JP2020001594A - Vehicle control device and vehicle control method - Google Patents

Abstract

To provide a vehicle control device and a vehicle control method that are able to reduce occurrences of discomfort, inconvenience, and, hence, stress experienced by a driver.SOLUTION: A control unit for a vehicle 1 acquires the detection result of imaged section lines DL, DL, obtained from a camera outside a vehicle cabin. Using the obtained detection result of the section lines DL, DL, a lane width calculation unit for the control unit calculates the width Wof a lane LN. In a case where it is determined that the calculated width Wis narrower than a predetermined width set in advance, the control unit commands a steering actuator to inhibit application of steering torque.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a vehicle control device and a vehicle control method, and particularly to a steering assist technology.

  2. Description of the Related Art Some vehicles such as automobiles employ a steering assist technology for avoiding lane departure as a kind of accident prevention technology. For example, Patent Literature 1 discloses a technique in which when a vehicle is about to depart from a lane, a steering force is applied to prevent the vehicle from deviating from the lane.

  In the technology disclosed in Patent Document 1, a lane edge of a lane in which the vehicle travels is defined by a lane marking or a road edge detected by a vehicle-mounted camera, and a steering force is applied so that the vehicle does not deviate from the lane edge. I'm going to do that.

  According to the technology disclosed in Patent Literature 1, when there are lane markings on both sides of the lane in which the vehicle travels, and when both lane markings can be detected by the onboard camera, the vehicle assists steering so as not to deviate from both lane markings. The vehicle can be prevented from deviating outside the road or into an adjacent lane.

JP-T-2017-510490

  However, according to the technology disclosed in Patent Document 1, since the steering assist is performed without considering the width of the lane in which the vehicle travels, the driver may feel troublesome or uncomfortable. That is, when the vehicle is traveling on a lane having a relatively narrow width and the steering force is frequently applied, the driver may feel troublesome and uncomfortable.

  Therefore, in the technique disclosed in Patent Document 1 in which the steering assist is intervened even in the above-described state, the driver may feel troublesome and uncomfortable, and may cause stress.

  The present invention has been made to solve the above-described problem, and provides a vehicle control device and a vehicle control method capable of suppressing a driver from feeling troublesome, uncomfortable, and stress. The purpose is to:

  A vehicle control device according to one aspect of the present invention is a vehicle control device capable of applying a steering force to the vehicle to suppress the vehicle from deviating off the road in accordance with a driving situation, and A steering force generation unit that generates the steering force of, a lane marking detection unit that detects a lane marking that extends along the traveling direction of the vehicle on the side of the vehicle, and a detection result from the lane marking detection unit. A lane width calculating unit that calculates the width of a lane (lane) on which the vehicle travels, and permits the application of the steering force to the vehicle based on the lane width calculated by the lane width calculating unit. Or a prohibition, a vehicle control unit that selectively instructs the steering force generation unit, wherein the vehicle control unit is configured so that the calculated lane width is equal to or greater than a predetermined width. Is determined, the steering force generation unit Preparing the application of the steering force and, when it is determined that the vehicle has deviated from the lane marking, issues a command to permit the application of the steering force to the steering force generation unit, When it is determined that the width of the lane is smaller than the predetermined width, a command is issued to the steering force generator to prohibit the application of the steering force.

  In the vehicle control device according to the above aspect, when it is determined that the width of the lane is smaller than the predetermined width, the application of the steering force to the vehicle is prohibited. It is possible to suppress different steering assists from being performed.

  On the other hand, when it is determined that the width of the lane is equal to or larger than the predetermined width, the vehicle is prepared to apply the steering force, and the steering force is applied when the vehicle deviates from the lane marking. Nature can also be secured.

  Therefore, in the vehicle control device according to the above aspect, by suppressing the intervention of the steering assist contrary to the driver's intention, it is possible to suppress the driver from feeling troublesome, uncomfortable, and stress.

  The vehicle control device according to the above aspect, further comprising: a roadside detection unit configured to detect a roadside extending along a traveling direction of the vehicle, on a side of the vehicle, wherein the lane width calculation unit includes a width of the lane. In the calculation of, the detection result from the road end detection unit is also used, the lane marking is not detected on one side of the vehicle, and the road end is detected, and the other of the vehicle is detected. When the lane marking is detected on the side of the side, the width of the lane may be calculated from the road end on the one side and the lane marking on the other side. it can.

  In the vehicle control device adopting the above configuration, when the side lane marking on one side cannot be detected and the road end can be detected, the lane marking between the side lane on one side and the lane marking on the other side is not used. The width between them is calculated as “lane width”. And also in the said vehicle control apparatus, since it is supposed to determine whether to grant or prohibit the application of the steering force to the vehicle based on the calculated lane width, similar to the above-described embodiment, the narrow lane is used. By suppressing the intervention of the steering assist when the vehicle is running, it is possible to suppress the driver from feeling annoying, uncomfortable, and stress.

  In the vehicle control device according to the above aspect, the lane width calculation unit may not detect the lane marking on both sides of the one side and the other side of the vehicle, and may include the road edge on both sides of the vehicle. Is detected, the width of the lane may be calculated based on the road end on the one side and the road end on the other side.

  In the vehicle control device adopting the above configuration, when only roadsides are detected on both sides of the vehicle, the width between the detected roadsides is defined as “lane width”. And also in the said vehicle control apparatus, since it is supposed to decide whether to grant or prohibit the application of the steering force to the vehicle based on the calculated lane width, similarly to the above aspect, there is no lane marking. By suppressing the intervention of the steering assist when the vehicle is traveling on a narrow lane (road), it is possible to suppress the driver from feeling troublesome, uncomfortable, and stress.

  The vehicle control device according to the above aspect, further comprising a map information storage unit in which map information including a width of the lane in which the vehicle travels is stored, wherein the lane width calculation unit includes the map information storage unit from the map information storage unit. The width of the lane in which the vehicle travels may be calculated using information on the width of the lane.

  In the vehicle control device adopting the above configuration, the map information is also used when calculating the width of the lane in which the own vehicle travels. Therefore, when calculating the width of the lane by the lane width calculation unit, the surrounding environment (rainfall) And snow, or brightness). Therefore, with the above-described vehicle control device, it is possible to further suppress the driver from feeling troublesome, uncomfortable, and stress.

  A vehicle control device according to an aspect of the present invention is a vehicle control device that can apply a steering force to the vehicle in order to suppress the vehicle from deviating off the road, according to a traveling situation. A steering force generating unit that generates the steering force of the vehicle, a lane marking detecting unit that detects a lane marking that extends along the traveling direction of the vehicle on the side of the vehicle, and a lane marking in which the vehicle travels. An oncoming vehicle detection unit that detects the presence or absence of an oncoming vehicle traveling in a direction opposite to the vehicle, and a lane width calculation unit that calculates the width of the lane in which the vehicle travels using the detection result from the lane marking detection unit. Having, based on the lane width calculated by the lane width calculation unit and the detection result from the oncoming vehicle detection unit, based on the permission or prohibition of the application of the steering force to the vehicle, the steering force generation unit Command selectively A vehicle control unit, wherein when the vehicle control unit determines that the calculated width of the lane is equal to or greater than a predetermined width, the vehicle control unit performs the steering with respect to the steering force generation unit. Preparing for the application of force, when determining that the vehicle has deviated from the lane marking, issues a command to permit the application of the steering force to the steering force generation unit, the width of the lane width Is determined to be smaller than the predetermined width, and when it is determined that the oncoming vehicle does not exist, preparation for applying the steering force to the steering force generation unit is prepared, and the vehicle When it is determined that the vehicle has deviated, a command is issued to permit the steering force generation unit to apply the steering force, and it is determined that the width of the lane is smaller than the predetermined width, and If it is determined that the oncoming vehicle is present, the steering force It issues a command for prohibiting the application of said steering force with respect to forming unit.

  In the vehicle control device according to the above aspect, whether to allow or prohibit the application of the steering force to the vehicle is determined by the width of the lane calculated by the lane width calculation unit and the presence or absence of the oncoming vehicle detected by the oncoming vehicle detection unit. Since it is decided, it is possible for the driver to hardly feel troublesome and uncomfortable, and to secure high safety. In other words, the vehicle control device according to the above aspect is such that when an oncoming vehicle cannot be detected even in a narrow lane (road), the driver is less likely to feel troublesome and uncomfortable even if the steering assist is intervened. The steering control is performed on the basis of the above, so that it is possible to obtain an effect that the safety can be ensured and the driver can be prevented from having trouble and uncomfortable feeling.

  A vehicle control method according to one aspect of the present invention is a vehicle control method that can apply a steering force to the vehicle to suppress the vehicle from deviating off the road in accordance with a driving situation, and A steering force generating step of generating the steering force, a lane marking detecting step for detecting a lane marking extending along the traveling direction of the vehicle on the side of the vehicle, and a result detected in the lane marking detecting step. Having a lane width calculating sub-step of calculating the width of the lane in which the vehicle travels using, and applying the steering force to the vehicle based on the lane width calculated in the lane width calculating sub-step. A determining step of determining whether to permit or prohibit, wherein in the determining step, when it is determined that the calculated width of the lane is equal to or larger than a predetermined width, the steering is performed. Preparing the application of the steering force in the generation step, when it is determined that the vehicle has deviated from the lane marking, the application of the steering force in the steering force generation step is allowed, and the width of the lane is If it is determined that the width is smaller than the predetermined width, the application of the steering force in the steering force generation step is prohibited.

  In the vehicle control method according to the above aspect, when it is determined in the determination step that the width of the lane is smaller than the predetermined width, the application of the steering force in the steering force generation step is prohibited. It is possible to suppress that the steering assist different from the driver's intention is performed.

  On the other hand, when it is determined that the width of the lane is equal to or larger than the predetermined width in the determination step, preparation for applying the steering force in the steering force generation step is performed, and when the vehicle deviates from the lane marking, the steering force is applied. Therefore, high security can be ensured.

  Therefore, in the vehicle control method according to the above aspect, by suppressing the intervention of the steering assist which is contrary to the driver's intention, it is possible to suppress the driver from feeling troublesome, uncomfortable, and stress.

  The vehicle control method according to the above aspect, further comprising: a roadside detection step of detecting a roadside extending along a traveling direction of the vehicle on a side of the vehicle, wherein the lane width calculation sub-step includes: In the calculation of the width, the detection result detected in the road edge detection step is also used, the lane marking is not detected on one side of the vehicle, and the road edge is detected, When the lane marking is detected on the side of the other side of the vehicle, the width of the lane is calculated by the road end on the one side and the lane marking on the other side. You can also.

  In the vehicle control method employing the above method, when it is determined in the determination step that the lane marking on one side cannot be detected and the road end can be detected, the lane width calculation sub-step includes The width between the road end and the side lane marking on the other side is calculated as “lane width”. And also in the above-mentioned vehicle control method, based on the lane width calculated in the lane width calculation sub-step, it is determined whether to permit or prohibit the application of the steering force in the determination step. By suppressing the intervention of the steering assist when traveling in a narrow lane, it is possible to suppress the driver from feeling annoying, uncomfortable, and stress.

  In the vehicle control method according to the above aspect, in the lane width calculation sub-step, the lane markings are not detected on both sides of the one side and the other side of the vehicle, and the road is formed on both sides of the vehicle. When an end is detected, the width of the lane may be calculated from the road end on the one side and the road end on the other side.

  In the vehicle control method employing the above method, when it is determined in the determining step that only the roadside is detected on both sides of the vehicle, the width between the detected roadsides is referred to as the “lane width”. It is decided to be. In the vehicle control method, whether to allow or prohibit the application of the steering force is determined in the determination step based on the lane width calculated in the lane width calculation sub-step. By suppressing the intervention of steering assist when driving on a narrow lane (road) without lane markings, it is possible to suppress the driver from feeling annoying, uncomfortable, and even stressful it can.

  The vehicle control method according to the above aspect, further comprising a map information acquisition step of acquiring map information including information on the lane in which the vehicle travels, and in the lane width calculation sub-step, the map information acquired in the map information acquisition step is provided. The width of the lane in which the vehicle travels may be calculated using information on the width of the lane.

  In the vehicle control method employing the above method, the map information acquired in the map information acquisition step is also used when calculating the width of the lane in which the own vehicle travels, so the lane width in the lane width calculation sub-step is calculated. In calculating the width, the width is hardly affected by the surrounding environment (rainfall, snow, brightness, etc.). Therefore, in the above-described vehicle control method, it is possible to further suppress the driver from feeling troublesome, uncomfortable, and stress.

  In the above, the map information does not necessarily need to be stored in the memory of the vehicle or the like, and the necessary information may be fetched as needed by communication with an external server or the like.

  A vehicle control method according to one aspect of the present invention is a vehicle control method that can apply a steering force to the vehicle to suppress the vehicle from deviating off the road in accordance with a driving situation, and A steering force generating step of generating the steering force of the vehicle, a lane marking detecting step of detecting a lane marking extending along a running direction of the vehicle on a side of the vehicle, and a vehicle in a lane in which the vehicle travels. An oncoming vehicle detecting step of detecting the presence or absence of an oncoming vehicle traveling in a direction opposite to the vehicle, and a lane width calculating sub-calculating a lane width on which the vehicle travels using the result detected in the lane marking detecting step. And applying the steering force to the vehicle based on the lane width calculated in the lane width calculation sub-step and the result detected in the oncoming vehicle detection step. A determining step of determining whether to permit or prohibit, and in the determining step, when it is determined that the calculated width of the lane is equal to or greater than a predetermined width, the steering force is determined. Preparing the application of the steering force in the generation step, when it is determined that the vehicle has deviated from the lane marking, the application of the steering force in the steering force generation step is allowed, and the width of the lane is When it is determined that the vehicle is narrower than a predetermined width, and when it is determined that the oncoming vehicle does not exist, provision of the steering force in the steering force generation step is prepared, and the vehicle deviates from the lane marking. In the case where it is determined that the application of the steering force in the steering force generation step is permitted, the width of the lane is smaller than the predetermined width, and it is determined that the oncoming vehicle is present, Is the steering force generation switch. Tsu to prohibit the grant of the steering force of at-flops.

  In the vehicle control method according to the above aspect, the determining step is performed based on the lane width calculated in the lane width calculating sub-step and whether or not the oncoming vehicle is detected in the oncoming vehicle detecting step (whether or not an oncoming vehicle is present). Therefore, it is possible to make it difficult for the driver to feel troublesome and uncomfortable, and it is possible to secure high safety. That is, when the oncoming vehicle cannot be detected even in a narrow lane (road), the vehicle control method according to the above aspect makes it difficult for the driver to feel troublesome and uncomfortable even if the intervention of the steering assist is permitted. The steering control is performed on the basis of the above, so that it is possible to obtain an effect that the safety can be ensured and the driver can be prevented from having trouble and uncomfortable feeling.

  In each of the above aspects, it is possible to suppress the driver from feeling troublesome, uncomfortable, and stress.

FIG. 1 is a schematic diagram illustrating a schematic configuration of a vehicle according to an embodiment. FIG. 2 is a block diagram illustrating a control configuration of the vehicle. It is a schematic diagram for demonstrating detection of a lane marking and a roadside by a vehicle exterior camera. It is a schematic diagram which shows the position of a vehicle, a lane marking, and a roadside. It is a part of the flowchart which shows the steering control method which a control unit performs. It is the remainder of the flowchart showing the steering control method executed by the control unit. (A) is a schematic diagram showing a steering control method in a first steering control mode, and (b) is a schematic diagram showing a steering control method in a second steering control mode. (A) is a schematic diagram showing a steering control method in a third steering control mode, and (b) is a schematic diagram showing a steering control method in a fourth steering control mode. FIG. 9 is a schematic diagram illustrating a steering control method according to a first modification. 9A and 9B are schematic diagrams illustrating a steering control method according to Modification Example 2, wherein FIG. 9A illustrates a state in which an oncoming vehicle is not detected, and FIG. 8B illustrates a state in which an oncoming vehicle is detected.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiment described below is an example of the present invention, and the present invention is not limited to the following embodiment except for its essential configuration.

[Embodiment]
1. Schematic Configuration of Vehicle 1 A schematic configuration of a vehicle 1 according to the present embodiment will be described with reference to FIGS.

  As shown in FIG. 1, the vehicle 1 includes an engine 2 as a power source. The vehicle 1 according to the present embodiment employs a multi-cylinder gasoline engine as an example of the engine 2.

  A transmission 3 is connected to the engine 2, and a differential gear 4 is connected to the transmission 3. A drive shaft 5 extends from the differential gear 4 in the left-right direction. Left and right front wheels 61 and 6r are attached to the end of the drive shaft 5.

  The drive shaft 5 is provided with a front left brake 71 at a portion near the front left wheel 61 and a front right brake 7r at a portion near the front right wheel 6r.

  Behind the vehicle 1, left and right rear wheels 8l, 8r are arranged. Each of the left and right rear wheels 8l, 8r is attached to a rear arm not shown. A left rear brake 9l is provided on a shaft (not shown) for supporting the left rear wheel 8l, and a right rear brake 9r is provided for a shaft (not shown) for supporting the right rear wheel 8r. I have.

  As shown in FIG. 1, a steering handle 10 is disposed at a front portion of a driver's seat in the cabin of the vehicle 1. The steering handle 10 is attached to a tip portion of a steering shaft 11. The other end of the steering shaft 11 is connected to a steering gear 12. A steering actuator 14 is connected to the steering shaft 11 so that a steering torque (steering force) can be applied to the steering shaft 11. That is, in the vehicle 1, the steering actuator 14 functions as a steering force generation unit that generates a steering force.

  A tie rod 13 is connected to the steering gear 12. As the tie rod 13 moves left and right, the directions of the front wheels 61 and 6r are changed.

  As shown in FIG. 1, the vehicle 1 is provided with three radars 15, 16, 17 and an outside camera (image pickup device) 18. Of the three radars 15, 16, 17, the radar 15 is arranged at a front part of the vehicle 1, and the remaining two radars 16, 17 are arranged at the side of the vehicle 1. The radars 15, 16, and 17 have a function of detecting vehicles around the own vehicle (vehicle 1) and detecting a relative speed and a relative distance between the vehicle 1 and surrounding vehicles (such as oncoming vehicles).

  Note that the outside camera 18 detects a lane marking and a roadside in front of the vehicle 1. That is, in the vehicle 1 according to the present embodiment, the lane marking is a lane marking detecting unit that detects lane markings on both sides of the traveling lane (outside lane, center lane, etc.), and a road located outside the lane lane. It is a road end detection unit that detects an end.

  As shown in FIGS. 1 and 2, the vehicle 1 is provided with a map information storage unit 19. The map information storage unit 19 stores information related to the road on which the vehicle 1 travels. The map information stored in the map information storage unit 19 also includes lane information on roads.

  The map information storage unit 19 according to the present embodiment stores map information including information on lane widths. More specifically, the map information storage unit 19 stores map information (for example, a three-dimensional map) for an advanced driver assistance system (ADAS; Advanced Driver Assistance System). Although not shown in detail, the map information storage unit 19 may have a communication function capable of transmitting and receiving to and from an external server. In this case, the map information storage unit 19 can appropriately take in map information corresponding to the traveling location of the vehicle 1, and the information includes information on lane width.

  Further, the vehicle 1 is provided with an alarm 20 capable of issuing an alarm to a passenger on board. Further, the vehicle 1 is also provided with a control unit (vehicle control unit) 21. The control unit 21 is configured to include a microprocessor including a CPU, a ROM, a RAM, and the like. As shown in FIGS. 1 and 2, the radar unit 15, 16, 17, the vehicle exterior camera 18, and It is connected to the map information storage unit 19 and the like, and is configured to receive various information.

  Further, the control unit 21 can instruct the engine 2, the steering actuator 14, the alarm 20, and the brakes 71, 7r, 91, 9r based on the received information.

  Further, as shown in FIG. 2, the control unit 21 includes a first steering torque applying unit (first steering force applying unit) 211, a second steering torque applying unit (second steering force applying unit) 212, and a lane width calculation. It has a part 213. These will be described later.

2. Division line _DL L by the vehicle exterior camera _{18, DL R,} DL _RR and Michitan _E division line _DL L by detecting vehicle exterior camera 18 of _RL, the detection of the DL R, _{DL RR} and Michitan _{E RL,} FIG. 3 and FIG. 4 will be described. FIG. 3 is a schematic diagram for explaining detection of the lane markings DL _L , DL _R , DL _RR and the roadside E _RL by the camera 18 outside the vehicle compartment. FIG. 4 shows the vehicle 1 viewed from the rear, it is a schematic diagram showing the position of the vehicle 1 and the lane mark _{DL L,} and DL R, _{DL RR} and Michitan _{E RL.}

As shown in FIG. 3, the outside camera 18 provided on the inside of the front windshield of the vehicle 1 inside the vehicle can detect a range θ ₁₈ on the front side of the vehicle 1.

Here, in the present embodiment, as an example, the vehicle 1 is traveling on the left traveling lane (lane) LN1. Then, on the left side of the lane LN1, left lane line (the roadway outside lines) DL _L are mounted on the right lane LN1, right lane line (road center line) DL _R are provided. Also, the more left side of the roadway outside line DL _L, there is a road-edge _{E RL.}

On the other hand, the right lane LN1, lane (opposite lane) LN2 is provided across the road central line DL _R. On the right side of the lane LN2, there is a division line (lane outside the road) DL _RR .

Exterior camera 18 can detect the roadway outside lines DL _L and roadway center line DL _R and and path end _{E RL,} and roadway outside line _{DL RR,} four identification lines. That is, the exterior camera 18 according to the present embodiment has both a function as a lane marking detection unit and a function as a roadside detection unit.

Next, as shown in FIG. 4, lane LN1 which the vehicle 1 is traveling, both sides are defined by the roadway outside line DL _L and roadway center line DL _R. Exterior camera 18 can detect the left lane line outer ends _{E DLL} roadway outside line _{E DL,} and the right lane mark outer ends _{E DLR} roadway center line DL _R, a.

In the present embodiment, as an example, the outer off-road OR _L than the road-edge E _RL has one step higher than the lane LN1, LN2 and roadside by the curb.

In the present embodiment, the left lane mark outer ends _{E DLL} of the imaged road outside line _{E DL} at the vehicle exterior camera 18, and the right lane mark outer ends _{E DLR} roadway center line DL _R, the width of (lane LN1 ) Is the width _WLN . The width _WLN is calculated by the lane width calculator 213 in the control unit 21 based on image information from the camera 18 outside the vehicle compartment, map information from the map information storage 19 and the like.

However, when calculating the width _WLN by the lane width calculating unit 213, it is possible to use only the image information from the camera 18 outside the vehicle compartment or to use only the map information from the map information storage unit 19.

Further, the control unit 21, and image information from the vehicle exterior camera 18, based on the detection results of the radar 15 to 17, and the vehicle left side end _{E VCL} and roadway outside line DL _L and Michitan _{E RL} of the vehicle 1 intervals, calculation is also made possible for the spacing between the vehicle right side end E _VCR and roadway center line DL _R.

3. The steering control method executed by the control unit 21 The steering control method executed by the control unit 21 will be described with reference to FIGS. FIG. 5 is a part of a flowchart showing a steering control method executed by the control unit 21, and FIG. 6 is the remaining part. FIG. 7A is a schematic diagram illustrating a steering control method in the first steering control mode, and FIG. 7B is a schematic diagram illustrating a steering control method in the second steering control mode. FIG. 8A is a schematic diagram illustrating a steering control method in the third steering control mode, and FIG. 8B is a schematic diagram illustrating a steering control method in the fourth steering control mode.

  As shown in FIG. 5, in the steering control, the control unit 21 acquires a detection result (a lane marking detection result, a roadside detection result) from the outside camera 18 (step S1). Although not shown, as described above, in step S1, the detection results by the radars 15 to 17, the map information from the map information storage unit 19, and the like may also be acquired.

Next, the control unit 21, based on the acquired information, such as from the vehicle exterior camera 18 determines whether the vehicle 1 on both sides of the partition lines DL _L, the DL _R are detected (step S2). Control unit 21, when the both sides of the division line _DL L, is DL _R was determined to be detected, it executes the calculation of the width _{W LN} lane LN1 by the lane width calculation section 213 (step S3).

Calculation of the width _{W LN} lane LN1 by the lane width calculating unit 213, as shown in FIG. 7 (a), the right lane lines outside of the left lane line DL left lane line outer end _{E DLL} and right separation lines of the _L DL _R The width between the end E _DLR is determined by analyzing the acquired image information.

Returning to FIG. 5, the control unit 21 determines whether the calculated width W _LN is equal to or larger than a preset threshold (predetermined width) W _TH (step S4). Here, the threshold value W _TH is a value set within a range of, for example, 3.5 m to 4.2 m, and is set to 3.5 m in the present embodiment as an example.

If the control unit 21 determines in step S4 that the width _WLN is equal to or larger than the threshold value _WTH (step S4: Yes), the control unit 21 sets the first steering control mode for the steering actuator 14 (step S5). ).

On the other hand, if the control unit 21 determines in step S4 that the width W _LN is smaller than the threshold value W _TH (step S4: No), the control unit 21 instructs the steering actuator 14 to prohibit the application of the steering torque. Is issued (step S6).

As shown in FIG. 7 (a), in the first steering control mode to be set in step S5, the right lane line outer ends of the left lane mark DL _L left lane line outer ends _{E DLL} and right lane lines DL _R of _{E DLR} The steering actuator 14 is instructed to prepare for applying a steering torque (steering force) based on the first steering characteristics CH1 _L and CH1 _R based on the respective conditions.

The first steering characteristic CH1 _L is a characteristic of the steering torque set to the left (road end side) from the left end of the left lane marking line _{DLL L} as a base point. Specifically, the first steering characteristic CH1 _L includes a torque increasing section L1 for increasing the range of from the left lane line outer ends _{E DLL} to a point P1 _L to the first torque value TO1, left (road than point P1 _L And a torque maintaining portion L2 that maintains the first torque value TO1 in the range of (end side).

Similarly, the second steering characteristic CH1 _R is a base point to the right lane line outer ends E _DLR of the right lane line DL _R, is a characteristic of the steering torque set toward the right side (opposite lane side). More specifically, the first steering characteristic CH1 _R has a torque increasing portion L3 that gradually increases to the first torque value TO1 in a range from the right end lane _marking outer end E _DLR to the point P1 _R, and a right side (opposing) to the point P1 _R. (A lane side) in a range where the first torque value TO1 is maintained.

The first steering torque applying unit 211 of the control unit 21, once the vehicle left side end _{E VCL} of the vehicle 1 begins to deviate to the left lane line outer ends _{E DLL} left lane mark DL _L, first steering the steering actuator 14 issues an instruction to impart steering torque based on characteristics CH1 _L, If the vehicle right side end _{E VCR} of the vehicle 1 begins to deviate to the right lane line outer ends _{E DLR} of the right lane line DL _R, the steering actuator 14 issues a command to apply a steering torque based on the first steering characteristic CH1 _R.

In the present embodiment, the upper limit value (first torque value) TO1 of the applied steering torque is the same in the first steering characteristics CH1 _L and CH1 _R , but is different between the road end side and the oncoming lane side. It is also possible to set as follows.

As a result of the determination in step S4, the control unit 21 issues a command to prohibit the application of the steering torque in step S6 because the width W _{LN of the} lane LN1 is narrow, and the steering assist control is frequently performed when the steering assist control is performed in this state. The assist control is intervened, and the driver does not need to perform the steering assist control in order to make the driver feel troublesome and uncomfortable.

Returning to FIG. 5, when the control unit 21 determines that the lane markings on both sides are not detected in step S2 (step S2: No), next, it is determined whether the left lane marking _DLL is detected. Is determined (step S7). When the control unit 21 determines that the right lane marking DL _R has not been detected and the left lane marking DLL _L has been detected (step S7: Yes), the width of the lane LN1 by the lane width calculator 213 is determined. The calculation of _WLN is executed (step S8).

Calculation of the width _{W LN} lane width calculation unit 213 lane LN1 in step S8, as shown in FIG. 7 (b), between the left lane mark outer end _{E DLL} and right channel end _{E RR} of the left lane mark DL _L Is determined by analyzing the acquired image information.

Returning to FIG. 5, the control unit 21 determines whether the calculated width W _LN is equal to or larger than a predetermined threshold (predetermined width) W _TH (step S9). If the control unit 21 determines in step S9 that the width W _LN is equal to or larger than the threshold value W _TH (step S9: Yes), the control unit 21 sets the second steering control mode for the steering actuator 14 (step S9). Step S10).

On the other hand, if the control unit 21 determines in step S9 that the width W _LN is less than the threshold value W _TH (step S9: No), the control unit 21 instructs the steering actuator 14 to prohibit the application of the steering torque. Is issued (step S11).

Although not shown in FIG. 5, when calculating the lane width _{WLN in} step S8, if the right road end is not detected, the control unit 21 sets the steering actuator 14 to the steering torque. Issue a command to prohibit the grant.

As shown in FIG. 7 (b), in the second steering control mode set in step S10, the steering torque based on the first steering characteristic CH1 _L relative to the left lane line outer ends _{E DLL} left lane mark DL _L Preparing and applying, it instructs preparation and the application of the steering torque based on the second steering characteristic CH2 _R (steering force), the relative steering actuator 14 based on the right path end E _RR.

The second steering characteristic CH2 _R, the base point position P2 _R also set inside (the inside of the lane LN1) from the right channel end E _RR, the characteristic of the set steering torque toward the right side (opposite lane side) is there. Specifically, the second steering characteristic CH2 _R includes a torque increasing section L5 that gradually increases from the point P2 _R to a second torque value TO2 in the range up to the right path end _{E RR,} right (road than the right road edge _{E RR} A torque maintaining unit L6 for maintaining the second torque value TO2 in the range of the outer OR _R side).

  Here, the second torque value TO2 is set to a value larger than the first torque value TO1.

The first steering torque applying unit 211 of the control unit 21, once the vehicle left side end _{E VCL} of the vehicle 1 begins to deviate to the left lane line outer ends _{E DLL} left lane mark DL _L, first steering the steering actuator 14 issues an instruction to impart steering torque based on characteristics CH1 _L, If the vehicle right side end _{E VCR} of the vehicle 1 begins to deviate from the position P2 _R, the steering torque based on the second steering characteristic CH2 _R relative to the steering actuator 14 Issue a command to give

Also in step S11, the command to prohibit the application of the steering torque is issued because the width W _{LN of the} lane LN1 is narrow, and if the steering assist control is executed in this state, the driver is troublesome if frequent steering assist control intervenes. This is because it will make you feel uncomfortable.

As shown in FIG. 6, the control unit 21, if the left lane line is determined not to be detected in step S7 (Step S7: No), then either the right lane line DL _R is detected whether Is determined (step S12). When the control unit 21 determines that the left lane marking DL _L has not been detected and the right lane marking DL _R has been detected (step S12: Yes), the width of the lane LN1 by the lane width calculator 213 is determined. The calculation of _WLN is executed (step S13).

Calculation of the width _{W LN} lane LN1 by the lane width calculating unit 213 at step S13, as shown in FIG. 8 (a), the right lane mark outer ends _{E DLR} left channel end _{E RL} and right lane lines DL _R The width between them is determined by analyzing the acquired image information.

Returning to FIG. 6, the control unit 21 determines whether or not the calculated width W _LN is equal to or larger than a preset threshold (predetermined width) W _TH (step S14). If the control unit 21 determines in step S14 that the width W _LN is equal to or larger than the threshold value W _TH (step S14: Yes), the control unit 21 sets the third steering control mode for the steering actuator 14 (step S14). Step S15).

On the other hand, if the control unit 21 determines in step S14 that the width W _LN is smaller than the threshold value W _TH (step S14: No), the control unit 21 instructs the steering actuator 14 to prohibit the application of the steering torque. Is issued (step S16).

Although not shown in FIG. 6, the control unit 21 sets the steering actuator 14 to the steering torque when the left road end is not detected in the calculation of the lane width _{WLN in} step S13. Issue a command to prohibit the grant.

As shown in FIG. 8A, in the third steering control mode set in step S15, preparation for applying a steering torque (steering force) based on the second steering characteristic CH2 _L based on the left road end _ERL is performed. instructs preparation and the application of the steering torque based on the first steering characteristic CH1 _R relative to the right lane line outer ends _{E DLR} of the right lane line DL _R, against the steering actuator 14.

Second steering characteristic CH2 _L is (lane LN1 inner) left path end _E inward from _RL to base point position P2 _L set to the left (off-street OR _L side) set towards been steering torque It is a characteristic. Specifically, the second steering characteristic CH2 _L is a torque increase unit L7 gradually increasing from the point P2 _L in a range of up to left channel terminal _{E RL} to a second torque value TO2, left (road than the left road edge _{E RL} A torque maintaining unit L8 that maintains the second torque value TO2 in the range of the outer OR _L side).

The second steering torque applying unit 212 of the control unit 21 _{applies the} steering torque based on the second steering characteristic CH2 _L to the steering actuator 14 when the vehicle left end _EVCL of the vehicle 1 starts to deviate from the point P2 _L. the command issued to the first steering torque applying unit 211, when the vehicle right side end _{E VCR} of the vehicle 1 begins to deviate to the right lane line outer ends _{E DLR} of the right lane line DL _R, the relative steering actuator 14 1 issues a command to apply a steering torque based on the steering characteristic CH1 _R.

Also emanate the instruction to prohibit the application of steering torque in step S16, since the narrow width W _LN lane LN1, troublesome Ya to the driver frequent steering assist control when executing a steering assist control in the state intervenes This is because it will make you feel uncomfortable.

Returning to FIG. 6, when the control unit 21 determines that the right lane marking is not detected in step S12 (step S12: No), the road ends E _RL and E _{RR on} both sides are detected next. It is determined whether or not it has been performed (step S17). Control unit 21, in the case where both sides of the road-edge _{E RL, E RR} is determined to have been detected (step S17: Yes), executes the calculation of the width _{W LN} lane LN1 by the lane width calculation section 213 ( Step S18).

The calculation of the width _{W LN} lane LN1 by the lane width calculating unit 213 at step S18, as shown in FIG. 8 (b), the width between the left channel end _{E RL} and a right channel end _{E RR,} acquired image Analyze the information.

Returning to FIG. 6, the control unit 21 determines whether the calculated width W _LN is equal to or larger than a preset threshold (predetermined width) W _TH (step S19). If the control unit 21 determines in step S19 that the width W _LN is equal to or larger than the threshold value W _TH (step S19: Yes), the control unit 21 sets the fourth steering control mode for the steering actuator 14 (step S19). Step S20).

On the other hand, if the control unit 21 determines in step S19 that the width W _LN is less than the threshold value W _TH (step S19: No), the control unit 21 instructs the steering actuator 14 to prohibit the application of the steering torque. Is issued (step S21). The control unit 21 also issues a command to the steering actuator 14 to prohibit the application of the steering torque even when it is determined in step S17 that the road edges on both sides are not detected (step S17: No) (step S17: No). Step S21).

As shown in FIG. 8B, in the fourth steering control mode set in step S20, preparation for applying a steering torque (steering force) based on the second steering characteristic CH2 _L based on the left road end _ERL is performed. instructs preparation and the application of the steering torque based on the second steering characteristic CH2 _R, based on the right path end E _RR (steering force), the relative steering actuator 14. The second steering characteristics CH2 _L and CH2 _R are the same as described above.

The second steering torque applying unit 212 of the control unit 21 _{applies the} steering torque based on the second steering characteristic CH2 _L to the steering actuator 14 when the vehicle left end _EVCL of the vehicle 1 starts to deviate from the point P2 _L. the command issued to, when the vehicle right side end E _VCR of the vehicle 1 begins to deviate from the position P2 _R, issues a command so as to impart steering torque based on the second steering characteristic CH2 _R relative to the steering actuator 14.

The command to prohibit the application of the steering torque in step S21 is also issued because the width W _{LN of the} lane LN1 is narrow, and if the steering assist control is executed in this state, frequent steering assist control may interfere with the driver. This is because it will make you feel uncomfortable.

[Modification 1]
A steering control method for a vehicle according to Modification Example 1 will be described with reference to FIG. FIG. 9 is a schematic diagram illustrating a steering control method according to the first modification.

In the steering control method according to the above-described embodiment, the application of the steering torque based on the first steering characteristics CH1 _L and CH1 _R or the provision of the steering torque based on the second steering characteristics CH2 _L and CH2 _R on one side of the vehicle. However, in this modification, as shown in FIG. 9, the application of the steering torque based on the first steering characteristic CH1 _L and the application of the second steering characteristic CH2 are performed on one side of the vehicle as shown in FIG. _L and the application of the steering torque based on _L.

Specifically, as shown in FIG. 9, in the steering control according to the present modification, the first steering characteristic in the range up to the left lane line outer ends of the left lane mark DL _L E _DLL and places (characteristic switching換箇plants) P3 The setting of the application of the steering torque based on CH1 _{L is performed,} and the setting of the application of the steering torque based on the second steering characteristic CH2 _L is performed on the left side (outside of the road OR _L ) from the characteristic switching point P3.

The first steering characteristic CH1 _L and the second steering characteristic CH2 _L are as described above. Furthermore, positioning of the characteristic switching換箇plant P3 in the width direction of the vehicle, may be the interval for the road-edge E _RL is set to be constant, the left lane mark outer ends of the left lane mark DL _L E _DLL It may be set according to the interval between the roadside ERL and the roadside ERL.

  Although FIG. 9 shows only the left side of the vehicle, the same applies to the right side of the vehicle.

  In the steering control method according to the present modification, no steering force is applied in a range where the vehicle 1 is traveling in the lane LN1, and unnecessary intervention of control is prevented, and the driver feels uncomfortable or troublesome. It is difficult to remember and stress during driving.

Further, in the steering control method according to the present modification, a steering torque based on the first steering characteristic CH1 _L is first applied from the side of the roadway outside line E _{DLL to} the side of the off-road OR _L , and then the second steering is performed. since the steering torque based on the characteristic CH2 _L is decided to grant, it is possible to ensure high safety intervention control with minimal according to the deviation degree of the vehicle 1.

[Modification 2]
A steering control method according to Modification 2 will be described with reference to FIG. 10A and 10B are schematic diagrams for explaining a steering control method according to Modification Example 2. FIG. 10A illustrates a state where an oncoming vehicle is not detected, and FIG. 10B illustrates a state where an oncoming vehicle is detected. Each state is shown.

As shown in FIGS. 10A and 10B, the host vehicle (vehicle) 1 is traveling on the lane LN. The left and right lanes LN are defined by a left lane marking DL _L and a right lane marking DL _R. In the vehicle 1, the left-side lane marking line DL _L and the right-side lane marking line DL _R are detected by the exterior camera 18.

In this modified example, in the vehicle width direction of the vehicle 1, the distance between the right lane mark outer ends of the left lane mark DL _L left lane line outer end _{E DLL} and right lane lines DL _R of _{E DLR} (the width of the lane LN) is , Width W _LN . The width _WLN is calculated by the lane width calculator 213 based on the detected imaging result, as in the above embodiment.

Here, in this modified example, it is assumed that the width W _LN is smaller than the threshold value W _TH . In this case, in the steering control method according to the above-described embodiment, the application of the steering torque is prohibited in step S6 of FIG. 5, but in this modification, the steering torque is not changed in the state shown in FIG. And the application of the steering torque is prohibited in the state shown in FIG.

Specifically, in the state as shown in FIG. 10 (a), the vehicle 1 is traveling in the direction of the arrow C _1, the oncoming vehicle is not detected. The oncoming vehicle is detected by the camera 18 outside the vehicle compartment, the radar 15, and the like. That is, the outside camera 18 and the radar 15 function as an oncoming vehicle detection unit.

Meanwhile, in the state shown in FIG. 10 (b), the vehicle 1 is traveling in the direction of arrow C _2, traveling in the direction of arrow C ₃ in the opposite direction to the oncoming vehicle 500 is the vehicle 1 from the front I have.

In the steering control method according to the present modification, even if the width W _{LN of the} lane LN is smaller than the threshold value W _TH , as shown in FIG. Make settings.

On the other hand, if the width W _{LN of the} lane LN is smaller than the threshold value W _TH and the oncoming vehicle 500 is detected as shown in FIG. .

In the present modification, the steering control method as described above is executed. Therefore, in a case where the oncoming vehicle cannot be detected even in the narrow lane LN of the width W _LN , the intervention of the steering assist is permitted. Also, since the steering control is performed based on the fact that the driver is unlikely to feel troublesome and uncomfortable, it is possible to obtain the effects of ensuring safety and suppressing the troublesomeness and uncomfortable feeling of the driver.

  On the other hand, when the oncoming vehicle 500 is detected, the intervention of the steering assist is prohibited, so that it is possible to secure a high level of safety while suppressing the driver from feeling troublesome or uncomfortable.

[Other Modifications]
In the above embodiment, the detected lane mark _{DL L, DL R, DL RR} and Michitan _{E RL,} in relation to the _{E RR,} alarm 20 and the brake 7l, 7r, 9l, the operation of the 9r is specifically mentioned did not, partition lines _{DL L, DL R, DL RR} and Michitan _{E RL,} in relation to the _{E RR,} alarm 20 and the brake 7l, 7r, 9l, it is also possible to operate the 9r. For example, when the vehicle deviates from the lane marking or approaches a roadside, the control unit may issue a command to an alarm or a brake to issue an alarm or reduce the vehicle speed. Thereby, higher security can be ensured.

  Further, in the above embodiment, the definition of the characteristic switching point P3 in FIG. 9 can be changed according to the speed of the host vehicle 1.

In the above-described embodiment and the first modification, the second steering characteristics CH2 _L and CH2 _R also have the torque maintaining units L6 and L8, but this is not essential. For example, when the left end of the vehicle comes into contact with or exceeds the left road end, or when the right end of the vehicle reaches the position in contact with the right road end, or when the vehicle goes beyond the position. In this case, the vehicle may be stopped without applying the steering torque.

  Further, in the above embodiment and Modifications 1 and 2, the exterior camera 18 has both the function as the lane marking detection unit, the function as the roadside detection unit, and the function as the oncoming vehicle detection unit. Is not limited to this. For example, it is also possible to configure so that each function of the lane marking detection unit, the roadside detection unit, and the oncoming vehicle detection unit is performed by separate devices. In this case, in addition to the camera, a radar, an infrared laser, a map information storage unit, or the like may be employed.

  In the above embodiment and Modifications 1 and 2, the engine 2 is adopted as the power source of the vehicle 1, but the present invention is not limited to this. For example, the present invention can be applied to a case where an electric motor is used as a drive source.

  Further, in the above embodiment, the case where the vehicle 1 is traveling in the left lane LN1 is assumed, but the present invention is not limited to this. For example, the present invention can be applied to the case of right-hand traffic. In this case, it is possible to select whether to permit or prohibit the application of the steering torque based on the detection of the right lane marking, the road edge on the further right side, and the left lane marking. It is possible.

1 vehicle 14 steering actuator (steering force generator)
15-17 radar (oncoming vehicle detection unit)
18 Outside camera (compartment line detector, roadside detector, oncoming vehicle detector)
19 map information storage unit 21 control unit (vehicle control unit)
211 first steering torque applying unit 212 second steering torque applying unit 213 lane width calculating unit DL _L, DL _R demarcation line E _{RL, E RR} path end LN, LN1, LN2 lane OR _L, the OR _R off-road W _LN lane width

Claims (10)

A vehicle control device that can apply a steering force to the vehicle to suppress the vehicle from deviating off the road according to a traveling situation,
A steering force generation unit that generates the steering force on the vehicle;
On the side of the vehicle, a lane marking detection unit that detects a lane marking extending along the traveling direction of the vehicle,
A lane width calculating unit that calculates the width of the lane in which the vehicle travels using the detection result from the lane line detecting unit, and based on the lane width calculated by the lane width calculating unit, A vehicle control unit that selectively instructs the steering force generation unit to permit or prohibit the application of the steering force,
With
The vehicle control unit includes:
When it is determined that the calculated width of the lane is equal to or larger than a predetermined width, a preparation for applying the steering force to the steering force generator is prepared, and the vehicle moves the lane marking. When it is determined that deviated, to issue a command to permit to apply the steering force to the steering force generation unit,
When it is determined that the width of the lane is smaller than the predetermined width, a command is issued to the steering force generator to prohibit the application of the steering force.
Vehicle control device. The vehicle control device according to claim 1,
A roadside detection unit that detects a roadside extending along a traveling direction of the vehicle on a side of the vehicle, further comprising:
The lane width calculation unit, in the calculation of the lane width, also uses the detection result from the road edge detection unit, the lane marking is not detected on one side of the vehicle, and When the road edge is detected and the lane marking is detected on the other side of the vehicle, the road edge on the one side and the lane marking on the other side are Calculate lane width,
Vehicle control device. The vehicle control device according to claim 2,
The lane width calculating unit is configured to detect the lane markings on both sides of the one side and the other side of the vehicle, and to detect the roadside on the both sides of the vehicle. Calculating the width of the lane at the side of the road and the side of the other side,
Vehicle control device. The vehicle control device according to any one of claims 1 to 3,
A map information storage unit that stores map information including a width of the lane in which the vehicle travels,
The lane width calculation unit calculates the width of the lane in which the vehicle travels using information on the width of the lane from the map information storage unit,
Vehicle control device. A vehicle control device that can apply a steering force to the vehicle to suppress the vehicle from deviating off the road according to a traveling situation,
A steering force generation unit that generates the steering force on the vehicle;
On the side of the vehicle, a lane marking detection unit that detects a lane marking extending along the traveling direction of the vehicle,
An oncoming vehicle detection unit that detects the presence or absence of an oncoming vehicle traveling in a direction facing the vehicle in a lane in which the vehicle travels;
A lane width calculation unit that calculates the width of the lane in which the vehicle travels using the detection result from the lane line detection unit, and the lane width calculated by the lane width calculation unit and the oncoming vehicle detection unit A vehicle control unit that selectively instructs the steering force generation unit to permit or prohibit the application of the steering force to the vehicle, based on the detection result of
With
The vehicle control unit includes:
When it is determined that the calculated width of the lane is equal to or larger than a predetermined width, a preparation for applying the steering force to the steering force generator is prepared, and the vehicle moves the lane marking. When it is determined that deviated, issues a command to permit the steering force generation unit to apply the steering force,
When it is determined that the width of the lane is smaller than the predetermined width, and when it is determined that the oncoming vehicle does not exist, preparation for applying the steering force to the steering force generation unit is prepared, and the vehicle When it is determined that the vehicle deviates from the lane marking, a command is issued to the steering force generator to permit the steering force to be applied,
When it is determined that the width of the lane is smaller than the predetermined width, and when it is determined that the oncoming vehicle is present, a command to prohibit the application of the steering force to the steering force generation unit is issued. Emit,
Vehicle control device. A vehicle control method capable of applying a steering force to the vehicle to suppress the vehicle from deviating off the road according to a traveling situation,
A steering force generating step of generating the steering force on the vehicle;
A lane marking detection step for detecting a lane marking extending along the traveling direction of the vehicle on the side of the vehicle,
Using a lane width calculation sub-step to calculate the width of the lane in which the vehicle travels using the result detected in the lane line detection step, based on the lane width calculated in the lane width calculation sub-step, A determining step of determining whether to permit or prohibit the application of the steering force to the vehicle;
With
In the determining step,
When it is determined that the calculated width of the lane is equal to or larger than a predetermined width, a preparation for applying the steering force in the steering force generation step is prepared, and the vehicle deviates from the lane marking. When it is determined that the steering force has been applied, the application of the steering force in the steering force generation step is permitted,
When it is determined that the width of the lane is smaller than the predetermined width, the application of the steering force in the steering force generation step is prohibited.
Vehicle control method. The vehicle control method according to claim 6,
A roadside detection step of detecting a roadside extending along a traveling direction of the vehicle on a side of the vehicle, further comprising:
In the lane width calculation sub-step, in the calculation of the lane width, the detection result detected in the road end detection step is also used, and the lane marking is not detected on one side of the vehicle. And when the road edge is detected and the lane marking is detected on the other side of the vehicle, the lane marking on the one side and the lane marking on the other side are provided. Calculate the width of the lane with
Vehicle control method. The vehicle control method according to claim 7,
In the lane width calculation sub-step, if the lane marking is not detected on both sides of the one side and the other side of the vehicle, and the roadside is detected on both sides of the vehicle, Calculating the width of the lane at the roadside on one side and the roadside on the other side,
Vehicle control method. In the vehicle control method according to any one of claims 6 to 8,
Further comprising a map information acquisition step of acquiring map information including information on the lane on which the vehicle travels,
In the lane width calculation sub-step, the width of the lane in which the vehicle travels is also calculated using information on the width of the lane obtained in the map information obtaining step,
Vehicle control method. A vehicle control method capable of applying a steering force to the vehicle to suppress the vehicle from deviating off the road according to a traveling situation,
A steering force generating step of generating the steering force on the vehicle;
A lane marking detection step for detecting a lane marking extending along the traveling direction of the vehicle on the side of the vehicle,
An oncoming vehicle detection step of detecting the presence or absence of an oncoming vehicle traveling in a direction facing the vehicle in a lane in which the vehicle travels;
A lane width calculating sub-step for calculating the width of the lane in which the vehicle travels using the result detected in the lane line detecting step, and the lane width calculated in the lane width calculating sub-step and the facing A determination step of determining whether to permit or prohibit the application of the steering force to the vehicle based on a result detected in the vehicle detection step;
With
In the determining step,
When it is determined that the calculated width of the lane is equal to or larger than a predetermined width, a preparation for applying the steering force in the steering force generation step is prepared, and the vehicle deviates from the lane marking. When it is determined that the steering force has been applied, the application of the steering force in the steering force generation step is permitted,
When it is determined that the width of the lane is smaller than the predetermined width, and when it is determined that the oncoming vehicle does not exist, preparation for applying the steering force in the steering force generation step is prepared, and When it is determined that the vehicle deviates from the lane marking, the application of the steering force in the steering force generation step is permitted,
When it is determined that the lane width is smaller than the predetermined width, and when it is determined that the oncoming vehicle is present, the application of the steering force in the steering force generation step is prohibited.
Vehicle control method.

Images