JP2014210456A - Steering control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering control device for a vehicle that can prevent steering control from being performed against the intention of a driver in a condition, such as a branch passage, where an interval between right and left lane marks increases with the increasing distance from the vehicle when steering of the vehicle is controlled based on the right and left lane marks.SOLUTION: A control device 10 includes: a recognition section 12 for recognizing right and left lane marks of a road on which a vehicle 1 is traveling on the basis of an image taken by a camera 20 for imaging the traveling direction of the vehicle 1; a determination section 13 for determining a target traveling position P on the basis of the recognized positions of the right and left lane marks; and a steering control section 14 for controlling steering of the vehicle 1 in accordance with the determined target traveling position P. The determination section 13 determines the target traveling position P to suppress a change in the target traveling position P in accordance with a change in an interval between the right and left lane marks when the interval increases with the increasing distance from the vehicle 1.

Description

  The present invention relates to a steering control device that controls steering of a vehicle.

  Conventionally, based on a captured image in front of the vehicle, the arrangement of lane marks such as left and right lanes and roadsides on the road on which the vehicle is traveling is recognized, and the left and right lane marks are used to determine the left and right lane marks. A steering control device that controls the steering of the vehicle has been proposed so that the vehicle travels without detachment (for example, the vehicle travels according to the center line of the travel region) (see, for example, Patent Document 1).

  When each of the left and right lane marks continues to different roads after branching as in a branch road, the distance between the left and right lane marks on the road on which the vehicle is traveling increases as the distance from the vehicle increases. For this reason, in this steering control device, when it is determined that the road is a branch road, it is based on only the lane mark (that is, one lane mark) extending along the traveling direction of the vehicle among the left and right lane marks. The steering of the vehicle is controlled.

JP 2009-214786 A

  However, when the vehicle is approaching a branch road, the distance between the left and right lane marks gradually increases until the vehicle is determined to be a branch road, so that the vehicle travels according to the change in the distance. The center line of the area changes so as to go to the branch road. Thereby, contrary to a driver | operator's will, the steering of the said vehicle will be controlled so that a vehicle heads toward a branch road.

  The present invention has been made in view of the above points, and when controlling the steering of a vehicle based on left and right lane marks, as the distance between the left and right lane marks increases away from the vehicle, such as a branch road. It is an object of the present invention to provide a vehicle steering control device that can prevent steering control against the intention of the driver under increasing conditions.

  The present invention recognizes a recognition unit configured to recognize left and right lane marks of a road on which the vehicle is traveling, based on a captured image captured by a camera that captures the traveling direction of the vehicle, and the recognition unit. And determining a target parameter to be a target for steering control of the vehicle based on the positions of the left and right lane marks, and steering the vehicle according to the target parameter determined by the determination unit. A steering control device for a vehicle including a steering control unit configured to control, wherein the determination unit increases a distance between left and right lane marks recognized by the recognition unit as the distance from the vehicle increases. Sometimes, the target parameter is corrected so as to suppress the change of the target parameter according to the change of the distance.

  According to the present invention, the steering control unit controls the steering of the vehicle according to the target parameter determined by the determination unit so as to suppress the change of the target parameter according to the change of the distance between the left and right lane marks. Therefore, when the steering of the vehicle is controlled based on the left and right lane marks, the target according to the change in the distance is obtained under the condition that the distance between the left and right lane marks increases as the distance from the vehicle increases. The parameter is prevented from changing toward the branch path. For this reason, it is possible to prevent the steering control against the intention of the driver.

  In the present invention, the determination unit sets a reference line passing through a midpoint between the left and right lane marks recognized by the recognition unit, and the vehicle is positioned on the reference line after a predetermined time has elapsed. The target travel position as the target position of the vehicle is determined as the target parameter, and the curvature of one of the left and right lane marks recognized by the recognition unit is increased, so that the distance between the left and right lane marks is increased. When the distance increases as the distance from the vehicle increases, a half length of a change in the distance between the left and right lane marks within the predetermined time is calculated, and the target travel position is determined as the correction by using the target travel position as the left and right lane marks. In the distance direction between, the calculated length from the reference line toward the lane mark having the smallest curvature among the left and right lane marks. It is preferable to perform the shifting minute treatment.

  By increasing the curvature of one of the left and right lane marks, the reference line is half the length of the change in the distance between the left and right lane marks within a predetermined time in the distance direction between the left and right lane marks. Only move the position. Therefore, by determining the target travel position so that the calculated lane mark is shifted by the calculated lane mark to the lane mark whose curvature is not large among the left and right lane marks from the reference line, the left and right lane marks within a predetermined time are determined. It is possible to obtain the target travel position when it is assumed that the distance between the lane marks has not changed. Accordingly, it is possible to prevent the vehicle from changing toward the branch road according to a change in the distance between the left and right lane marks.

  In the present invention, the determination unit sets a reference line that passes through a midpoint between the left and right lane marks recognized by the recognition unit, and adjusts the curvature of the reference line so that the vehicle is positioned on the reference line. A target torque that is a target of torque for controlling steering of the vehicle is determined as the target parameter, and when the distance between the left and right lane marks increases as the distance from the vehicle increases, the correction is performed within a predetermined time. Based on the change in the distance and the amount of movement of the vehicle, the curvature of the reference line is corrected so as to suppress the change in the target torque according to the change in the distance, and the corrected curvature is obtained. It is preferable to perform a process of determining the target torque based on the above.

  According to this configuration, the target torque is suppressed from changing according to a change in the distance between the left and right lane marks. Therefore, when the steering of the vehicle is controlled based on the left and right lane marks, the target according to the change in the distance is obtained under the condition that the distance between the left and right lane marks increases as the distance from the vehicle increases. It is possible to prevent the torque from changing toward the branch path.

  In the present invention, the determination unit sets a reference line that passes through a midpoint between the left and right lane marks recognized by the recognition unit, and the vehicle with respect to the reference line is positioned at the reference line. Based on the lateral deviation amount, a target torque that is a target of the torque for controlling the steering of the vehicle is determined as the target parameter, and the curvature of one of the left and right lane marks recognized by the recognition unit increases. Thus, when the distance between the left and right lane marks becomes longer as the distance from the vehicle increases, as the correction, a half length of a change in the distance between the left and right lane marks within a predetermined time is calculated, and the reference A process of determining the target torque by replacing a difference between the lateral displacement amount of the vehicle with respect to the line and the calculated length with the lateral displacement amount of the vehicle. It is preferred.

  By increasing the curvature of one of the left and right lane marks, the reference line is only half the length of the change in the distance between the left and right lane marks within a predetermined time in the distance direction between the left and right lane marks. The position moves. Therefore, the difference between the lateral displacement amount of the vehicle with respect to the reference line and the calculated length represents the lateral displacement amount of the vehicle when it is assumed that the distance between the left and right lane marks has not changed within a predetermined time. Based on such a difference, it is possible to determine a target torque that can prevent the vehicle from changing toward the branch road according to a change in the distance between the left and right lane marks.

  In the present invention, the determination unit sets a reference line that passes through a midpoint between the left and right lane marks recognized by the recognition unit, and the vehicle with respect to the reference line is positioned at the reference line. Based on the deflection angle, a target torque that is a target of torque for controlling steering of the vehicle is determined as the target parameter, and when the distance between the left and right lane marks becomes longer as the distance from the vehicle increases, the correction is performed. Based on the change in the distance and the amount of movement of the vehicle within a predetermined time, the deflection direction of the vehicle is allowed to increase with respect to the reference line according to the change in the distance, and the change in the traveling direction of the vehicle It is preferable to perform a process of suppressing the above.

  According to this configuration, since the deflection angle of the vehicle with respect to the reference line corresponding to the change in the distance is allowed to be increased, a target torque that suppresses the change in the traveling direction of the vehicle according to the change in the distance is determined. Is done. Therefore, when the steering of the vehicle is controlled based on the left and right lane marks, the target according to the change in the distance is obtained under the condition that the distance between the left and right lane marks increases as the distance from the vehicle increases. It is possible to prevent the torque from changing toward the branch path.

Explanatory drawing of the usage condition of the steering control apparatus of a vehicle. The block diagram of the steering control apparatus of a vehicle. The operation | movement flowchart of the steering control apparatus of a vehicle. The figure which shows the image imaged with the camera. The figure explaining correction | amendment of the target driving | running | working position in the upper view image from which the driving | running route was extracted. The figure explaining correction | amendment of a curvature in another aspect of the steering control apparatus of a vehicle. The figure explaining correction | amendment of a deflection angle in another aspect of the steering control apparatus of a vehicle.

  Hereinafter, an embodiment of a steering control device for a vehicle according to the present invention will be described. Referring to FIG. 1, a vehicle steering control device (hereinafter simply referred to as “control device”) 10 of the present embodiment is mounted and used in a vehicle 1 (own vehicle). The control device 10 recognizes the state of the road in the traveling direction of the vehicle 1 (forward in the present embodiment) from the captured image of the camera 20 mounted on the vehicle 1 and controls the traveling state of the vehicle 1.

  The camera 20 is mounted in the vehicle with its optical axis aligned with the front-rear direction of the vehicle 1 so as to capture the front of the vehicle 1 through the front window. A real space coordinate system in which the mounting portion of the camera 20 is the origin, the left-right direction (vehicle width direction) of the vehicle 1 is the Y axis, the vertical direction (vertical direction) is the X axis, and the front-rear direction (traveling direction) is the Z axis. Is defined.

  The vehicle 1 also includes a steering device 30 that steers the vehicle 1. The control device 10 controls the steering of the vehicle 1 by controlling the steering device 30.

  Next, referring to FIG. 2, the vehicle 1 includes a speed sensor 21, an acceleration sensor 22, a yaw rate sensor 23, and a braking device 31. The speed sensor 21 outputs a detection signal for the speed of the vehicle 1, the acceleration sensor 22 outputs a detection signal for the acceleration of the vehicle 1, and the yaw rate sensor 23 outputs a detection signal for the yaw rate of the vehicle 1.

  The control device 10 is an electronic unit including a CPU, a memory, and the like, and receives a video signal of the camera 20 and detection signals of the sensors 21, 22, and 23. The control device 10 recognizes the traveling state of the vehicle 1 based on these inputs.

  Further, the control device 10 functions as the captured image acquisition unit 11, the recognition unit 12, the determination unit 13, and the steering control unit 14 by executing a control program for the vehicle 1 held in the memory by the CPU.

  The recognition unit 12 recognizes the left and right lane marks of the road on which the vehicle 1 is traveling based on the captured image of the camera 20 acquired by the captured image acquisition unit 11. Then, the determination unit 13 determines a target travel position P (corresponding to the target parameter of the present invention) that is the target position of the travel position of the vehicle 1 based on the recognized positions of the left and right lane marks. At this time, when the distance between the left and right lane marks increases as the distance from the vehicle 1 increases, the determination unit 13 determines the target travel position P so as to suppress the change in the target travel position P according to the change in the distance. To do. Then, the steering control unit 14 operates one or both of the steering device 30 and the braking device 31 so that the steering of the vehicle 1 is steered according to the determined target traveling position P, and the traveling state of the vehicle To control.

  As a result, when the steering of the vehicle 1 is controlled based on the left and right lane marks, the distance between the left and right lane marks increases as the distance from the vehicle increases, such as a branch road. Thus, the target travel position P is prevented from changing toward the branch road. For this reason, it is possible to prevent the steering control against the intention of the driver.

  In the following description, the vehicle 1 is a road having a branch road ahead in the traveling direction (the curvature between one of the left and right lane marks is increased, so that the distance between the left and right lane marks is separated from the vehicle 1. As an example, a situation where the vehicle is traveling on a road that increases as the vehicle travels will be described.

  The control device 10 controls the running state of the vehicle 1 by executing the process according to the flowchart of FIG. 3 every predetermined control period (for example, 10 msec).

  In the first step ST1 of FIG. 3, the control device 10 receives the video signal output from the camera 20, converts it into a digital signal, and holds it in the image memory as a captured image (grayscale image) of the camera 20. Thereby, for example, as shown in FIG. 4, a captured image in which a road having a branch road ahead of the traveling direction of the vehicle 1 is captured is acquired. Step ST <b> 1 is a process executed by the captured image acquisition unit 11.

  In the next step ST2, the control device 10 recognizes the lane mark based on the captured image acquired in step ST1. Specifically, the control device 10 binarizes the captured image of the camera 20 and performs edge extraction processing, and then performs projective conversion to obtain an upper-view image.

  And the control apparatus 10 is arrange | positioned at each of the left side and the right side of the vehicle 1 by extracting the edge line of a lane mark (detecting the change of a brightness | luminance etc.) based on this acquired upward view image. The lane mark is recognized as each of the left lane mark and the right lane mark. And the control apparatus 10 extracts an edge point (black point of the right and left lane mark shown by FIG. 5) by sampling a some point in predetermined intervals in the edge line of each lane mark.

  Lane marks such as botsdots and lanes (white lines) are recognized according to an image processing method disclosed in Japanese Unexamined Patent Application Publication No. 2006-309499 or Japanese Unexamined Patent Application Publication No. 2006-331193.

  Step ST2 is a process executed by the recognition unit 12.

  In the next step ST3, the control device 10 determines the reference line M1 based on the lane mark recognized in step ST2. Specifically, the control device 10 planarly recognizes a travelable region (a region defined by the left and right lane marks) from the recognized lane mark, and further determines in advance on the travelable region. The reference line M1 is determined in accordance with a given rule (for example, setting the center of the travelable region or being slightly shifted from the center). In the present embodiment, the control device 10 determines a line passing through the center of the travelable area (a line passing through the midpoint between the left and right lane marks) as the reference line M1.

  And the control apparatus 10 determines the position (target driving position) P used as the target of the vehicle 1 after predetermined time T progress on the reference line M1.

  In the next step ST4, the control device 10 determines whether or not the width of the lane ahead of the vehicle 1 is widened (in other words, the distance between the left and right lane marks recognized in step ST2 is separated from the vehicle). To determine if it grows as you).

  When it is determined in step ST4 that the width of the lane ahead of the vehicle 1 is not widened, the control device 10 determines that the traveling state of the vehicle 1 is “straight road”, “road just before the entrance to the curve road”. It is estimated that the vehicle is traveling on a “downhill” or “road narrowing”.

  In this case, the control device 10 proceeds to step ST9 without performing the processing of steps ST5 to ST8 (processing when the width of the lane ahead of the vehicle 1 is widened), and the target travel determined in step ST3. The steering of the vehicle 1 is controlled according to the position P.

  When the control device 10 determines in step ST4 that the width of the lane ahead of the vehicle 1 is wide, the traveling state of the vehicle 1 is “curved road”, “uphill”, “before the branch road”. It is presumed that the vehicle is traveling on a “road of road” or a “road road”.

  In this case, the control device 10 proceeds to step ST5, and determines the curvature σc at a predetermined position (the target travel position P in the present embodiment) on the reference line M1. Note that the predetermined position at this time is not limited to the target travel position P, and may be, for example, a position away from the target travel position P by a predetermined distance, a position away from the vehicle 1 by a predetermined distance, or the like.

  In the next step ST6, the control device 10 determines whether or not the value of the curvature σc of the reference line M1 is less than a predetermined curvature (hereinafter referred to as “first curvature”) σ1. The first curvature σ1 is set to such a curvature that it can be determined whether or not the vehicle 1 is traveling on a curved road through experiments or the like that are performed in advance.

  If the control device 10 determines in step ST6 that the value of the curvature σc of the reference line M1 is equal to or greater than the predetermined first curvature σ1 (the vehicle 1 is traveling on a curved road), the control device 10 proceeds to step ST9. Then, the steering of the vehicle 1 is controlled in accordance with the target travel position P determined in step ST3.

  If the control device 10 determines in step ST6 that the value of the curvature σc of the reference line M1 is less than the predetermined first curvature σ1, the control device 10 proceeds to step ST7.

  In step ST7, the control device 10 determines that the value of the curvature σc of the reference line M1 is a predetermined curvature (hereinafter referred to as “second curvature”. The second curvature is a value smaller than the first curvature σ1). It is determined whether or not the value is larger. The second curvature σ2 is set to such a curvature that it can be determined whether or not the vehicle 1 is traveling uphill by an experiment or the like performed in advance.

  If the control device 10 determines in step ST7 that the value of the curvature σc of the reference line M1 is equal to or less than the predetermined second curvature σ2 (the vehicle 1 is traveling uphill), the control device 10 proceeds to step ST9. Then, the steering of the vehicle 1 is controlled in accordance with the target travel position P determined in step ST3.

  In step ST7, the control device 10 determines that the value of the curvature σc of the reference line M1 is larger than the predetermined second curvature σ2 (the vehicle 1 is traveling on the “road before the branch road” or the “road wide road”). If YES, the process proceeds to step ST8, and the target travel position P determined in step ST3 is corrected so as to suppress the change in the target travel position P according to the change in the distance between the left and right lane marks. To do.

  Specifically, the control device 10 determines a correction amount Δy for correcting the target travel position P according to the following equation (1).

  Here, Wt is the distance between the left and right lane marks at the current position of the vehicle 1 (hereinafter referred to as “first distance”). WT is a distance (hereinafter referred to as “second distance”) between the left and right lane marks at the target travel position P (that is, the predicted position of the vehicle 1 after the predetermined time T has elapsed).

  Δyd is the distance between the reference line M1 and the actual position of the vehicle 1 (the length in the distance direction between the left and right lane marks) (FIG. 5A shows that Δyd is 0, that is, the position of the vehicle 1 (Hereinafter, Pv is located on the reference line M1).

  Note that Δyd is negative when the vehicle position Pv is located on the lane mark with the larger curvature of the lane marks on the left and right of the reference line M1 (the right lane mark in FIG. 5). (See FIG. 5 (b)), the vehicle position Pv is located on the lane mark (left lane mark in FIG. 5) whose curvature is not larger among the lane marks on the left and right of the reference line M1. In this case, it is positive (see FIG. 5C).

  Then, the control device 10 corrects the target travel position P according to the correction amount Δy determined according to the equation (1) to obtain a new target travel position P ′. At this time, the new target travel position P ′ is determined so as to be shifted from the reference line M1 toward the left lane mark. Therefore, the new target travel position P ′ is located in the straight direction of the vehicle 1 at the current time. In this way, the target travel position P is prevented from changing toward the branch road in accordance with the change in the distance between the left and right lane marks from the first distance Wt to the second distance WT. Therefore, it is possible to prevent the steering control against the intention of the driver.

  The predetermined time T is set to such a time that it can be accurately determined whether or not there is a branch road ahead of the traveling direction of the vehicle 1 by, for example, an experiment performed in advance. In the present embodiment, for example, the predetermined time T is set to a value of about 0.5 [sec] to 1 [sec]. Note that the predetermined time T is not set to a fixed value, but may be set to change according to other factors (for example, the traveling speed of the vehicle 1) (for example, the vehicle 1). The faster the traveling speed, the shorter the predetermined time T is set).

  When the process of step ST8 ends, the control device 10 proceeds to step ST9. In this case, the control device 10 controls the steering of the vehicle 1 according to the target travel position P ′ corrected in step ST8. Step ST9 is a process executed by the steering control unit 14.

  For the steering control of the vehicle 1 in step ST9, for example, a technique described in Japanese Patent Laid-Open No. 5-197423 by the present applicant is used. That is, the control device 10 determines a target value of the yaw rate of the vehicle 1 for causing the vehicle 1 to reach the target travel position P (a target point set on the target route), and the yaw rate of the vehicle 1 is the target value. The steering of the vehicle 1 is controlled so as to match the value.

  In the present embodiment, as the steering control of the vehicle 1, the control based on the technique described in JP-A-5-197423 is described as an example, but the steering control of the vehicle 1 is not limited to this. For example, as a steering control of the vehicle 1, a control based on a technique described in Japanese Patent Application Laid-Open No. 2006-15996 by the present applicant may be used.

  In this case, in step ST3 described above, the control device 10 has, for example, the curvature 1 of the point closest to the vehicle 1 among the lines (reference lines) M2 passing through the centers of the left and right lane marks of the road on which the vehicle 1 is traveling. / R and a target value (target torque) of torque (steering assist torque) for assisting steering of the vehicle 1 based on at least one of the lateral displacement amount yc of the vehicle 1 with respect to the reference line M2 and the deflection angle θh of the vehicle 1 τ is determined. Here, the target torque τ corresponds to the target parameter of the present invention.

  Then, in step ST8 described above, the control device 10 suppresses the change in the target torque τ according to the change in the distance between the left and right lane marks by using at least one of the curvature 1 / R, the lateral shift amount yc, and the deflection angle θh. Correct as follows. Then, in step ST9 described above, the control device 10 performs steering control of the vehicle 1 according to the corrected target torque τ.

  This prevents the vehicle 1 from changing toward the branch road in accordance with the change in the distance under the condition that the distance between the left and right lane marks increases as the distance from the vehicle increases. Is done. For this reason, it is possible to prevent the steering control against the intention of the driver.

  Here, in the present embodiment, the target torque τ including the correction is determined according to the following relational expression (2-1).

  Here, Δ (1 / R) is the correction amount of the curvature 1 / R, Δyc is the correction amount of the lateral displacement amount yc, Δθh is the correction amount of the deflection angle θh, and y_act is currently Is the actual position of the vehicle 1, and μ is the traveling speed (vehicle speed) of the vehicle 1. Each of Ka, Kb, and Kc is a feedback gain coefficient for calculating the target torque. “′” Is a symbol representing differentiation (for example, “x ′” represents differentiation of x). Func () is a predetermined function that determines a target value of basic steering assist torque by steering control by the control device 10 according to a predetermined characteristic when the vehicle 1 travels on a road having a predetermined curvature.

  C1 means a value that suppresses a change in curvature 1 / R due to an increase in the distance between the left and right lane marks. C2 means a value that suppresses a change in the lateral shift amount yc due to an increase in the distance between the left and right lane marks. C3 means a value that suppresses a change in the deflection angle θh due to an increase in the distance between the left and right lane marks.

  If the determination result in step ST4 is NO, Δ (1 / R), Δyc, and Δθh are set to zero.

  Hereinafter, a method in which the control device 10 determines each of the correction amounts Δ (1 / R), Δyc, and Δθh in step ST8 will be described.

  First, a method in which the control device 10 determines the correction amount Δ (1 / R) for correcting the curvature 1 / R will be described with reference to FIG.

  Here, a position (point) closest to the current position of the vehicle 1 in the reference line M2 is defined as A, and a position (point) closest to the position of the vehicle 1 after a predetermined time Δt has elapsed in the reference line M2. Is defined as B. Further, a circle O is defined that “passes through point A and point B” and “a line passing through point A among lines parallel to the traveling direction of the vehicle 1 becomes a tangent”. The radius of this circle O is R. A point other than the point B is defined as C among the intersections of the “line passing through the point B and the center point o of the circle O” and the “circle O”.

  Note that the predetermined time Δt is the same as the above-described predetermined time T (a time enough to determine whether or not there is a branch road ahead in the traveling direction of the vehicle 1. For example, 0.5 [sec] to 1 Further, the predetermined time Δt is not a fixed value, and may be set to change according to other factors.

  At this time, since “| BC | = 2R” and “∠BCA = ∠BAD = φ”, the following equation (2-2) is established.

  Here, “μΔt” corresponds to the “movement amount of the vehicle” in the present invention.

  Then, when the formula (2-2) is modified, the following formula (2-3) is obtained.

  When attention is paid to ΔABD, it can be seen that the following expression (2-4) is established.

  Here, since “| BD |” is half the length of “WT-Wt”, the following equation (2-5) is obtained by substituting equation (2-4) into equation (2-3). .

  The curvature 1 / R is obtained by the reciprocal of the radius R obtained by the equation (2-5). The control device 10 treats the curvature 1 / R thus obtained as a correction amount Δ (1 / R) of the curvature 1 / R.

  And the control apparatus 10 subtracts this correction amount (DELTA) (1 / R) with respect to the curvature 1 / R of the position nearest to the vehicle 1 among the reference lines M2, and obtains the curvature after correction | amendment.

  Next, a method in which the control device 10 determines the correction amount Δyc for correcting the lateral deviation amount yc will be described.

  The control device 10 determines the distance W (t) between the left and right lane marks at the current position where the vehicle 1 is traveling and the left and right lane marks at the position where the vehicle 1 was traveling before the predetermined time Δt. Based on the distance W (t−1) and the lateral displacement amount Δy (t−1) of the vehicle 1 before the predetermined time Δt, the correction amount Δyc of the lateral displacement amount yc is determined according to the following equation (3).

  And the control apparatus 10 subtracts this correction amount (DELTA) yc with respect to the lateral deviation amount yc of the vehicle 1 with respect to the reference line M2, and obtains the lateral deviation amount after correction | amendment.

  Next, a method in which the control device 10 determines the correction amount Δθh for correcting the deflection angle θh will be described with reference to FIG.

  The control device 10 determines the correction amount Δθh of the deflection angle θh according to the following relational expression (4) based on the W (t), W (t−1) and the vehicle speed μ.

  Then, the control device 10 subtracts this correction amount Δθh from the deflection angle θh of the vehicle 1 with respect to the reference line M2 to obtain a corrected deflection angle.

  The corrected deflection angle is smaller than the actual deflection angle θh of the vehicle 1. Therefore, determining the target torque τ based on the corrected deflection angle allows the target torque τ to be increased with respect to the reference line M2 corresponding to the change in the distance between the left and right lane marks. τ will be determined. By controlling the steering assist torque so as to achieve such a target torque τ, a change in the traveling direction of the vehicle 1 at the present time is suppressed.

  In the relational expression (2-1), each of Ka, Kb, and Kc can take an embodiment in which at least one of them is set to 0.

  In the above description, the distance W (t) between the left and right lane marks at the current position where the vehicle 1 is traveling, and the left and right lane marks at the position where the vehicle 1 was traveling before the predetermined time Δt. The correction amount Δyc or Δθh is determined on the basis of the distance W (t−1) between, for example, the distance W (t) between the left and right lane marks at the current position where the vehicle 1 is traveling. The correction amount Δyc or Δθh may be determined based on the distance W (t + 1) between the left and right lane marks at the position where the vehicle 1 is estimated to travel after the predetermined time Δt has elapsed. In this case, W (t) in the above formulas (3) and (4) is W (t + 1), and W (t-1) is W (t).

  Similarly, in the above formulas (1) and (2-5), WT is defined as the distance between the left and right lane marks at the current position of the vehicle 1, and Wt is defined as a predetermined time T (or a predetermined time Δt). ) It may be defined as the distance between the left and right lane marks at the position of the previous vehicle 1.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Control apparatus (steering control apparatus), 20 ... Camera, 12 ... Recognition part, 13 ... Determination part, 14 ... Steering control part, P ... Target travel position, M1 ... Baseline, T ... Predetermined time, M2 ... reference line, 1 / R ... curvature, yc ... lateral deviation, .theta.h ... deflection angle, .tau .... target torque.

Claims (5)

A recognition unit configured to recognize left and right lane marks of a road on which the vehicle is traveling based on an image captured by a camera that captures the traveling direction of the vehicle, and left and right lanes recognized by the recognition unit A determination unit configured to determine a target parameter for steering control of the vehicle based on the position of the mark, and to control steering of the vehicle according to the target parameter determined by the determination unit A vehicle steering control device comprising a configured steering control unit,
When the distance between the left and right lane marks recognized by the recognition unit becomes longer as the distance from the vehicle increases, the determination unit suppresses the change in the target parameter according to the change in the distance. A vehicle steering control device, wherein a target parameter is corrected. The vehicle steering control device according to claim 1,
The determination unit
A reference line that passes through the midpoint between the left and right lane marks recognized by the recognition unit is set, and a target that is the target position of the vehicle is set so that the vehicle is positioned on the reference line after a predetermined time has elapsed. Determine the travel position as the target parameter,
When the curvature of one of the left and right lane marks recognized by the recognition unit increases so that the distance between the left and right lane marks increases as the distance from the vehicle increases, the left and right lane marks within the predetermined time are increased. A half length of the change in the distance between the lane marks is calculated, and as the correction, the curvature of the left and right lane marks from the reference line in the distance direction between the left and right lane marks is calculated as the correction. A steering control device for a vehicle, wherein a process of shifting the calculated lane mark toward the lane mark that is not enlarged is performed. The vehicle steering control device according to claim 1,
The determination unit
A reference line passing through the midpoint between the left and right lane marks recognized by the recognition unit is set, and the steering of the vehicle is controlled based on the curvature of the reference line so that the vehicle is positioned on the reference line A target torque as a target of torque to be determined is determined as the target parameter;
When the distance between the left and right lane marks increases as the distance from the vehicle increases, the correction is performed based on the change in the distance based on the change in the distance within a predetermined time and the amount of movement of the vehicle. A steering control device for a vehicle, wherein a curvature of the reference line is corrected so as to suppress a change in the target torque, and the target torque is determined based on the corrected curvature. The vehicle steering control device according to claim 1 or 3,
The determination unit
A reference line passing through a midpoint between the left and right lane marks recognized by the recognition unit is set, and the vehicle is based on a lateral deviation amount of the vehicle with respect to the reference line so that the vehicle is positioned on the reference line. A target torque that is a target of torque for controlling steering of the vehicle is determined as the target parameter,
When the curvature between one of the left and right lane marks recognized by the recognition unit increases so that the distance between the left and right lane marks increases as the distance from the vehicle increases, the correction is performed within a predetermined time. A half length of a change in the distance between the left and right lane marks is calculated, and the difference between the lateral displacement amount of the vehicle with respect to the reference line and the calculated length is replaced with the lateral displacement amount of the vehicle. A steering control device for a vehicle, which performs a process of determining a target torque. The vehicle steering control device according to any one of claims 1, 3, and 4,
The determination unit
Based on a deflection angle of the vehicle with respect to the reference line so that a reference line passing through a midpoint between the left and right lane marks recognized by the recognition unit is set and the vehicle is positioned on the reference line A target torque that is a target of torque for controlling steering of the vehicle is determined as the target parameter,
When the distance between the left and right lane marks becomes longer as the distance from the vehicle increases, the reference according to the change in the distance is used as the correction based on the change in the distance and the amount of movement of the vehicle within a predetermined time. A steering control device for a vehicle, wherein a process for suppressing a change in a traveling direction of the vehicle by allowing an increase in a deflection angle of the vehicle with respect to a line is performed.