3, the intersection shape recognition unit 11 recognizes the intersection shape.
In step S4, the intersection shape recognizing unit 11 determines whether the intersection is a predetermined size or less. If YES, the process proceeds to step S5. If NO, the process proceeds to step S9. Here, an intersection of a predetermined size or less is an intersection where the distance between the target travel line L * before the intersection and the point P L at the left end of the road is W / 2 + α or less when the width of the vehicle is W. To do. α is a safety margin based on the steering control performance and the psychological aspect of the driver, and is set to 1.0 [m], for example.
In step S5, the traveling direction detection unit 15 acquires the traveling direction of the vehicle when entering the intersection based on the traveling route of the automatic driving obtained from the navigation system 9. Here, the traveling direction of the vehicle may be acquired based on the state of the blinker.

ステップS6では、前方注視点設定部14において、各進行先走行路の第２の直線LL-Cのいずれかが車両の進行方向を延長した進行方向延長線LFと交差しているか否かを判定し、YESの場合はステップS7へ進み、NOの場合はステップS9へ進む。
ステップS7では、前方注視点設定部14において、各進行先走行路の第２の直線LL-Cと目標走行ラインL*との交点よりも所定距離だけ交差点内側の位置に、各進行先走行路に対する前方注視点Pを設定する。
ステップS8では、前方注視点設定部14において、各進行先走行路の前方注視点Pのうち、交差点進入時の車両の進行方向と合致する前方注視点Pを前方注視点P*として選択する。 In step S6, the forward gazing point setting unit 14 determines whether any of the second straight lines L LC of each destination travel path intersects a travel direction extension line L F that extends the travel direction of the vehicle. If YES, the process proceeds to step S7. If NO, the process proceeds to step S9.
In step S7, the forward gazing point setting unit 14 sets a predetermined distance from the intersection of the second straight line L LC of each destination travel path and the target travel line L * to a position inside the intersection with respect to each destination travel path. Set forward gaze point P.
In step S8, the forward gazing point setting unit 14 selects, as the forward gazing point P * , the forward gazing point P that matches the traveling direction of the vehicle when entering the intersection among the forward gazing points P of the respective traveling destinations.

ステップS9では、車速検出部12において、各車輪速センサ7からの信号に基づいて、自車の車体速（車速）Vを検出する。
ステップS10では、前方注視点距離設定部13において、車速Vとあらかじめ設定された前方注視時間T*との積を前方注視点距離D*として設定する。
ステップS11では、前方注視点設定部14において、前方注視点距離D*と自車の進行先走行路の目標走行ラインL*との交点を前方注視点P*として設定する。
ステップS12では、操舵制御部16において、自車位置と前方注視点P*とを一定曲率で結ぶ目標曲線R*を算出し、目標曲線R*に応じた左右前輪1L,1Rの操舵制御量を算出する。
ステップS13では、操舵制御部16において、操舵制御量に基づいて操舵アクチュエータ5を駆動する。 In step S9, the vehicle speed detection unit 12 detects the vehicle speed (vehicle speed) V of the host vehicle based on the signal from each wheel speed sensor 7.
In step S10, the front gaze distance setting unit 13 sets the product of the vehicle speed V and the preset front gaze time T * as the front gaze distance D * .
In step S11, the forward gazing point setting unit 14 sets the intersection point between the forward gazing point distance D * and the target travel line L * of the travel destination travel path of the host vehicle as the forward gazing point P * .
In step S12, the steering control unit 16 calculates a target curve R * that connects the vehicle position and the forward gazing point P * with a constant curvature, and calculates the steering control amount of the left and right front wheels 1L, 1R according to the target curve R *. calculate.
In step S13, the steering control unit 16 drives the steering actuator 5 based on the steering control amount.

次に、作用を説明する。
［交差点における前方注視点設定作用］
実施例１では、交差点までの距離lが所定値以下であって、当該交差点が所定サイズ以下である場合、図４に示すように、交差点の各進行先走行路の入口を形成する両端PL,PRを結ぶ第１の直線LL-Rと目標走行ラインL*との交点よりも交差点内側の位置に、各進行先走行路に対する前方注視点Pをそれぞれ設定する。
よって、各前方注視点Pから車両の進行方向に応じて選択される前方注視点P*は、進行先走行路にかかわらず、進行先走行路の入口付近に設定されるため、交差点を抜けて進行先走行路に進入する前に進行先走行路の入口付近に車両を誘導することができ、交差点での対向車線へのはみ出しやガードレール等への接触を抑制できる。 Next, the operation will be described.
[Front gaze setting at the intersection]
In the first embodiment, when the distance l to the intersection is equal to or smaller than a predetermined value and the intersection is equal to or smaller than the predetermined size, as shown in FIG. 4, both ends P L forming the entrance of each traveling destination traveling path at the intersection. , the position of the intersection inside the intersection between the first straight line L LR and the target traveling line L connecting the P R *, respectively set forward fixed point P for each traveling destination travel path.
Therefore, the forward gazing point P * selected from each forward gazing point P according to the traveling direction of the vehicle is set near the entrance of the traveling destination road regardless of the traveling destination road. The vehicle can be guided near the entrance of the destination travel path before entering the travel destination travel path, and the protrusion to the opposite lane and the contact with the guard rail or the like at the intersection can be suppressed.

また、実施例１では、交差点進入後、第２の直線LL-Cと車両の進行方向を延長した進行方向延長線LFとが交差していない場合には、上記のように交差点内側の位置に前方注視点P*を設定し（図５(a)）、第２の直線LL-Cと進行方向延長線LFとが交差している場合には、車速Vと前方注視時間T*とに基づいて設定された前方注視点距離D*と目標走行ラインL*との交点を前方注視点P*として設定する（図５(b)）。 In Example 1, after crossing entrance, in the case where the second straight line L LC and traveling direction extension line L F of the traveling direction and extension of the vehicle does not intersect, the position of the intersection inside as described above set the forward gaze point P * (FIG. 5 (a)), when the second straight line L LC and traveling direction extension line L F intersect is based on the vehicle speed V and forward fixed point time T * and The intersection point between the forward gazing point distance D * and the target travel line L * is set as the forward gazing point P * (FIG. 5 (b)).

各前方注視点Pは、車速Vに依存せず、交差点形状に基づいて設定されるため、仮に交差点通過時は常に前方注視点Pに基づいて前方注視点P*を設定した場合、目標曲線R*の曲率半径が徐々に小さくなり、操舵制御量が大きくなることで、ドライバに違和感を与えてしまう。
これに対し、車両の進行方向延長線LFと第２の直線LL-Cとが交差している場合は、車速Vに応じた前方注視点距離D*に基づいて前方注視点P*を設定する通常の方法に復帰することで、スムーズな操舵制御を実現でき、ドライバに与える違和感を軽減できる。
このとき、進行方向延長線LFと第１の直線LL-Rとの交差ではなく、進行方向延長線LFと第２の直線LL-Cとの交差を見ているため、車両が進行先走行路のセンタラインLCを越えて対向車線にはみ出してしまうのを抑制できる。 Since each forward gazing point P does not depend on the vehicle speed V and is set based on the intersection shape, if the forward gazing point P * is always set based on the forward gazing point P when passing through the intersection, the target curve R The curvature radius of * gradually decreases and the amount of steering control increases, giving the driver a sense of incongruity.
On the other hand, when the vehicle traveling direction extension line L F and the second straight line L LC intersect, the front gaze point P * is set based on the front gaze point distance D * corresponding to the vehicle speed V. By returning to the normal method, smooth steering control can be realized and the uncomfortable feeling given to the driver can be reduced.
At this time, since the intersection of the traveling direction extension line L F and the second straight line L LC is seen instead of the intersection of the traveling direction extension line L F and the first straight line L LR , the vehicle is traveling ahead It can be suppressed that the center line L C of the lane is protruded into the oncoming lane.

実施例１では、交差点が所定サイズ(W/2+α)を超える場合には、車速Vに応じた前方注視点距離D*に基づいて前方注視点P*を設定する。交差点の道路幅が大きい場合、車速Vに基づく前方注視点P*を設定したとしても、対向車線へのはみ出しやガードレール等への接触は発生しにくい。よって、この場合は車速Vに応じた通常の方法で前方注視点P*を設定することで、スムーズな操舵制御を実現できる。 In the first embodiment, when the intersection exceeds a predetermined size (W / 2 + α), the forward gazing point P * is set based on the forward gazing point distance D * corresponding to the vehicle speed V. When the road width of the intersection is large, even if the forward gazing point P * based on the vehicle speed V is set, the protrusion to the oncoming lane or the contact with the guard rail is unlikely to occur. Therefore, in this case, smooth steering control can be realized by setting the forward gazing point P * by a normal method according to the vehicle speed V.

次に、効果を説明する。
実施例１の車両用走行支援装置にあっては、以下に列挙する効果を奏する。
(1) 自車前方の目標走行ラインL*上に前方注視点P*を設定し、自車が設定した前方注視点P*を走行するように車両の走行を支援する車両用走行支援装置において、自車前方の交差点形状を認識する交差点形状認識部11と、自車の進行方向を検出する進行方向検出部15と、自車の進行方向に基づいて交差点の進行先走行路を決定し、進行先走行路の入口を形成する両端PL,PRを結ぶ第１の直線LL-Rと目標走行ラインL*との交点よりも交差点内側の位置に、進行先走行路に対する前方注視点P*を設定する前方注視点設定部14と、自車が前方注視点P*を走行するように左右前輪1L,1Rを転舵する操舵制御部16と、を備えた。これにより、交差点での対向車線へのはみ出しやガードレール等への接触を抑制できる。 Next, the effect will be described.
The vehicle travel support apparatus according to the first embodiment has the following effects.
(1) Set the forward gaze point P * on the vehicle ahead of the target traveling line L * above, in the vehicle travel support device for supporting the travel of the vehicle so that the vehicle travels forward fixed point P *, which vehicle has set The intersection shape recognition unit 11 that recognizes the shape of the intersection ahead of the host vehicle, the traveling direction detection unit 15 that detects the traveling direction of the host vehicle, and determines the destination travel path of the intersection based on the traveling direction of the host vehicle, ends P L forming the inlet of the traveling destination travel path, the position of the intersection inside the intersection between the first straight line L LR and the target traveling line L connecting the P R *, forward fixed point for traveling destination travel path P * And a steering control unit 16 that steers the left and right front wheels 1L and 1R so that the host vehicle travels the forward gazing point P * . Thereby, the protrusion to the opposite lane and the contact to a guardrail etc. in an intersection can be suppressed.

(2) 前方注視点設定部14は、自車の進行方向を車両前方に延長した進行方向延長線LFと進行先走行路の入口を形成する両端PL,PRを結ぶ第１の直線LL-Rとが交差する場合には、車速Vとあらかじめ設定された前方注視時間T*とに基づいて設定された前方注視点距離D*と目標走行ラインL*との交点を前方注視点P*として設定する。これにより、スムーズな操舵制御を実現でき、ドライバに与える違和感を軽減できる。 (2) forward observation point setting unit 14, both ends P L, first straight line connecting the P R forming the inlet of the traveling destination travel path to the traveling direction extension line L F obtained by extending the traveling direction of the vehicle in front of the vehicle L If the LR and intersect, the vehicle speed V with a preset forward fixed point time T * and forward fixed point distance is set based on the D * and forward fixed point an intersection point between the target traveling line L * P * Set as. As a result, smooth steering control can be realized, and the uncomfortable feeling given to the driver can be reduced.

(3) 前方注視点設定部14は、第２の直線LL-Cと自車の進行方向延長線LFとが交差する場合には、車速Vとあらかじめ設定された前方注視時間T*とに基づいて設定された前方注視点距離D*と目標走行ラインL*との交点を前方注視点P*として設定する。これにより、車両が進行先走行路のセンタラインLCを越えて対向車線にはみ出してしまうのを抑制できる。 (3) forward observation point setting unit 14, when the traveling direction extension line L F of the second straight line L LC and the vehicle intersect, based on the forward fixed point time T * that is set in advance and vehicle speed V The intersection point between the forward gazing point distance D * and the target travel line L * is set as the forward gazing point P * . Thus, possible to prevent the vehicle lies off the oncoming lane beyond the center line L C of the traveling destination roadway.

（他の実施例）
以上、本発明を実施するための形態を、実施例に基づいて説明したが、本発明の具体的な構成は、実施例に限定されるものではなく、発明の要旨を逸脱しない範囲の設計変更等があっても本発明に含まれる。
実施例では、交差点におけるすべての進行先走行路で前方注視点Pを求めた後、交差点進入時の自車の進行方向と合致する進行先走行路の前方注視点Pを前方注視点P*として選択する例を示したが、自車の進行方向と合致する進行先走行路の前方注視点のみを求める構成としてもよい。
実施例では、走行支援として操舵制御を実行する例を示したが、操舵制御と加減速制御とを組み合わせてもよい。加減速制御を加えることで、旋回トレース性能をより高めることができる。 (Other examples)
As mentioned above, although the form for implementing this invention was demonstrated based on the Example, the concrete structure of this invention is not limited to an Example, The design change of the range which does not deviate from the summary of invention And the like are included in the present invention.
In the embodiment, after obtaining the forward gazing point P on all the traveling roads at the intersection, the forward gazing point P of the traveling road that matches the traveling direction of the vehicle at the time of entering the intersection is set as the forward gazing point P *. Although the example of selecting was shown, it is good also as a structure which calculates | requires only the front gaze point of the advancing destination driving | running route which corresponds with the advancing direction of the own vehicle.
In the embodiment, the example in which the steering control is executed as the travel support is shown, but the steering control and the acceleration / deceleration control may be combined. By adding acceleration / deceleration control, the turning trace performance can be further improved.

1L,1R 左右前輪（操向輪）
2 ステアリングギア
3 ステアリングホイール
4 ステアリングシャフト
5 操舵アクチュエータ
6 コントロールユニット
7 車輪速センサ
8 カメラ
9 ナビゲーションシステム
10 目標走行ライン認識部
11 交差点形状認識部（交差点形状認識手段）
12 車速検出部
13 前方注視点距離設定部
14 前方注視点設定部（前方注視点設定手段）
15 進行方向検出部（進行方向検出手段）
16 操舵制御部（操舵制御手段） 1L, 1R Left and right front wheels (steering wheels)
2 Steering gear
3 Steering wheel
4 Steering shaft
5 Steering actuator
6 Control unit
7 Wheel speed sensor
8 Camera
9 Navigation system
10 Target travel line recognition unit
11 Intersection shape recognition unit (intersection shape recognition means)
12 Vehicle speed detector
13 Forward gaze distance setting section
14 Front gaze point setting unit (front gaze point setting means)
15 Traveling direction detector (traveling direction detection means)
16 Steering control unit (steering control means)

Claims (3)

自車前方の目標走行ライン上に前方注視点を設定し、自車が設定した前方注視点を走行するように車両の走行を支援する車両用走行支援装置において、
自車前方の交差点形状を認識する交差点形状認識手段と、
自車の進行方向を検出する進行方向検出手段と、
自車の進行方向に基づいて前記交差点の進行先走行路を決定し、前記進行先走行路の入口を形成する両端を結ぶ直線と前記進行先走行路の目標走行ラインとの交点よりも交差点内側の位置に、前記進行先走行路に対する前方注視点を設定する前方注視点設定手段と、
自車が前記前方注視点を走行するように操向輪を転舵する操舵制御手段と、
を備えたことを特徴とする車両用走行支援装置。 In the vehicular travel support device that sets the forward gazing point on the target travel line ahead of the host vehicle and assists the vehicle to travel the front gazing point set by the host vehicle,
An intersection shape recognition means for recognizing an intersection shape ahead of the host vehicle;
Traveling direction detection means for detecting the traveling direction of the host vehicle;
The destination travel path of the intersection is determined based on the traveling direction of the host vehicle, and the intersection inner side of the intersection of the straight line connecting both ends forming the entrance of the destination travel path and the target travel line of the destination travel path A forward gazing point setting means for setting a forward gazing point with respect to the travel destination travel path at the position;
Steering control means for steering the steered wheels so that the vehicle travels on the forward gazing point;
A vehicle travel support apparatus comprising: 請求項１に記載の車両用走行支援装置において、
前記前方注視点設定手段は、自車の進行方向を車両前方に延長した進行方向延長線と前記進行先走行路の入口を形成する両端を結ぶ直線とが交差する場合には、車速とあらかじめ設定された前方注視時間とに基づいて設定された前方注視点距離と前記目標走行ラインとの交点を前記前方注視点として設定することを特徴とする車両用走行支援装置。 The vehicle travel support device according to claim 1,
The forward gazing point setting means sets the vehicle speed in advance when the traveling direction extension line extending the traveling direction of the host vehicle forward and the straight line connecting both ends forming the entrance of the traveling destination traveling path intersect. A vehicular travel support apparatus, wherein an intersection between a forward gazing point distance set based on the forward gazing time and the target travel line is set as the forward gazing point. 請求項１または請求項２に記載の車両用走行支援装置において、
前記進行先走行路の入口を形成する両端を結ぶ直線を第１の直線とし、
前記第１の直線と前記進行先走行路のセンタラインとの交点と、前記第１の直線の左端とを結ぶ直線を第２の直線としたとき、
前記前方注視点設定手段は、前記第２の直線と前記自車の進行方向延長線とが交差する場合には、車速とあらかじめ設定された前方注視時間とに基づいて設定された前方注視点距離と前記目標走行ラインとの交点を前記前方注視点として設定することを特徴とする車両用走行支援装置。 In the vehicle travel support device according to claim 1 or 2,
A straight line connecting both ends forming the entrance of the destination travel path is a first straight line,
When a straight line connecting the intersection of the first straight line and the center line of the destination travel path and the left end of the first straight line is a second straight line,
The forward gazing point setting means, when the second straight line and the traveling direction extension line of the host vehicle intersect, a forward gazing point distance set based on a vehicle speed and a predetermined forward gazing time And the target travel line is set as the forward gazing point.
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