JP2017074806A - Steering support apparatus and steering support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering support apparatus and a steering support method, which enable smooth execution of a steering operation in a lane change into an adjacent lane.SOLUTION: A steering support apparatus includes a lane change control part 11 for outputting, in a case where a vehicle performs a lane change from a presently traveling lane X1 to an adjacent lane X2, at least one of a steering command and an acceleration-deceleration command for a vehicle V1 so that cut-in steering time T1 necessary for the vehicle to enter the adjacent lane from the start of a cut-in steering toward the adjacent lane is shorter than return-steering time T2 necessary for the vehicle to be in parallel with the adjacent lane from the start of the return-steering after entering the adjacent lane. Since the cut-in steering time is short, a following vehicle recognizes at an early point of time that there is an intention of the lane change, and thus, the lane change can be performed smoothly.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a steering assist device and a steering assist method for assisting steering when a vehicle changes lanes.

  In Patent Document 1, when a vehicle changes lanes from the current travel lane to the adjacent lane, the inter-vehicle distance between the preceding vehicle and the subsequent vehicle traveling in the adjacent lane is calculated, and the steering at the time of the lane change is shorter as the inter-vehicle distance is shorter. It is disclosed to control the speed so as to be slow. With such a configuration, the intention to change lanes can be recognized with sufficient margin for the following vehicle.

JP 2006-76568 A

  However, the conventional example disclosed in Patent Document 1 described above controls the steering speed to be slower as the distance between adjacent lanes is shorter, and the lane can be changed depending on the situation of other vehicles traveling in the adjacent lane. It is thought that it will disappear.

  The present invention has been made to solve such a conventional problem, and an object of the present invention is to provide a steering assist capable of smoothly executing a steering operation when changing to a lane adjacent to a lane. An apparatus and a steering assist method are provided.

  In order to achieve the above object, according to one aspect of the present invention, when a vehicle changes lanes from its own lane to an adjacent lane, the infeed steering time required for the infeed steering to the adjacent lane is after moving to the adjacent lane. At least one of a steering command or an acceleration / deceleration command for the vehicle is output so as to be shorter than the return steering time required for the return steering.

  In the steering assist device and the steering assist method according to the present invention, when the lane is changed to the adjacent lane side, the turning steering time is set shorter than the return steering time, so that the intention to change the lane is indicated. It can be recognized by a running vehicle. As a result, it is possible to smoothly execute the steering operation when changing to the adjacent lane.

It is a block diagram which shows the structure of the steering assistance device which concerns on 1st Embodiment of this invention, and its peripheral device. It is explanatory drawing which shows operation | movement of the vehicle by 1st Embodiment of this invention by cutting steering and return steering. It is a flowchart which shows the process sequence of the steering assistance apparatus which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows operation | movement of the vehicle by cutting steering and return steering at the time of performing steering with the steering assistance device which concerns on the modification of 1st Embodiment. It is a flowchart which shows the process sequence of the steering assistance apparatus which concerns on the modification of 1st Embodiment. It is a block diagram which shows the structure of the steering assistance device which concerns on 2nd Embodiment of this invention, and its peripheral device. It is explanatory drawing which shows operation | movement of the lane change from the inner side lane to an outer side lane, and the lane change from an outer side lane to an inner side lane at the time of driving | running | working on a curve road concerning 2nd Embodiment of this invention. It is a flowchart which shows the process sequence of the steering assistance apparatus which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the structure of the steering assistance device which concerns on 3rd Embodiment of this invention, and its peripheral device. It is explanatory drawing which concerns on 3rd Embodiment of this invention and shows operation | movement of the vehicle by cutting steering and return steering. It is a flowchart which shows the process sequence of the steering assistance apparatus which concerns on 3rd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Description of First Embodiment]
FIG. 1 is a block diagram showing a configuration of a steering assist device and its peripheral devices according to the first embodiment of the present invention. The steering assist device shown in FIG. 1 includes, for example, a steering actuator that performs force sense assist steering (haptic assist steering) on the steering, and controls the steering actuator. Alternatively, a throttle actuator mounted on the vehicle is controlled.

  As shown in FIG. 1, the steering assist device includes a lane change control unit 11. When the lane change control unit 11 changes the lane from the current lane in which the vehicle is currently traveling to the adjacent lane, the lane change control time required for turning the adjacent lane into the adjacent lane is returned to the adjacent lane after moving. Control for outputting at least one of a steering command or an acceleration / deceleration command for the vehicle is executed so as to be shorter than the return steering time required for steering. The lane change control unit 11 includes a steering command output unit 31 and an acceleration / deceleration command output unit 32. Moreover, it is connected to the dividing line detection part 22, the steering angle sensor 23 which detects the steering angle of the vehicle, the vehicle speed sensor 24 which detects the traveling speed of the vehicle, and the winker 29.

  The partition line detection unit 22 is connected to a camera 21 that captures the surroundings of the vehicle, and detects a partition line laid on the travel path based on an image captured by the camera 21. The “partition line” is a line laid on the travel path to divide the travel lane and the adjacent lane adjacent to the travel lane, for example, a white line or a yellow line.

  The steering command output unit 31 generates a steering command according to the steering angle of the vehicle and the traveling speed of the vehicle when the vehicle changes its lane from the own lane to the adjacent lane (for example, the right lane). Output to the steering angle control unit 25. Specifically, as control for making the infeed steering time shorter than the return steering time, the steering mounted on the vehicle so that the angular velocity of the steering during the infeed steering is faster than the angular velocity of the steering during the return operation. A steering command is output to the control unit.

  The steering angle control unit 25 outputs a steering angle control signal to the steering actuator 27. The steering actuator 27 performs haptic assist steering on the vehicle mounted on the vehicle based on the steering control signal.

  The acceleration / deceleration command output unit 32 generates an acceleration / deceleration command according to the steering angle of the vehicle and the traveling speed of the vehicle, and outputs the acceleration / deceleration command to the acceleration / deceleration control unit 26. Specifically, the acceleration / deceleration control unit that is mounted on the vehicle so that the traveling speed at the time of the steering operation is faster than the traveling speed at the time of the return operation as control for shortening the infeed steering time to be shorter than the return steering time. Acceleration / deceleration command is output to.

  The acceleration / deceleration control unit 26 outputs an acceleration / deceleration control signal to a throttle actuator 28 that controls the traveling speed of the vehicle.

  Here, the lane change control unit 11, the partition line detection unit 22, the rudder angle control unit 25, and the acceleration / deceleration control unit 26 shown in FIG. 1 are stored in, for example, a central processing unit (CPU), RAM, ROM, hard disk, and the like. It can be configured as an integrated computer comprising means.

  Next, the operation of the steering assist device according to the present embodiment configured as described above will be described with reference to the operation explanatory diagram shown in FIG. 2 and the flowchart shown in FIG.

  First, in step S11 of FIG. 3, when the vehicle is traveling on a road having two or more lanes, in step S12, the lane change control unit 11 determines whether or not the winker 29 is operated. That is, it is determined whether or not there is an intention to change lanes. If the winker 29 is being operated, the process proceeds to step S13. Here, it is assumed that the blinker 29 is operated in the right direction. That is, it is determined that there is an intention to change the lane from the current traveling lane to the adjacent lane on the right side.

  In step S13, the lane change control unit 11 sets a turning steering time (this is T1) and a return steering time (this is T2) when changing to the adjacent lane on the right side. Here, the “cut steering” is steering that rotates the steering to the right side when the vehicle is changed from the current lane to the adjacent lane (for example, the lane adjacent to the right side). Further, “return steering” is steering in which the lane change is completed and the steering is returned to the left side. Therefore, “cut steering time” indicates the time required to enter the adjacent lane after the start of cut steering to the adjacent lane, and “return steering time” indicates the return after entering the adjacent lane. The time required for the vehicle to become substantially parallel to the adjacent lane after the steering is started is shown.

  Further, the infeed steering time T1 and the return steering time T2 are set so that T1 <T2. Here, as a method of setting T1 <T2, a reference steering time Tn is set in advance, T1 <Tn and T2> Tn, T1 <Tn and T2 = Tn, or T1 = Tn and T2> Tn. Or T1 <T2 regardless of the reference steering time Tn. That is, the infeed steering time T1 is set to be relatively short with respect to the return steering time T2.

  In step S <b> 14, the steering command output unit 31 sets the angular velocity of the steering so as to cut into the adjacent lane at the cutting steering time T <b> 1, and outputs this angular velocity data to the steering angle control unit 25. The steering angle control unit 25 outputs a steering angular velocity command signal to the steering actuator 27. As a result, the steering turning is performed at the set angular velocity, and the driver can assist the turning steering by force sense. For example, as shown in FIG. 2, at the time of turning steering, the steering angular velocity of the steering is set to 4 [degrees / second]. As a result, it is possible to allow a part of the vehicle V1 to enter from the lane X1 to the adjacent lane X2 on the right side in a short time after the steering is started (at the steering time T1).

  In step S15, the lane change control unit 11 determines whether or not the turning steering is finished. In this process, after turning the steering wheel in the right direction based on the output signal of the steering angle sensor 23, the turning operation is ended when the steering angle is held constant or changed to the left direction. Judge.

  In step S <b> 16, the steering command output unit 31 sets the angular velocity of the steering so that the return steering is executed at the return steering time T <b> 2, and outputs this angular velocity data to the steering angle control unit 25. The steering angle control unit 25 outputs a steering angular velocity control signal to the steering actuator 27. As a result, return steering of the steering is performed at the set angular velocity, and the driver can provide force support for return steering. For example, as shown in FIG. 2, at the time of return steering, the steering angular velocity of the steering is set to 2 [degrees / second]. As a result, it becomes possible to allow the entire vehicle V1 to enter the adjacent lane X2 on the right side after a long time from the start of steering (at the steering time T2).

  In step S17, the lane change control unit 11 determines whether or not the return steering is finished. In this process, based on the output signal of the rudder angle sensor 23, after the steering wheel is rotated in the left direction, it is determined that the return steering operation is finished when the steering angle returns to straight ahead.

  In this manner, in the steering assist device according to the first embodiment, the turning steering time T1 is set to be the return steering time by making the steering angular velocity at the time of turning steering faster than the steering angular velocity at the time of returning steering. It is set to be shorter than T2. Therefore, when changing the lane, a part of the vehicle V1 can be quickly entered into the adjacent lane X2, so that the following vehicle traveling in the adjacent lane X2 can recognize at an early point that there is an intention to change the lane. Can do. Furthermore, after a part of the vehicle V1 enters the adjacent lane X2, the entire vehicle V1 slowly enters the adjacent lane X2, so that the driver of the following vehicle can change the lane without feeling upset or amazed. Can be executed.

  Furthermore, since the turning steering time is controlled by increasing the steering angular velocity of the steering, it is possible to perform control suitable for the sense of steering operation by the driver.

[Description of Modified Example of First Embodiment]
Next, a modification of the first embodiment described above will be described. The apparatus configuration is the same as that shown in FIG. In the first embodiment described above, the example in which the turning steering time T1 is controlled to be relatively shorter than the return steering time T2 by changing the steering angular velocity of the steering has been described.

  On the other hand, in the modified example, by changing the traveling speed of the vehicle, the turning steering time T1 is controlled to be relatively shorter than the return steering time T2.

  Hereinafter, the operation of the steering assist device according to the modification will be described with reference to an explanatory diagram shown in FIG. 4 and a flowchart shown in FIG. In the flowchart shown in FIG. 5, processes other than steps S14a and S16a are the same as those in FIG. 3 described above, so only steps S14a and S16a will be described.

  When the turning steering time T1 and the return steering time T2 are set in step S13 shown in FIG. 5, in step S14a, the steering command output unit 31 turns the vehicle so as to cut into the adjacent lane at the cutting steering time T1. A travel speed is set, and the travel speed data is output to the acceleration / deceleration control unit 26 shown in FIG. The acceleration / deceleration control unit 26 outputs a vehicle travel speed control signal to the throttle actuator 28. As a result, the traveling speed of the vehicle is controlled so as to achieve the set traveling speed. For example, as shown in FIG. 4, the vehicle traveling speed is set to 90 [km / h] at the time of turning steering. As a result, it becomes possible to allow a part of the vehicle to enter from the lane X1 to the adjacent lane X2 on the right side in a short time (starting with the steering time T1) after starting the steering.

  In step S15, the lane change control unit 11 determines whether or not the turning steering is finished. In this process, after turning the steering wheel in the right direction based on the output signal of the steering angle sensor 23, the turning operation is ended when the steering angle is held constant or changed to the left direction. Judge.

  In step S16a, the steering command output unit 31 sets the traveling speed of the vehicle so that the return steering is executed at the return steering time T2, and outputs the traveling speed data to the acceleration / deceleration control unit 26. The acceleration / deceleration control unit 26 outputs a travel speed command signal to the throttle actuator 28. As a result, return steering of the steering is performed with the set traveling speed. For example, as shown in FIG. 4, at the time of return steering, the traveling speed of the vehicle V1 is set to 70 [km / h]. As a result, the entire vehicle V1 can enter the adjacent lane X2 on the right side slowly (at the steering time T1) after the infeed steering is completed.

  In step S17, the lane change control unit 11 determines whether or not the return steering is finished. In this process, based on the output signal of the rudder angle sensor 23, after the steering wheel is rotated in the left direction, it is determined that the return steering operation is finished when the steering angle returns to straight ahead.

  In this manner, in the steering assist device according to the modification of the first embodiment, the vehicle traveling speed at the time of the steering operation is set to be higher than the traveling speed at the time of the return steering, thereby enabling the steering steering. The time T1 is set to be shorter than the return steering time T2. Therefore, as in the first embodiment described above, when changing lanes, a portion of the vehicle V1 can be quickly entered into the adjacent lane X2, so that the subsequent vehicle traveling in the adjacent lane X2 is willing to change lanes. Can be recognized at an early point. Furthermore, after a part of the vehicle V1 enters the adjacent lane X2, the entire vehicle V1 slowly enters the adjacent lane X2, so that the driver of the following vehicle can change the lane without feeling upset or amazed. Can be executed.

  Further, by increasing the traveling speed of the vehicle V1 during the turning steering, the turning steering time T1 is controlled to be shorter than the return steering time T2, so that it is possible to perform control suitable for the driver's sense of accelerator operation. Become.

[Description of Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 6 is a block diagram illustrating a configuration of the steering assist device according to the second embodiment. The steering assist device shown in FIG. 6 differs from FIG. 1 described above in that it includes a curved road detection unit 12. Since the other configuration is the same as that of FIG.

  The curved road detection unit 12 is connected to a navigation device 41 mounted on the vehicle, and refers to map data registered in the navigation device 41 to determine whether or not the traveling road of the vehicle is a curved road. to decide. For example, a traveling road having a radius of curvature of a predetermined distance or less is detected as a curved road.

  In the second embodiment, when the vehicle is traveling on a curved road, only when the lane is changed from the inner lane to the outer lane on the curved road, the cutting steering required when performing the steering on the adjacent lane side. At least one of a vehicle steering command or an acceleration / deceleration command is output so that the time is shorter than the return steering time required for return steering after moving to the adjacent lane.

  Also, when changing the lane from the outer lane to the inner lane, the infeed steering time required for steering into the inner lane is greater than the return steering time required for return steering after moving to the inner lane. Also, at least one of a vehicle steering command and an acceleration / deceleration command is output so that the length of the vehicle becomes longer or the same.

  Hereinafter, the operation of the steering assist device according to the second embodiment will be described with reference to the operation explanatory diagram shown in FIG. 7 and the flowchart shown in FIG. First, when the vehicle is traveling on a road having two or more lanes in step S31 of FIG. 8, in step S32, the lane change control unit 11 determines whether or not the winker 29 is operated. That is, it is determined whether or not there is an intention to change lanes. If the winker 29 is being operated, the process proceeds to step S33. Here, it is assumed that the blinker 29 is operated in the right direction. That is, it is determined that there is an intention to change the lane from the current traveling lane to the adjacent lane on the right side.

  In step S <b> 33, the curved road detection unit 12 refers to the map data registered in the navigation device 41 and determines whether the traveling road of the vehicle is a curved road.

  If it is a curved road, in step S34, it is determined whether the lane change from the inside to the outside of the curved road or the lane change from the outside to the inside. Specifically, as shown in FIG. 7, the lane change from the lane X1 on the inner side of the curved road to the adjacent lane X2 on the outer side, or the lane change from the outer lane X2 to the inner lane X1 Determine if there is.

  If the traveling road is a straight line and if the lane change is from the inside to the outside of the curved road, the process proceeds to step S35, and if the lane change is from the outside to the inside of the curved road, step S36 is performed. Proceed with the process.

  In step S35, the lane change control unit 11 sets the infeed steering time Ta to T1, and further sets the return steering time Tb to T2 (where T1 <T2).

  In step S36, the lane change control unit 11 sets the infeed steering time Ta to T3, and further sets the return steering time Tb to T4 (where T3 ≧ T4). That is, when the lane is changed from the outside to the inside of the curved road, the infeed steering time Ta is set to be equal to or longer than the return steering time Tb. In other cases, similarly to the case shown in the first embodiment, the infeed steering time Ta is set to be shorter than the return steering time Tb.

  In step S37, the lane change control unit 11 sets the steering angular speed or the traveling speed of the vehicle so as to cut into the adjacent lane at the turning steering time Ta. When setting the angular velocity of the steering, the steering command output unit 31 sets the angular velocity so as to cut into the adjacent lane with the cutting steering time Ta. Then, this angular velocity data is output to the rudder angle control unit 25. The steering angle control unit 25 outputs a steering angular velocity control signal to the steering actuator 27.

  On the other hand, when setting the traveling speed of the vehicle, the acceleration / deceleration command output unit 32 sets the traveling speed so as to cut into the adjacent lane at the cutting steering time Ta, and this traveling speed data is sent to the acceleration / deceleration control unit 26. Output. The acceleration / deceleration control unit 26 outputs a travel speed control signal to the throttle actuator 28. As a result, incision steering is performed at the set incision steering time Ta, and it is possible to provide force support for incision steering by the driver.

  In step S38, the lane change control unit 11 determines whether or not the turning steering is finished. In this process, after turning the steering wheel in the right direction based on the output signal of the steering angle sensor 23, the turning operation is ended when the steering angle is held constant or changed to the left direction. Judge.

  In step S39, the lane change control unit 11 sets the angular speed of the steering wheel or the traveling speed of the vehicle so that the return steering is executed at the return steering time Tb. That is, when setting the angular velocity of the steering, the steering command output unit 31 sets the angular velocity so as to return the steering of the steering at the return steering time Tb. Then, this angular velocity data is output to the rudder angle control unit 25. The steering angle control unit 25 outputs a steering angular velocity control signal to the steering actuator 27.

  On the other hand, when setting the traveling speed of the vehicle, the acceleration / deceleration command output unit 32 sets the traveling speed so as to return steering by the return steering time Tb, and this traveling speed data is sent to the acceleration / deceleration control unit 26. Output. The acceleration / deceleration control unit 26 outputs a travel speed control signal to the throttle actuator 28. As a result, the return steering is performed with the set return steering time Tb, and the driver can provide force support for the return steering.

  In step S40, the lane change control unit 11 determines whether or not the return steering is finished. In this process, based on the output signal of the steering angle sensor 23, after turning the steering wheel in the left direction, it is determined that the cutting operation is finished when the steering angle goes straight or returns to an angle suitable for the curvature of the curve. .

  In this manner, in the steering assist device according to the second embodiment, when the vehicle is traveling on a straight traveling path, the same control as that of the first embodiment described above is performed. Also, when driving on a curved road, control is performed in the same way as for a straight road when changing from the inside to the outside, and when changing from the outside to the inside, the notch is cut. The steering time Ta is set to be equal to or longer than the return steering time Tb.

  That is, when the lane is changed from the outer lane to the inner lane on the curved road, the steering direction at the time of traveling and the steering direction of the lane change are the same direction. Specifically, as shown by reference numeral V1b in FIG. 7, when the vehicle is traveling on the right lane X2 of the curved road, the steering is steered to the left side, and further, the lane is in the left lane X1. When changing, it is necessary to steer further to the left. Therefore, if the infeed steering time Ta is set short, the steering angle becomes large, and the driver may feel a strong lateral acceleration during a turn. In order to prevent this, the turning steering time Ta is set to be the same as or longer than the return steering time Tb.

  In addition, as shown by reference numeral V1a in FIG. 7, the vehicle is traveling on the left lane X1, which is the inner traveling path of the curved road, and then the lane is changed to the right lane X2, which is the outer traveling path. Will change lanes as shown by arrow Y1. In this case, the steering direction at the time of traveling is the left direction, and the steering direction at the time of lane change is on the right side opposite to this, so it can be considered that the vehicle does not go too far in the right direction. Therefore, in the case of a lane change from the inside to the outside, the infeed steering time Ta is set to be shorter than the return steering time Tb as in the case of straight ahead.

  In this manner, in the steering assist device according to the second embodiment, when the vehicle travels on a curved road and when the lane is changed from the outer lane to the inner lane, the turning steering time Ta is returned. The steering time Tb is set to be the same or the cutting steering time Ta is set longer. That is, when the vehicle travels on a curved road and the lane is changed from the current lane on which the vehicle is currently traveling to an adjacent lane on the inside of the curve, the infeed steering required when performing the infeed steering to the adjacent lane side The steering angular speed of the steering or the traveling speed of the vehicle is set so that the time becomes longer than the return steering time required for the return steering after moving to the adjacent lane. Therefore, when changing the lane from the outer lane to the inner lane of the curved road, it is possible to prevent the lateral acceleration during turning from increasing, and to perform a smooth lane change.

  Further, only when the lane is changed from the inner lane to the outer lane of the curved road, the return steering time Ta required for the steering operation to the adjacent lane side is the return steering required for the return steering after moving to the adjacent lane. The steering angular speed of the steering or the traveling speed of the vehicle is set so as to be shorter than the time Tb. Therefore, when changing the lane from the inner lane to the outer lane of the curved road, it is possible to execute a smooth lane change as in the case of straight running.

[Description of Third Embodiment]
Next, a third embodiment of the present invention will be described. FIG. 9 is a block diagram illustrating a configuration of the steering assist device according to the third embodiment. The steering assist device shown in FIG. 9 is different from FIG. 1 described above in that it includes a subsequent vehicle detection unit 13. Since the other configuration is the same as that of FIG.

  The following vehicle detection unit 13 is connected to an LRF (Laser Range Finder) 42 mounted on the vehicle, and detects the following vehicle traveling in the adjacent lane based on the distance data to the object detected by the LRF 42. To do.

  The LRF 42 measures the distance to the target object by oscillating an infrared laser to irradiate the target object and detecting the reflected signal. The subsequent vehicle detection unit 13 detects a subsequent vehicle traveling in the adjacent lane based on the detection data of the LRF 42. Further, the distance to the following vehicle is detected. For example, when the vehicle changes lanes from the current driving lane to the adjacent lane on the right side, the following vehicle that travels behind the adjacent lane and the inter-vehicle distance that is the distance to the following vehicle are detected.

  In the third embodiment, only when a succeeding vehicle is detected in the adjacent lane, the infeed steering time required for the infeed steering to the adjacent lane is required for the return steering after moving to the adjacent lane. At least one of a steering command or an acceleration / deceleration command for the vehicle is output so as to be shorter than the return steering time.

  Hereinafter, the operation of the steering assist device according to the third embodiment will be described with reference to the operation explanatory diagram shown in FIG. 10 and the flowchart shown in FIG. 11. First, when the vehicle is traveling on a road having two or more lanes in step S51 of FIG. 11, in step S52, the lane change control unit 11 determines whether or not the winker 29 is operated. That is, it is determined whether or not there is an intention to change lanes. If the winker 29 is being operated, the process proceeds to step S53. Here, it is assumed that the blinker 29 is operated in the right direction. That is, it is determined that there is an intention to change the lane from the current traveling lane to the adjacent lane on the right side.

  In step S <b> 53, the subsequent vehicle detection unit 13 determines whether there is a subsequent vehicle in the adjacent lane based on the detection data of the LRF 42.

If there is a following vehicle (YES in step S53), the process proceeds to step S54. Note that the process proceeds to step S54 even when the inter-vehicle distance with the subsequent vehicle is sufficient or when the relative speed with the subsequent vehicle is small. On the other hand, if there is no following vehicle (NO in step S53), the process proceeds to step S55.

  In step S54, the lane change control unit 11 sets the infeed steering time Ta to T1, and further sets the return steering time Tb to T2 (where T1 <T2).

  In step S55, the lane change control unit 11 sets the turning steering time Ta and the return steering time Tb to be equal.

  In step S56, the lane change control unit 11 sets the steering angular speed or the traveling speed of the vehicle so as to cut into the adjacent lane at the turning steering time Ta. That is, when setting the angular velocity of the steering, the steering command output unit 31 sets the angular velocity so as to cut into the adjacent lane with the cutting steering time Ta. Then, this angular velocity data is output to the rudder angle control unit 25. The steering angle control unit 25 outputs a steering angular velocity control signal to the steering actuator 27.

  On the other hand, when setting the traveling speed of the vehicle, the acceleration / deceleration command output unit 32 sets the traveling speed so as to cut into the adjacent lane at the cutting steering time Ta, and this traveling speed data is sent to the acceleration / deceleration control unit 26. Output. The acceleration / deceleration control unit 26 outputs a travel speed control signal to the throttle actuator 28. As a result, incision steering is performed at the set incision steering time Ta, and it is possible to provide force support for incision steering by the driver.

  In step S57, the lane change control unit 11 determines whether or not the turning steering is finished. In this process, after turning the steering wheel in the right direction based on the output signal of the steering angle sensor 23, the turning operation is ended when the steering angle is held constant or changed to the left direction. Judge.

  In step S58, the lane change control unit 11 sets the steering angular velocity or the traveling speed of the vehicle so that the return steering is executed at the return steering time Tb. That is, when setting the angular velocity of the steering, the steering command output unit 31 sets the angular velocity so as to return the steering of the steering at the return steering time Tb. Then, this angular velocity data is output to the rudder angle control unit 25. The steering angle control unit 25 outputs a steering angular velocity control signal to the steering actuator 27.

  On the other hand, when setting the traveling speed of the vehicle, the acceleration / deceleration command output unit 32 sets the traveling speed so as to return steering by the return steering time Tb, and this traveling speed data is sent to the acceleration / deceleration control unit 26. Output. The acceleration / deceleration control unit 26 outputs a travel speed control signal to the throttle actuator 28. As a result, the return steering is performed with the set return steering time Tb, and the driver can provide force support for the return steering.

  In step S59, the lane change control unit 11 determines whether or not the return steering is finished. In this process, based on the output signal of the steering angle sensor 23, after turning the steering wheel in the left direction, it is determined that the cutting operation has been completed when the steering angle returns straight ahead.

  In this manner, in the steering assist device according to the third embodiment, it is determined whether or not there is a subsequent vehicle in the adjacent lane. If there is no subsequent vehicle, the turning steering time Ta and the return steering time Tb are determined. Are set to the same time. That is, since it is not necessary to inform the subsequent vehicle of the intention to change the lane, as shown in FIG. 10 (a), the vehicle V1 is moved from the lane X1 to the adjacent lane with the turning steering time Ta and the return steering time Tb being the same time. A lane change is executed toward X2.

  On the other hand, when the following vehicle V2 exists in the adjacent lane X2, the infeed steering time Ta is set to be relatively shorter than the return steering time Tb. Therefore, the subsequent vehicle V2 traveling in the adjacent lane X2 can quickly recognize that the vehicle V1 changes to the adjacent lane X2. Accordingly, it is possible to smoothly change the lane without causing the driver of the succeeding vehicle V2 to feel upset or surprised.

  As mentioned above, although the steering assistance apparatus and steering assistance method of this invention were demonstrated based on embodiment of illustration, this invention is not limited to this, The structure of each part is arbitrary structures which have the same function Can be replaced.

DESCRIPTION OF SYMBOLS 11 Lane change control part 12 Curve road detection part 13 Subsequent vehicle detection part 21 Camera 22 Partition line detection part 23 Steering angle sensor 24 Vehicle speed sensor 25 Steering angle control part 26 Acceleration / deceleration control part 27 Steering actuator 28 Throttle actuator 29 Winker 31 Steering command Output unit 32 Acceleration / deceleration command output unit 41 Navigation device 42 LRF

Claims (7)

A steering assist device for assisting steering of a vehicle,
When the lane is changed from the current lane in which the vehicle is currently traveling to the adjacent lane, the infeed steering time required to enter the adjacent lane after starting the infeed steering to the adjacent lane side enters the adjacent lane A lane change control unit that outputs at least one of a vehicle steering command or an acceleration / deceleration command so that the return steering time required for the vehicle to become parallel to the adjacent lane after the start of the subsequent return steering is shortened. A steering assist device characterized by that. A curve road detection unit for determining whether or not the road of the vehicle is a curve;
The lane change control unit, when it is determined that the vehicle is traveling on a curved road, only when the lane change is made from the inner lane to the outer lane of the curved road, the turning steering time is the return steering. The steering assist device according to claim 1, wherein at least one of a vehicle steering command or an acceleration / deceleration command is output so as to be shorter than time. The vehicle further includes a subsequent vehicle detection unit that detects a subsequent vehicle traveling behind the adjacent lane,
The lane change control unit outputs at least one of a vehicle steering command or an acceleration / deceleration command so that the turning steering time is shorter than the return steering time only when the following vehicle is detected. The steering assist device according to claim 1, wherein: The lane change control unit controls the vehicle so that the steering angular speed at the time of the steering operation is faster than the angular speed of the steering at the time of the return operation as a control for making the cutting steering time shorter than the returning steering time. The steering assist device according to any one of claims 1 to 3, wherein a steering command is output to a mounted steering control unit. The lane change control unit is mounted on the vehicle so that the traveling speed at the time of the steering operation is faster than the traveling speed at the time of the return operation as a control for making the incision steering time shorter than the return steering time. The steering assist device according to any one of claims 1 to 3, wherein an acceleration / deceleration command is output to the acceleration / deceleration control unit. A steering assist device for assisting steering of a vehicle,
A curved road detection unit for determining whether or not the traveling road of the vehicle is a curve;
When the lane of the vehicle is a curved road and the lane is changed from the current lane in which the vehicle is currently traveling to the adjacent lane inside the curve, the vehicle enters the adjacent lane after initiating infeed steering to the adjacent lane. The vehicle is controlled so that the infeed steering time required for entering the vehicle is longer or the same as the return steering time required for the vehicle to be parallel to the adjacent lane after the start of return steering after entering the adjacent lane. A lane change control unit that outputs at least one of a steering command or an acceleration / deceleration command;
A steering assist device comprising: A steering support method for supporting steering of a vehicle,
When the lane is changed from the current lane in which the vehicle is currently traveling to the adjacent lane, the infeed steering time required to enter the adjacent lane after starting the infeed steering to the adjacent lane side enters the adjacent lane Steering, characterized in that at least one of a vehicle steering command or an acceleration / deceleration command is output so as to be shorter than the return steering time required for the vehicle to become parallel to the adjacent lane after the start of subsequent return steering Support method.

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