JP2013091401A - Target traveling position-setting device, and steering control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set a target traveling position in a suitable position according to the change of environmental situation during traveling and to make a vehicle travel with the set target traveling position.SOLUTION: A CPU 16 of a steering control system 1 sets a target traveling position according to existence or nonexistence of an approaching vehicle and drives a motor 9 so that a steering torque needed for making a vehicle 2 travel from a present traveling position to a target traveling position may be generated. The target traveling position is set in a central standard position in the width direction of a lane when a left approaching vehicle and right approaching vehicle are not detected, is set in a right deviation position on the right side of the standard position when only a left approaching vehicle is detected, is set in a left deviation position on the left side of the standard position when only a right approaching vehicle is detected, and is set in an intermediate position between the left approaching vehicle and the right approaching vehicle when both the left approaching vehicle and the right approaching vehicle are detected.

Description

  The present invention relates to a target travel position setting device and a steering control system.

  Japanese Patent Application Laid-Open No. 2003-26026 automatically sets a target lane position in a lane, controls a steering actuator so that the vehicle travels in the set target lane position, and maintains vehicle travel in the lane. A steering device is described. The target lane position is set to the position in the width direction of the vehicle lane at the start of the automatic steering control.

Japanese Patent Laid-Open No. 2003-26026

  In the conventional apparatus, the target travel position is maintained at the initial set position until the steering control is completed. However, even when the target travel position is set to a suitable position in the lane at the start of the steering control, if the surrounding situation changes during travel, such as when another vehicle runs in parallel in the adjacent lane, There is a possibility that the initial set position is not necessarily a suitable target travel position.

  Therefore, an object of the present invention is to set a target travel position at a suitable position in accordance with a change in surrounding conditions during travel.

  In order to achieve the above object, a target travel position setting device according to a first aspect of the present invention includes lane recognition means, target travel position setting means, left approaching vehicle detection means, and right approaching vehicle detection means. The lane recognition means recognizes a forward lane in which the host vehicle travels. The target travel position setting means sets the target travel position of the host vehicle in the lane recognized by the lane recognition means. The left approaching vehicle detection means detects a left approaching vehicle that enters a predetermined left range preset on the left side of the host vehicle among other vehicles traveling in the same direction as the host vehicle on the left side of the host vehicle. The right approaching vehicle detection means detects a right approaching vehicle that enters a predetermined right range preset on the right side of the host vehicle among other vehicles that travel on the right side of the host vehicle in the same direction as the host vehicle. In this case, the target travel position setting means sets the target travel position to a predetermined standard position in the width direction of the lane when both the left approaching vehicle detection means and the right approaching vehicle detection means do not detect the approaching vehicle. When the vehicle detection means detects the approaching vehicle on the left side and the right approaching vehicle detection means does not detect the approaching vehicle on the right side, the target travel position is set at the right deflection position on the right side of the standard position, and the right approaching vehicle detection means Detects the approaching vehicle on the right side and the left approaching vehicle detection means does not detect the approaching vehicle on the left side, the target travel position is set to the left deflection position on the left side of the standard position.

  In the above configuration, when neither the left approaching vehicle nor the right approaching vehicle is detected, the target travel position is set at a predetermined standard position in the width direction of the lane, and only the left approaching vehicle is detected. When the target travel position is set to the right of the standard position and only the right approaching vehicle is detected, the target travel position is set to the left of the standard position. The approaching vehicle on the left side is a vehicle that enters the predetermined left range among other vehicles that travel on the left side of the host vehicle in the same direction as the host vehicle. The approaching vehicle on the right side refers to the host vehicle on the right side of the host vehicle. Among the other vehicles traveling in the same direction as the vehicle entering the predetermined right range.

  For this reason, when the other vehicle is traveling away from the host vehicle to some extent, the host vehicle and the other vehicle can be safely set like the center in the width direction of the lane by appropriately setting a predetermined standard position. The target travel position can be set at a position where the vehicle can travel. Also, as the left side vehicle traveling in parallel with the host vehicle in the adjacent lane on the left side of the lane on which the host vehicle is traveling approaches the left side of the host vehicle to change the course ahead of the host vehicle. When the other vehicle approaches the left or right side of the host vehicle, such as when the other vehicle approaches the left or right side of the host vehicle or when the left side vehicle is traveling on the right end of the adjacent lane. When traveling, the target travel position can be set at a position that avoids the approach of another vehicle on the right or left side of the standard position. Therefore, it is easy to avoid contact with other vehicles and the target travel position can be set at a highly safe position in accordance with changes in surrounding conditions during travel.

  The target travel position setting device according to the second aspect of the present invention is the target travel position setting device according to the first aspect, wherein the left approaching vehicle detection means detects the lane from the host vehicle to the left approaching vehicle. The left distance along the width direction is detected, the right approaching vehicle detection means detects the right distance along the width direction of the lane from the own vehicle to the right approaching vehicle, and the target travel position setting means is the left approaching vehicle. The right deflection position is set based on the left distance detected by the detection means, and the left deflection position is set based on the right distance detected by the right approaching vehicle detection means.

  In the above configuration, if only the left approaching vehicle is detected, the target travel position is set based on the left distance along the width direction of the lane from the host vehicle to the left approaching vehicle, and only the right approaching vehicle is detected. Is detected, the target travel position is set based on the right distance along the width direction of the lane from the host vehicle to the right approaching vehicle. For this reason, the target travel position can be set at a position where the left distance or the right distance can be reliably held.

  The target travel position setting device according to the third aspect of the present invention is the target travel position setting device according to the first aspect, wherein the target travel position setting means is configured so as to extend from the standard position along the width direction of the lane. The right deflection position is set at a position spaced to the right by a predetermined distance of 1, and the left deflection position is set at a position spaced to the left by a second predetermined distance along the lane width direction from the standard position.

  In the above configuration, when only the left approaching vehicle is detected, the target travel position is set to a position separated from the standard position to the right side by a first predetermined distance along the lane width direction, and the right approaching position is set. When only the vehicle is detected, the position is set to a position separated to the left by a second predetermined distance along the lane width direction from the standard position. The first predetermined distance and the second predetermined distance may be constant values set in advance based on a vehicle width or the like, and are set based on a predetermined ratio and a lane width etc. set in advance. Such a fluctuating value may be used. For this reason, it is possible to simplify the preparation process for setting the target travel position such as the detection of the distance from the own vehicle to the approaching vehicle and various calculations, and set the target travel position at a suitable position according to the surrounding situation. it can.

  The target travel position setting device according to the fourth aspect of the present invention is the target travel position setting device according to the first aspect, wherein the left approaching vehicle detection means detects a lane from the own vehicle to the left approaching vehicle. The left distance along the width direction is detected, the right approaching vehicle detection means detects the right distance along the width direction of the lane from the own vehicle to the right approaching vehicle, and the target travel position setting means is the left approaching vehicle. When the detection means detects the approaching vehicle on the left side and the approaching vehicle detection means on the right side detects the approaching vehicle on the right side, the left distance detected by the left approaching vehicle detection means and the right distance detected by the right approaching vehicle detection means Based on this, the target travel position is set.

  In the above configuration, when both the left approaching vehicle and the right approaching vehicle are detected, the target travel position is set based on the left distance and the right distance. Therefore, the target travel position can be set at a position where the left distance and the right distance can be maintained as much as possible, for example, an intermediate position between the left approaching vehicle and the right approaching vehicle.

  The target travel position setting device according to the fifth aspect of the present invention is the target travel position setting device according to the first aspect, wherein the target travel position setting means is such that the left approaching vehicle detection means is the left approaching vehicle. When the right approaching vehicle detection means detects the approaching vehicle on the right side, the target travel position is set to the standard position.

  In the above configuration, when both the left approaching vehicle and the right approaching vehicle are detected, the target travel position is set as the standard position. For this reason, the preparation process for setting the target travel position can be simplified, and the target travel position can be set at a suitable position according to the surrounding situation.

  A target travel position setting device according to a sixth aspect of the present invention is the target travel position setting device according to any one of the first to fifth aspects, wherein the target travel position set by the target travel position setting means is set. Informing means for informing the driver is provided.

  In the above configuration, the set target travel position is notified to the driver. For this reason, the driver can reliably recognize the target travel position.

  A steering control system according to the present invention includes the target travel position setting device according to any one of the first to sixth aspects, a current travel position detection unit, a torque generation unit, a steering angle detection unit, and a control unit. The current travel position detection means detects the current travel position of the host vehicle in the lane width direction recognized by the lane recognition means. The torque generating means applies torque to the steering shaft of the host vehicle. The steering angle detecting means sequentially detects the steering angle of the host vehicle. The control means uses the target travel position set by the target travel position setting means, the current travel position detected by the current travel position detection means, and the steering angle detected by the steering angle detection means, from the current travel position to the target travel. Steering torque required to drive the host vehicle to the position is calculated, and the calculated steering torque is generated by the torque generating means.

  In the above configuration, the steering torque necessary for the host vehicle to travel from the current travel position to the target travel position is applied to the steering shaft of the host vehicle. For this reason, it is possible to drive the host vehicle at a suitable position according to the surrounding conditions during traveling, to avoid contact with other vehicles, and to improve traveling safety.

  According to the present invention, it is possible to set a target travel position at a suitable position according to a change in surrounding conditions during travel.

It is a block diagram of the steering control system of one Embodiment. It is a flowchart which shows the process which a controller performs.

  Hereinafter, a steering control system 1 according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of a steering control system according to an embodiment. FIG. 2 is a flowchart illustrating processing executed by the controller. In the following description, the left-right direction indicates each direction with respect to the traveling direction of the vehicle 2.

  As shown in FIG. 1, a steering control system 1 according to this embodiment is provided in a vehicle, sets a target travel position, controls steering so that the vehicle travels at the set target steering position, and controls the lane of the vehicle. The motor 9, the steering angle sensor 11, the camera 12, the clearance sonar 13, the controller 14, and the display unit 27 are provided. In a vehicle (own vehicle) 2 provided with the steering control system 1 of this embodiment, a steering wheel 3 and a steering wheel 8 are mechanically connected via a steering shaft 4, a steering gear box 5, a rack shaft 6 and a tie rod 7. It is connected.

  The motor 9 has a rotating shaft 10, and one end of the rotating shaft 10 is connected to the steering shaft 4 via a gear (not shown). The operation of the motor 9 is controlled by the controller 14 to output a desired torque and apply it to the steering shaft 4. That is, the motor 9 functions as torque generating means for applying torque to the steering shaft 4 of the vehicle 2.

  The steering angle sensor 11 is provided on the steering shaft 4 and sequentially detects the steering angle of the steering shaft 4 at predetermined time intervals and outputs the detected steering angle to the controller 14. That is, the steering angle sensor 11 functions as a steering angle detection unit that sequentially detects the steering angle of the vehicle 2.

  The camera 12 has an image sensor such as a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor, and is arranged at the approximate center in the width direction at the top of the front window panel (not shown) of the vehicle 2. It is provided on the back surface of a room mirror (not shown). The camera 12 captures a moving image in front of the vehicle 2, digitally converts still images constituting the captured moving image, and sequentially outputs them to the controller 14.

  A plurality of clearance sonars 13 are provided on the left side and the right side of the vehicle 2, respectively. The clearance sonar 13 emits ultrasonic waves toward the left, left front and left rear, and right, right front and right rear of the vehicle 2 at predetermined intervals, and is reflected by an object such as another vehicle. Is detected, and the detected signal is output to the controller 14.

  The controller 14 includes a storage unit 15 and a CPU (Central Processing Unit) 16.

  The storage unit 15 is configured by a recording medium such as a RAM (Random Access Memory), for example, and stores various programs and various data for the CPU 16 to execute various processes. The various programs include a target travel position setting process program for the CPU 16 to execute the target travel position setting process and a steering control process execution program for executing the steering control process. The various data includes vehicle information including the vehicle width of the vehicle 2 and the like. The storage unit 15 has a storage area in which various images and various information are stored in a freely readable and writable manner.

  The CPU 16 executes the target travel position setting program and the steering control processing execution program, thereby causing the lane recognition unit 17, the in-lane position detection unit 18, the current travel position detection unit 19, the approaching vehicle detection unit 20, and the target travel position setting unit. 23, functions as a display control unit 24, a torque calculation unit 25, and a steering control unit 26.

  The lane recognition unit 17 performs edge processing on the still image input from the camera 12 to detect a lane line displayed on the road, and recognizes the lane in which the vehicle 2 travels. That is, the camera 12 and the lane recognition unit 17 function as lane recognition means that recognizes the lane ahead of which the vehicle 2 travels.

  The in-lane position detection unit 18 detects the center (standard position), right deflection position, and left deflection position in the width direction of the lane in the lane recognized by the lane recognition unit 17. The right deflection position is a position separated from the standard position along the lane width direction to the right by a predetermined percentage of the lane width, and the left deflection position is the lane width along the lane width direction from the standard position. This is a position separated to the left by a predetermined length. When the vehicle travels in the right deflection position or the left deflection position, the distance from the right or left side of the vehicle 2 to the lane marking indicates that the driver of other vehicles traveling in the adjacent lane is in danger. It is set to a value that can be held so as not to give

  The approaching vehicle detection unit 19 includes a left approaching vehicle detection unit 20 and a right approaching vehicle detection unit 21. The left approaching vehicle detection unit 20 detects an approaching vehicle on the left side of the vehicle 2 using a detection signal input from a clearance sonar 13 provided on the left side of the vehicle 2. Specifically, the left approaching vehicle detection unit 20 detects an object detected continuously for a predetermined time or more among the objects detected by the clearance sonar 13 on the left side, and the lane width from the vehicle 2 to the object is detected. The distance along the direction (left side distance) is calculated. The left approaching vehicle detection unit 20 that has calculated the left distance determines whether or not the calculated left distance is equal to or less than the threshold, and when it is determined that the calculated distance is equal to or less than the threshold, the object is detected as the left approaching vehicle. That is, the clearance sonar 13 and the left approaching vehicle detection unit 20 are a left side that enters a predetermined left range preset on the left side of the vehicle 2 among other vehicles that travel on the left side of the vehicle 2 in the same direction as the vehicle 2. It functions as a left approaching vehicle detection means for detecting the approaching vehicle.

  The right approaching vehicle detection unit 21 detects the approaching vehicle on the right side of the vehicle 2 using a detection signal input from the clearance sonar 13 provided on the right side of the vehicle 2. Specifically, the right approaching vehicle detection unit 21 detects an object continuously detected for a predetermined time or more among objects detected by the clearance sonar 13 on the right side, and the lane width from the vehicle 2 to the object is detected. The distance along the direction (right distance) is calculated. The right-side approaching vehicle detection unit 21 that has calculated the right-side distance determines whether or not the calculated right-side distance is equal to or less than a threshold value, and when it is determined that the calculated right-side distance is equal to or less than the threshold value, detects the object as a right-side approaching vehicle. That is, the clearance sonar 13 and the right approaching vehicle detection unit 21 are a right side that enters a predetermined right range preset on the right side of the vehicle 2 among other vehicles that travel on the right side of the vehicle 2 in the same direction as the vehicle 2. It functions as right approaching vehicle detection means for detecting the approaching vehicle.

  The target travel position setting unit 22 sets the target travel position based on the detection result of the approaching vehicle detection unit 19. The target travel position setting unit 22 sets the target travel position at the standard position detected by the in-lane position detection unit 18 when neither the left approaching vehicle detection unit 20 nor the right approaching vehicle detection unit 21 detects an approaching vehicle. When the left approaching vehicle detection unit 20 detects the approaching vehicle on the left side and the right approaching vehicle detection unit 21 does not detect the approaching vehicle on the right side, the target travel position setting unit 22 detects the right detected by the in-lane position detection unit 18. The target travel position is set as the deflection position. When the right approaching vehicle detection unit 21 detects the right approaching vehicle and the left approaching vehicle detection unit 20 does not detect the left approaching vehicle, the target travel position setting unit 22 detects the left detected by the in-lane position detection unit 18. The target travel position is set as the deflection position.

  The target travel position setting unit 22 calculates the left approaching vehicle detection unit 20 when the left approaching vehicle detection unit 20 detects the approaching vehicle on the left side and the right approaching vehicle detection unit 21 detects the approaching vehicle on the right side. The intermediate position between the left approaching vehicle and the right approaching vehicle is calculated using the left distance and the right distance calculated by the right approaching vehicle detection unit 21, and the target travel position is set at the calculated intermediate position. That is, the in-lane position detection unit 18 and the target travel position setting unit 22 function as target travel position setting means for setting the target travel position of the vehicle 2 within the lane recognized by the lane recognition unit 17.

  The display control unit 23 outputs the target travel position set by the target travel position setting unit 22 to the display unit 27.

  The current travel position detection unit 24 detects the current travel position of the vehicle 2 in the lane width direction recognized by the lane recognition unit 17. That is, the camera 12 and the current travel position detection unit 24 function as current travel position detection means for detecting the current travel position of the vehicle 2 in the lane width direction.

  The torque calculation unit 25 uses the target travel position set by the target travel position setting unit 22, the current travel position detected by the current travel position detection unit 24, and the steering angle detected by the steering angle sensor 11. A steering torque to be generated is calculated. Specifically, the torque calculation unit 25 uses the current travel position and the target travel position to calculate a necessary steering angle necessary for traveling the vehicle 2 from the current travel position to the target travel position. The torque calculation unit 25 that calculates the necessary steering angle calculates the amount of change in the steering angle using the steering angle detected by the steering angle sensor 11 every predetermined time, and calculates the required amount of steering angle and the amount of change in the steering angle. Using the latest steering angle, the steering torque required to rotate the steering shaft 4 from the latest steering angle to the required steering angle is calculated.

  The steering control unit 26 causes the motor 9 to generate the steering torque calculated by the torque calculation unit 25. That is, the torque calculation unit 25 and the steering control unit 26 include the target travel position set by the target travel position setting unit 22, the current travel position detected by the current travel position detection unit 19, and the steering angle detected by the steering angle sensor 11. Is used to calculate the steering torque required to drive the vehicle 2 from the current travel position to the target travel position, and functions as a control means for causing the motor 9 to generate the calculated steering torque.

  The display unit 27 is provided on an instrument panel (not shown) of the vehicle 2 and displays the target travel position input from the display control unit 24. That is, the display control unit 23 and the display unit 27 function as a notification unit that notifies the driver of the target travel position set by the target travel position setting unit 23.

  Next, processing executed by the controller 14 will be described with reference to FIG. This process is repeatedly executed at predetermined time intervals when the steering control system 1 is operating.

  When this process is started, the lane recognition unit 17 detects the lane marking displayed on the road, and recognizes the lane in which the vehicle 2 travels (step S1).

  Next, the in-lane position detection unit 18 detects the standard position, the right deflection position, and the left deflection position in the lane recognized by the lane recognition unit 17 (step S2).

  The approaching vehicle detection unit 19 detects the approaching vehicle on the left side and the approaching vehicle on the right side (step S3).

  Next, the target travel position setting unit 22 determines whether an approaching vehicle has been detected (step S4).

  When it is determined that an approaching vehicle is detected (step S4: YES), the target travel position setting unit 22 determines whether a left approaching vehicle is detected (step S5).

  When it is determined that the left approaching vehicle is detected (step S5: YES), the target travel position setting unit 23 determines whether the right approaching vehicle is detected (step S6).

  When it is determined that the right approaching vehicle has been detected (step S6: YES), the target travel position setting unit 22 calculates an intermediate position between the left approaching vehicle and the right approaching vehicle, and the target travel is performed at the calculated intermediate position. A position is set (step S7).

  When it is determined that the right approaching vehicle is not detected (step S6: NO), the target travel position setting unit 22 sets the target travel position at the right deflection position detected by the in-lane position detection unit 18 (step S8).

  When it is determined that the left approaching vehicle is not detected (step S5: NO), the target travel position setting unit 22 sets the target travel position to the left deflection position detected by the in-lane position detection unit 18 (step S9).

  When it is determined that no approaching vehicle is detected (step S4: NO), the target travel position setting unit 22 sets the target travel position at the standard position detected by the in-lane position detection unit 18 (step S10).

  When the target travel position is set, the display control unit 23 outputs and displays the target travel position set by the target travel position setting unit 22 on the display unit 27 (step S11).

  The current travel position detection unit 24 detects the current travel position of the vehicle 2 (step S12).

  The torque calculation unit 25 uses the target travel position set by the target travel position setting unit 22, the current travel position detected by the current travel position detection unit 24, and the steering angle detected by the steering angle sensor 11. A steering torque to be generated is calculated (step S13).

  The steering control unit 26 causes the motor 9 to generate the steering torque calculated by the torque calculation unit 25 (step S14), and ends this process.

  In the steering control system 1 configured as described above, the target travel position is set according to the presence or absence of an approaching vehicle, and the steering torque necessary for the vehicle 2 to travel from the current travel position to the target travel position is generated. Thus, the motor 9 is driven. The target travel position is set to the standard position at the center in the width direction of the lane when neither the approaching vehicle on the left side nor the approaching vehicle on the right side is detected, and the standard position when only the approaching vehicle on the left side is detected If only the right approaching vehicle is detected, the left deflection position is set to the left of the standard position, and both the left approaching vehicle and the right approaching vehicle are detected. In this case, it is set at an intermediate position between the approaching vehicle on the left side and the approaching vehicle on the right side.

  As described above, according to the steering control system 1 of the present embodiment, the vehicle 2 can travel at a position where the distance along the width direction of the lane from the vehicle 2 to the approaching vehicle is maintained as much as possible. Therefore, the vehicle 2 can be traveled at a suitable position according to the surrounding conditions during travel, and it is possible to easily avoid contact with other vehicles and to improve travel safety.

  Further, since the right deflection position and the left deflection position set as the target travel position when the approaching vehicle is detected only on one side of the vehicle 2 are set according to the lane width, the target travel position is set. For this reason, it is possible to simplify the preparation process such as calculation.

  Moreover, since the position set as the target travel position when an approaching vehicle is detected on both sides of the vehicle 2 is an intermediate position between the approaching vehicles on both sides, a distance between the approaching vehicles on both sides is possible. The vehicle 2 can be driven at a position that can be held as long as possible.

  Note that the target travel position setting process executed by the CPU 16 is, for example, another system that executes a process for setting the target travel position, such as a target travel position setting device that only sets the target travel position and notifies the driver. You may apply to an apparatus.

  Further, the steering control system of this embodiment may be mounted on a vehicle having a steering mechanism in which a steering wheel and a steering wheel are mechanically separated. In this case, the torques generated by the motor for applying torque to the drive shaft connected to the steering wheel and the motor for applying torque to the drive shaft connected to the steering wheel are calculated, and the calculated torques are respectively calculated. Generate to the motor.

  The means for applying the steering torque to the steering shaft 4 is not limited to the motor as long as it is an actuator driven by electric energy.

  The installation location of the camera 12 is not limited to the above as long as it can capture a moving image in front of the vehicle 2.

  Further, the lane recognition method and the current traveling position detection method of the vehicle 2 are not limited to the above, and may be other methods using a radar.

  The approaching vehicle detection method is not limited to the above, and may be another method in which a moving image is captured by a camera and detected by the captured image.

  Moreover, the method for setting the target travel position is not limited to the above. For example, the standard position may be set when both the left approaching vehicle and the right approaching vehicle are detected, and when one of the left approaching vehicle and the right approaching vehicle is detected, the left distance and the right distance are set. The deflection position may be calculated based on the calculated deflection position.

  The means for notifying the driver of the target travel position is not limited to the above, and may be other means such as voice.

  The above embodiment is an example of the present invention and can be changed without departing from the present invention.

  The present invention is effective for an apparatus for setting a target travel position.

1: Steering control system 2: Vehicle (own vehicle)
4: Steering shaft (steering shaft)
9: Motor (torque generating means)
11: Steering angle sensor (steering angle detection means)
12: Camera (lane recognition means, current travel position detection means)
13: Clearance sonar (left approaching vehicle detection means, right approaching vehicle detection means)
14: Controller 15: Storage unit 16: CPU
17: Lane recognition unit (lane recognition means)
18: In-lane position detection unit (target travel position setting means)
19: Approaching vehicle detection unit (left approaching vehicle detection means, right approaching vehicle detection means)
22: Target travel position setting unit (target travel position setting means)
23: Display control unit (notification means)
24: Current travel position detection unit (current travel position detection means)
25: Torque calculation unit (control means)
26: Steering control unit (control means)
27: Display unit (notification means)

Claims (7)

Lane recognition means for recognizing the lane ahead of which the host vehicle is traveling
Target travel position setting means for setting the target travel position of the host vehicle in a lane recognized by the lane recognition means;
Left approaching vehicle detection means for detecting a left approaching vehicle that enters a predetermined left range preset on the left side of the own vehicle among other vehicles traveling in the same direction as the own vehicle on the left side of the own vehicle; ,
A right approaching vehicle detection means for detecting a right approaching vehicle entering a predetermined right range preset on the right side of the own vehicle among other vehicles traveling in the same direction as the own vehicle on the right side of the own vehicle; With
The target travel position setting means sets the target travel position to a predetermined standard position in the width direction of the lane when both the left approaching vehicle detection means and the right approaching vehicle detection means do not detect the approaching vehicle. When the left approaching vehicle detection means detects the left approaching vehicle and the right approaching vehicle detection means does not detect the right approaching vehicle, the target travel position is set to the right deflection position on the right side of the standard position. And the right approaching vehicle detection means detects the approaching vehicle on the right side, and the left approaching vehicle detection means does not detect the approaching vehicle on the left side, the left deflection position on the left side of the standard position A target travel position setting device that sets a target travel position. The target travel position setting device according to claim 1,
The left approaching vehicle detection means detects a left distance along the width direction of the lane from the own vehicle to the left approaching vehicle,
The right approaching vehicle detection means detects a right distance along the width direction of the lane from the host vehicle to the right approaching vehicle,
The target travel position setting means sets the right deflection position based on the left distance detected by the left approaching vehicle detection means, and sets the left deflection position based on the right distance detected by the right approaching vehicle detection means. A target travel position setting device. The target travel position setting device according to claim 1,
The target travel position setting means sets the right deflection position at a position spaced to the right by a first predetermined distance along the width direction of the lane from the standard position, and from the standard position to the width direction of the lane. A target travel position setting device, wherein the left deflection position is set at a position spaced to the left by a second predetermined distance along the left side. The target travel position setting device according to claim 1,
The left approaching vehicle detection means detects a left distance along the width direction of the lane from the own vehicle to the left approaching vehicle,
The right approaching vehicle detection means detects a right distance along the width direction of the lane from the host vehicle to the right approaching vehicle,
The target travel position setting means is detected by the left approaching vehicle detection means when the left approaching vehicle detection means detects the left approaching vehicle and the right approaching vehicle detection means detects the right approaching vehicle. The target travel position setting device, wherein the target travel position is set based on the left distance and the right distance detected by the right approaching vehicle detection means. The target travel position setting device according to claim 1,
When the left approaching vehicle detection means detects the left approaching vehicle and the right approaching vehicle detection means detects the right approaching vehicle, the target travel position setting means is set to the standard position when the left approaching vehicle detection means detects the approaching vehicle on the left side. A target travel position setting device characterized by: The target travel position setting device according to any one of claims 1 to 5,
A target travel position setting device comprising: notification means for notifying a driver of the target travel position set by the target travel position setting means. A steering control system comprising the target travel position setting device according to any one of claims 1 to 6,
Current travel position detection means for detecting the current travel position of the host vehicle in the width direction of the lane recognized by the lane recognition means;
Torque generating means for applying torque to the steering shaft of the host vehicle;
Steering angle detection means for sequentially detecting the steering angle of the host vehicle;
Using the target travel position set by the target travel position setting means, the current travel position detected by the current travel position detection means, and the steering angle detected by the steering angle detection means, the target travel position is determined from the current travel position. A steering control system, comprising: a control means for calculating a steering torque necessary for causing the host vehicle to travel to a travel position, and generating the calculated steering torque in the torque generation means.

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