JP2020001598A - Vehicle control device and vehicle control method - Google Patents

Abstract

To provide a vehicle control device and a vehicle control method that are less likely to make a driver to experience inconvenience, discomfort, and stress while preventing accidents by hindering deviation from a road regardless of a vehicle speed.SOLUTION: In a case where it is determined that the vehicle speed of a vehicle falls within a predetermined speed range, a control unit commands a steering actuator to apply steering torque based on a first steering characteristic CH 1 to the vehicle in a region between the outer edge Eof the outside line DLof a road and a position P1, and apply steering torque based on a second steering characteristic CH2 to the vehicle in a region between the position P1 and a road edge E. Meanwhile, in a case where it is determined that the vehicle speed of the vehicle falls outside the predetermined speed range, the control unit commands the steering actuator to apply steering torque based on the first steering characteristic CH1 to the vehicle in the entire area of a road side belt between the outer edge Eof the outside line DLof the road and the road edge E.SELECTED DRAWING: Figure 5

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, an on-board camera detects an outside roadway (compartment line) and a roadside, and according to the width between the outside roadway and the roadside, the inside of the outside roadway (the lane side). ) Is set to the start position of applying the steering force.

  According to the technology disclosed in Patent Document 1, when a vehicle approaches a lane outside line, a steering force for returning the vehicle to the inside of the lane is applied, so that the vehicle moves to a road end side from the lane outside line. Deviation can be suppressed.

JP 2017-174017 A

  However, according to the technology disclosed in Patent Document 1, when the vehicle approaches the road outside the road, a constant steering force is applied regardless of the vehicle speed without considering the traveling speed (vehicle speed) of the vehicle. Therefore, it may cause the driver to feel troublesome or uncomfortable and give a strong stress. That is, in the city area where the vehicle speed is relatively slow and the highway where the vehicle speed is relatively fast, even when the same steering force is applied, the annoyance and uncomfortable feeling of the driver are different.

  For example, in a situation where the vehicle is traveling on a highway at a high speed, the driver does not want to apply a very strong steering force, and when the same steering force as in a city area is applied, the driver does not want to apply the strong steering force. You will feel annoying and uncomfortable.

  SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem, and prevents an accident by preventing the vehicle from deviating outside the road regardless of the vehicle speed. It is an object of the present invention to provide a vehicle control device and a vehicle control method that are difficult to memorize and hardly give stress.

  A vehicle control device according to one aspect of the present invention is a vehicle control device that applies a steering force to the vehicle to suppress the vehicle from deviating off the road, according to a driving situation, A steering force generation unit that generates the steering force; a lane marking detection unit that detects a lane marking that extends along the traveling direction of the vehicle on one side of the vehicle; A road end detection unit that detects a road end that is adjacent to the outside of the vehicle with respect to the lane marking and extends along the traveling direction; a vehicle speed detection unit that detects a vehicle speed of the vehicle; A detection unit, the roadside detection unit, and the vehicle speed detection unit sequentially obtain each detection result, and instruct the steering force generation unit to apply the steering force to the vehicle based on the obtained detection result. And a vehicle control unit that performs the first A first steering force application unit that instructs the steering force generation unit to apply a first steering force that is the steering force based on a steering characteristic, and a second steering characteristic based on a second steering characteristic different from the first steering characteristic. A second steering force application unit that instructs the steering force generation unit to apply a second steering force that is the steering force that is greater than the first steering force, wherein the vehicle speed is within a predetermined speed range. Determining, applying the first steering force to the vehicle when the side end of the vehicle is located in a range from the lane marking to a predetermined location between the lane marking and the roadside, and from the predetermined location A first steering control for applying the second steering force to the vehicle when the side end of the vehicle is located in a range up to the road end; and determining that the vehicle speed is outside the predetermined speed range; When the vehicle is located in a range from a line to the roadside, the first A second steering control to impart steering force to the vehicle, the selectively executed.

  In the vehicle control device according to the above aspect, in the first steering control when the vehicle speed is within the predetermined speed range, the first steering force and the second steering force are switched and applied in accordance with the vehicle width direction position of the vehicle. On the other hand, in the second steering control when the vehicle speed is in the predetermined speed range, a relatively small first steering force is applied over the entire roadside zone. Therefore, in the vehicle control device according to the above aspect, since a large steering force (the second steering force) is not applied when the vehicle speed of the vehicle is high, the vehicle does not perform steering assist against the driver's intention while driving, It is possible to suppress the driver from feeling annoying or uncomfortable.

  Further, in the vehicle control device according to the above aspect, when the vehicle deviates from the lane marking, the vehicle control unit selectively executes the first steering control or the second steering control, thereby causing the vehicle to enter the lane (lane). It is possible to return to. Therefore, in the above aspect, it is possible to secure safety while suppressing the driver from feeling annoying or uncomfortable.

  Therefore, in the vehicle control device according to the above aspect, it is difficult for the driver to feel annoying or uncomfortable, and it is difficult to apply stress while preventing the accident from occurring by suppressing the deviation to the outside of the road regardless of the vehicle speed.

  In the vehicle control device according to the above aspect, in the case where the vehicle control unit executes the first steering control, the second steering force applying unit relatively reduces the second steering force as the vehicle speed increases. Then, the steering force generation unit may be instructed.

  In the vehicle control device adopting the above configuration, even when the vehicle control unit executes the first steering control, the second steering force based on the constant steering characteristic is not applied to the vehicle, but the above-described operation is performed according to the vehicle speed. As described above, the second steering force of which the strength of the steering force is changed is applied to the vehicle, so that it is possible to more reliably suppress the driver from feeling bothered and uncomfortable.

  In the vehicle control device according to the above aspect, in the case where the vehicle control unit executes the first steering control, the first steering force applying unit may be configured to perform the first steering control based on the constant first steering characteristic regardless of the vehicle speed. The steering force generation unit may be instructed to apply one steering force.

  In the vehicle control device, the first steering characteristic is constant regardless of the vehicle speed. Therefore, the minimum steering force applied when the vehicle deviates from the lane marking is ensured, and the safety of the vehicle is ensured. It is more suitable for

  The vehicle control device according to the above aspect further includes a traveling environment detection unit that detects a traveling environment of a lane in which the vehicle travels, wherein the vehicle control unit selectively switches between the first steering control and the second steering control. In such a case, the detection result from the driving environment detection unit may be used.

  In the vehicle control device, the first steering control and the second steering control are selected using not only the actual vehicle speed of the own vehicle but also the traveling environment of the lane (lane) in which the own vehicle is traveling. As a result, it is possible to ensure a higher level of safety while suppressing the driver from feeling bothersome and uncomfortable.

  In the vehicle control device according to the above aspect, the traveling environment detection unit may detect, as the traveling environment, a speed limit of a speed limit sign provided for the lane.

  In the above-described vehicle control device, the speed limit read from the speed limit sign is adopted as an example of the traveling environment, and thus is suitable from the viewpoint of ensuring safety.

  A vehicle control method according to one aspect of the present invention is a vehicle control method that applies a steering force to the vehicle to suppress the vehicle from deviating off the road in accordance with a driving situation, wherein one of the vehicle A lane marking detection step of detecting a lane marking extending along the traveling direction of the vehicle on the side of the side, and the one side, which is adjacent to the outside of the vehicle than the lane marking, and A road end detecting step of detecting a road end extending along the traveling direction, a vehicle speed detecting step of detecting a vehicle speed of the vehicle, the lane marking detecting step, the road end detecting step, and the vehicle speed detecting step. A steering force applying step capable of applying the steering force to the vehicle based on each detection result, wherein the steering force applying step includes the step of: providing a first steering force that is the steering force based on a first steering characteristic. First to grant A steering force applying sub-step, and a second steering force applying sub-step of applying a second steering force that is the steering force greater than the first steering force based on a second steering characteristic different from the first steering characteristic. It is determined that the vehicle speed is within a predetermined speed range, and when the side edge of the vehicle is located in a range from the lane marking to a predetermined location between the lane marking and the roadside, the second 1st steering control for applying 1 steering force to the vehicle, and applying the second steering force to the vehicle when the side end of the vehicle is located in a range from the predetermined location to the roadside; And a second steering control for applying the first steering force to the vehicle when the vehicle speed is outside the predetermined speed range and the vehicle is located in a range from the lane marking to the roadside. To run.

  In the vehicle control method according to the above aspect, in the first steering control when the vehicle speed is within the predetermined speed range, the first steering force and the second steering force are switched and applied according to the vehicle width direction position of the vehicle. On the other hand, in the second steering control when the vehicle speed is in the predetermined speed range, a relatively small first steering force is applied over the entire roadside zone. Accordingly, in the vehicle control method according to the above aspect, since a large steering force (second steering force) is not applied when the vehicle speed of the vehicle is high, steering assist that is contrary to the driver's intention during driving is not performed. It is possible to suppress the driver from feeling annoying or uncomfortable.

  Further, in the vehicle control method according to the above aspect, when the vehicle deviates from the lane marking, the vehicle control unit selectively executes the first steering control or the second steering control, thereby moving the vehicle to the lane (lane). It is possible to return to. Therefore, in the above aspect, it is possible to secure safety while suppressing the driver from feeling annoying or uncomfortable.

  Therefore, in the vehicle control method according to the above aspect, it is difficult for the driver to feel annoying or uncomfortable and hard to apply stress while preventing an accident from occurring by suppressing deviation to the outside of the road regardless of the vehicle speed.

  In the vehicle control method according to the above aspect, in the case where the first steering control is performed in the steering force applying step, the second steering force in the second steering force applying sub-step may be set to a relative value as the vehicle speed increases. Can be made smaller.

  In the above-described vehicle control method, even when the vehicle control unit executes the first steering control, the second steering force based on the constant steering characteristic is not applied to the vehicle, but the steering force is changed as described above according to the vehicle speed. Is applied to the vehicle, so that it is possible to more reliably suppress the driver from feeling bothered and uncomfortable.

  In the vehicle control method according to the above aspect, when the first steering control is performed in the steering force applying step, the first steering force in the first steering force applying sub-step is set to be constant regardless of the vehicle speed. It may be set based on the first steering characteristic.

  In the above vehicle control method, since the first steering characteristic is constant regardless of the vehicle speed, the minimum steering force applied when the vehicle deviates from the lane marking is secured, and the safety of the vehicle is secured. It is more suitable for

  The vehicle control method according to the above aspect further includes a traveling environment detecting step of detecting a traveling environment of a lane in which the vehicle travels, and in the steering force applying step, selecting between the first steering control and the second steering control. When performing the actual execution, the result related to the traveling environment detected in the traveling environment detecting step may be used.

  In the above-described vehicle control method, the selection between the first steering control and the second steering control is performed using not only the actual vehicle speed of the own vehicle but also a detection result regarding a traveling environment of a lane (lane) in which the own vehicle is running. Since the operation is performed, it is possible to secure a higher level of safety while suppressing the driver from feeling bothersome and uncomfortable.

  In the vehicle control method according to the above aspect, in the traveling environment detecting step, a speed limit of a speed limit sign provided for the lane may be detected as the traveling environment.

  In the above-described vehicle control method, the speed limit read from the speed limit sign is adopted as an example of the traveling environment, and thus is preferable from the viewpoint of ensuring safety.

  In each of the above aspects, it is difficult for the driver to feel troublesome and uncomfortable and to give stress while preventing accidents from occurring by suppressing deviation from the road irrespective of the vehicle speed.

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. 5 is a flowchart illustrating a steering control method executed by the control unit. FIG. 4 is a schematic diagram illustrating a relationship between a lane marking and a roadside position and an applied steering torque when a first steering control mode is set. It is a schematic diagram which shows the relationship between the position of a lane marking and a roadside, and the applied steering torque when the 2nd steering control mode is set. (A) is a schematic diagram showing a state in which a vehicle has begun to deviate to a roadside zone beyond a lane marking, and (b) is a schematic diagram showing a state in which the vehicle has deviated further from the roadside zone to a roadside. FIG. 5 is a flowchart illustrating a method of setting a second steering torque value performed when the control unit executes a first steering control mode. FIG. 4 is a schematic diagram illustrating a reference table stored in a table storage unit. FIG. 5 is a schematic diagram illustrating a second steering torque value set according to a vehicle speed of a host vehicle. 9 is a flowchart illustrating a method of setting a second steering torque value performed when a control unit executes a first steering control mode in steering control according to a modification.

  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.

  In the drawings used in the following description, “Fr” is in front of the own vehicle (traveling direction), “Re” is behind the own vehicle, “Le” is left of the own vehicle, and “Ri” is right of the own vehicle. Indicate the direction.

[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 host vehicle (vehicle 1) and detecting a relative speed and a relative distance between the vehicle 1 and the surrounding vehicles.

  The outside camera 18 detects a lane marking and a road edge in front of the vehicle 1, and further detects a sign provided on a lane (lane) in which the host vehicle 1 runs. That is, in the vehicle 1 according to the present embodiment, the lane marking detecting units (lane road outer line detecting unit, lane center line detecting unit) which detect lane markings on both sides of the traveling lane (outside lane line, lane center line, etc.) Yes, it is a roadside detecting unit that detects a roadside located outside the lane marking, and a driving environment detecting unit that detects a driving environment including a sign.

  Further, 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.

  Note that the map information storage unit 19 may have a function of communicating with a server provided externally, and sequentially communicate with the server to relate to road information, a driving environment (including a sign), and the like. It is also possible to configure so that information can be obtained.

  Further, the vehicle 1 is provided with an alarm 20 capable of issuing an alarm to a passenger on board.

  A vehicle speed sensor 21 for detecting the vehicle speed of the vehicle 1 is connected to an output shaft (not shown) of the transmission 3 of the vehicle 1. That is, in the vehicle 1, the vehicle speed sensor 21 is a vehicle speed detection unit.

  Further, the vehicle 1 is also provided with a control unit (vehicle control unit) 22. The control unit 22 includes 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, the map It is connected to the information storage unit 19, the vehicle speed sensor 21, and the like, and is configured to receive various information.

  The control unit 22 can issue commands to 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 22 includes a first steering torque applying unit (first steering force applying unit) 221, a second steering torque applying unit (second steering force applying unit) 222, and a table storage unit 223. , And a traveling environment determination unit 224. These will be described later.

2. Exterior camera 18 lane mark _DL L by, DL _R, the road-edge _{E RL,} and partition lines _DL L by detecting vehicle exterior camera 18 of the label 500, DL _R, for detection of the road-edge _{E RL} and labeled 500, Figure 3 It will be described using FIG. FIG. 3 is a schematic diagram for explaining detection of the lane markings DL _L , DL _R , the roadside _ERL, and the sign 500 by the exterior camera 18.

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) LN. Then, on the left side of the lane LN, left lane line (the roadway outside lines) DL _L are mounted on the right lane LN, 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 ER _L.

Exterior camera 18, a road outside lines DL _L and roadway center line DL _R, can be at least detected and the road-edge _{E RL,} the. In the detection of the roadway outside lines DL _L and roadway center line DL _R in the vehicle exterior camera 18, each lane mark _DL L, the outer end _E DLL of DL _R, also _{E DLR} can be detected.

Incidentally, the road-edge _{E RL} includes a roadside to the left (outside) than the roadway outside line DL _L, which is a boundary between the off-road OR. The road edge E _RL, are stored various forms in accordance with the road conditions to the control unit 22, in the end, the control unit 22, by referring well as acquired road information from the map information storage section 19 determines that a road-edge _{E RL.}

  The exterior camera 18 is also capable of detecting a sign 500 provided on the roadside zone or outside the road. FIG. 3 illustrates a speed limit sign 500 as an example.

3. Steering Control by Control Unit 22 The steering control by the control unit 22 will be described with reference to FIGS. Figure 4 is a flow chart showing the steering control by the control unit 22 executes, Figure 5, when the first steering control mode is set, the position of the lane mark DL _L and Michitan E _RL, is applied is a schematic diagram showing the relation between the steering torque, FIG. 6, when the second steering control mode is set, the position of the lane mark DL _L and Michitan E _RL, the relation between the steering torque applied is a schematic diagram which is a schematic view showing, Fig. 7 (a) is a schematic view showing a state in which the vehicle 1 begins to deviate to exceed the roadway outside line DL _L road-edge E _RL side, FIG. 7 ( b) the vehicle 1 is a schematic view showing a state that deviates to the side strip further road-edge E _RL side.

As illustrated in FIG. 4, the control unit 22 obtains detection results (each detection result of the road outside line DL _L , the road center line DL _R , the roadside E _RL , and the sign 500) from the vehicle exterior camera 18 (see FIG. 4). Step S1). The control unit 22 determines whether the vehicle speed V of the host vehicle 1 is within a predetermined speed range (V _{TH1 to} V _TH2 ) based on the obtained detection result (step S2).

Here, in the present embodiment, 100 km / h is set as an example of the speed V _TH1 , and 60 km / h is set as an example of the speed V _TH2 . These speeds V _TH1 and V _TH2 are values stored in the control unit 22 in advance.

Returning to FIG. 4, when the control unit 22 determines in step S2 that the vehicle speed V is within the predetermined speed range (V _{TH1 to} V _TH2 ) (step S2: Yes), the first steering control mode Is set for the steering actuator 14 (step S3).

On the other hand, when the control unit 22 determines in step S2 that the vehicle speed V is not within the predetermined speed range (V _{TH1 to} V _TH2 ) (step S2: No), the control unit 22 sets the second steering control mode to the steering actuator. 14 are set (step S4).

(I) First Steering Control Mode As shown in FIG. 5, the first steering control mode set by the control unit 22 for the steering actuator 14 includes a steering torque (steering force) based on a first steering characteristic CH1 and a second steering control mode. (2) The vehicle 1 is prepared to apply a steering torque (steering force) based on the steering characteristic CH2 to the vehicle 1, and as shown by an arrow A, the vehicle left end _EVCL of the vehicle 1 is positioned outside the road as shown by an arrow A in FIG. the steering torque ST1 based on the first steering characteristic CH1 grants Once started deviating from the left lane line outer ends E _DLL of DL _L, as shown in FIG. 7 (b), the vehicle left side end of the vehicle 1 as indicated by the arrow B E _VCL is a mode for applying a steering torque ST2 based on the second steering characteristic CH2 After departing further outside (the road-edge _{E RL)} side to the left lane line outer ends _{E DLL} roadway outside line DL _L.

  In the above, it is the first steering torque applying section 221 of the control unit 22 that instructs the steering actuator 14 to apply the steering torque ST1 based on the first steering characteristic CH1, and the steering torque based on the second steering characteristic CH2. It is the second steering torque applying unit 222 of the control unit 22 that instructs the application of ST2.

Returning to FIG. 5, the first steering characteristic CH1 is the base point to the left lane line outer ends E _DLL roadway outside line DL _L, the steering torque is set corresponding to the position in the direction towards the road edge E _RL Characteristics. Specifically, the first steering characteristic CH1 includes a torque increasing portion (steering force increasing portion) L1 that gradually increases to the first steering torque value TO1 in a range from the left lane marking outer edge E _DLL to a point P2, and a point from the point P2. (Characteristic switching portion) In the range up to P1, a torque maintaining portion L2 for maintaining the first steering torque value TO1 is provided.

Second steering characteristic CH2 is the base point position P3, is a characteristic of the steering torque is set corresponding to the position in the direction towards the road-edge E _RL. Specifically, the second steering characteristic CH2, a torque increase unit for increasing the range of from the point P3 to the road-edge _{E RL} to the second steering torque value TO2 (steering force increase section) and L3, outside the road-edge _{E RL} A torque maintaining unit L4 for maintaining the second steering torque value TO2 in a range of (out-of-road OR).

  As shown in FIG. 5, in the present embodiment, as an example, the inclination of the torque increasing portion L3 in the second steering characteristic CH2 is set to be substantially the same as the inclination of the torque increasing portion L1 in the first steering characteristic CH1. Have been.

Further, in the range from the point P3 to the characteristic switching point P1, the first steering characteristic CH1 and the second steering characteristic CH2 overlap, so that the steering torque based on the second steering characteristic CH2 is actually applied. ranges from characteristic switching換箇plants P1 to the road-edge E _RL.

(Ii) Second Steering Control Mode As shown in FIG. 6, in the second steering control mode set by the control unit 22 for the steering actuator 14, only the steering torque (steering force) based on the first steering characteristic CH1 is applied to the vehicle. prepare to be applied to 1, as shown in FIG. 7 (a), When the vehicle left side end E _VCL of the vehicle 1 begins to deviate from the E _DLL left lane line outer ends of the roadway outside line DL _L as indicated by an arrow a In this mode, the steering torque ST1 based on the first steering characteristic CH1 is applied, and the application of the steering torque ST1 is maintained until the vehicle left end _EVCL of the vehicle 1 reaches the road end _ERL .

    Returning to FIG. 6, the first steering characteristic CH1 in the second steering control mode is the same as the first steering control characteristic in the first steering control mode.

4. Setting of Second Steering Torque Value TO2 According to Vehicle Speed V When selecting the first steering control mode, the control unit 22 of the vehicle 1 according to the present embodiment selects the second steering torque value according to the vehicle speed V of the host vehicle 1. The value TO2 is made variable. This will be described with reference to FIGS. FIG. 8 is a flowchart illustrating a method of setting the second steering torque value TO2 performed when the control unit 22 executes the first steering control mode. FIG. 9 illustrates a reference table Tab stored in the table storage unit 223. FIG. 10 is a schematic diagram showing a second steering torque value TO2 set according to the vehicle speed V of the host vehicle 1. As shown in FIG.

As shown in FIG. 8, when the first steering control mode is selected, the control unit 22 first obtains a detection result (vehicle speed data of the host vehicle 1) from the vehicle speed sensor 21 (step S11). In this case, since the first steering control mode is selected, the vehicle speed V is within the predetermined speed range (V _{TH1 to} V _TH2 ).

Then, the control unit 22 refers to the reference table Tab stored in the table storage unit 223 and sets the second steering torque value TO2 according to the vehicle speed V (Step S12). As shown in FIG. 9, the reference table Tab, second steering torque value TO2x for each vehicle speed V (velocity _{V TH1 ~V TH2) (TO2 1} ~TO2 22) is associated.

Here, the speed _V TH1 _{~V TH2} and the second steering torque value _TO2 1 _{~TO2 22,} respectively satisfy the following relations.

V _TH1 > V ₁ > V ₂ >...> V ₁₉ > V ₂₀ > V _TH2.
TO2 ₁ <TO2 ₂ <TO2 ₃ <... <TO2 ₂₀ <TO2 ₂₁ <TO2 ₂₂ (2)
FIG. 10 shows a specific relationship between the above (Equation 1) and the above (Equation 2). That is, as shown in FIG. 10, the second steering torque value TO2 is set smaller as the vehicle speed V of the own vehicle 1 is higher, and conversely, the second steering torque value TO2 is set larger as the vehicle speed V of the own vehicle 1 is lower. Is done.

  As shown in FIG. 10, in the steering control of the vehicle 1 according to the present embodiment, when the control unit 22 selects and executes the first steering control mode, the first steering characteristic CH1 depends on the vehicle speed V and the like. It is maintained with constant characteristics.

  In the steering control of the vehicle 1 having the above-described configuration, the driver is prevented from deviating to the off-road OR regardless of the vehicle speed V, thereby preventing an accident beforehand, and feeling annoying and uncomfortable for the driver. Difficult to give and stress.

[Modification]
A steering control method for the vehicle 1 according to the modification will be described with reference to FIG. FIG. 11 is a flowchart illustrating a method of setting the second steering torque value TO2 performed when the control unit 22 executes the first steering control mode in the steering control according to the modification. The steering control method according to the present modification is the same as the steering control method according to the above embodiment, except for the method of setting the second steering torque value TO2.

  As shown in FIG. 11, in the steering control according to the present modified example, when the control unit 22 selects the first steering control mode, the detection result from the vehicle exterior camera 18 and the map information from the map information storage unit 19 are used. Is obtained (step S21). Here, in the steering control according to the present modification, the traveling environment determination unit 224 extracts the speed limit sign 500 in the image data of the camera 18 outside the vehicle, and determines the speed limit of the lane in which the host vehicle 1 is traveling. Read from the map information storage unit 19.

  Then, the traveling environment determination unit 224 of the control unit 22 determines the traveling environment (speed limit) from the acquired information on the speed limit (step S22). The control unit 22 sets the second steering torque value TO2 in consideration of the traveling environment (limit speed) determined by the traveling environment determination unit 224 in addition to the vehicle speed V of the host vehicle 1 (step S23).

  For example, the control unit 22 once sets the second steering torque value TO2 from the reference table Tab based on the vehicle speed V of the host vehicle 1, and then sets the second steering torque value TO2 based on the traveling environment (speed limit). Is corrected. The correction of the second steering torque value TO2 is performed, for example, such that the higher the speed displayed on the speed limit sign 500 is, the larger the second steering torque value TO2 is. 2 Correct so that the steering torque value TO2 becomes small. This is because roads with a high speed limit generally have a large lane width (lane width) or a wide roadside zone, and conversely, roads with a low speed limit have many roads with a narrow lane width or roadside zone.

  The control unit 22 of the vehicle 1 according to the present modification that executes the steering control as described above suppresses the deviation to the off-road OR irrespective of the magnitude of the vehicle speed V, thereby preventing the accident beforehand, It is hard to make them feel more troublesome and uncomfortable, and it is hard to give stress.

[Other Modifications]
In the above embodiment and the modification, the setting of the second steering torque value TO2 when the control unit 22 selects the first steering control mode is performed with reference to the reference table Tab stored in the table storage unit 223. However, the present invention is not limited to this. For example, the two steering torque values may be calculated based on the detected vehicle speed V.

Further, in the above embodiment, when the vehicle left end _{EVCL approaches the} road end _ERL , the vehicle speed is reduced and an alarm is issued, but these are not essential. Alternatively, only one of the deceleration of the vehicle speed and the issuance of an alarm may be performed.

  In the above-described embodiment and the modified example, the second steering characteristic CH2 also includes the torque maintaining unit L4, but this is not essential. For example, in a case where the left end of the vehicle comes into contact with or exceeds the road edge, the vehicle may be stopped without applying the steering torque.

  Further, when the left end of the vehicle approaches the roadside, a command is issued to the alarm 20 to issue an alarm, and the vehicle is instructed to the engine 2 and the brakes 71, 7r, 91, 9r. May be instructed to reduce the vehicle speed.

  Further, in the above-described embodiment and the modification, 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 and the modified example, the case where the vehicle 1 is traveling in the left lane LN 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, the first steering control and the second steering control can be selected based on the width of the road-side zone between the right lane marking and the road edge farther to the right.

  Further, in the above-described modified example, as an example of the traveling environment, information regarding the vehicle speed extracted from the speed limit sign 500 provided in the lane in which the host vehicle 1 is traveling is adopted. It is not limited to. For example, an obstacle, a pedestrian crossing, and a railroad crossing in front of the host vehicle may be detected as a traveling environment related to the vehicle speed of the host vehicle.

  Further, in the above-described embodiment and the modified example, the range of 60 km / h to 100 km / h is adopted as an example of the “predetermined speed range”, but the present invention is not limited to this. For example, the lower limit of the predetermined speed range may be a value in the range of 10 km / h to 50 km / h, and the upper limit may be a value in the range of 120 km / 200 km / h. The setting can be made in consideration of the vehicle type, the road environment at the destination, and the like.

1 vehicle 14 steering actuator (steering force generator)
18 Outside camera (compartment line detector, roadside detector, driving environment detector)
21 Vehicle speed sensor (vehicle speed detector)
22 Control unit (vehicle control unit)
221 First steering torque applying unit 222 Second steering torque applying unit 223 Table storage unit 224 Driving environment determination unit 500 Speed limit sign CH1 First steering characteristic CH2 Second steering characteristic _{D L} lane marking (vehicle outside line)
DL _R division line (roadway center line)
_ERL road end E _VCL vehicle left end (side end of vehicle)
LN lane (lane)
OR Outside the road

Claims (10)

A vehicle control device that applies 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 one side of the vehicle, a lane marking detecting unit that detects a lane marking extending along the traveling direction of the vehicle,
A roadside detection unit that detects a roadside that is adjacent to the outside of the vehicle with respect to the lane marking, and that is extended along the traveling direction;
A vehicle speed detection unit that detects a vehicle speed of the vehicle,
Each of the detection results from the lane marking detection unit, the roadside detection unit, and the vehicle speed detection unit is sequentially acquired, and the steering force to the vehicle is transmitted to the steering force generation unit based on the acquired detection results. A vehicle control unit for giving an instruction,
With
The vehicle control unit includes:
A first steering force application unit that instructs the steering force generation unit to apply a first steering force that is the steering force based on a first steering characteristic;
A second steering force application instructing the steering force generation unit to apply a second steering force that is the steering force greater than the first steering force based on a second steering characteristic different from the first steering characteristic. Department and
Has,
It is determined that the vehicle speed is within a predetermined speed range, and when the side end of the vehicle is located in a range from the lane marking to a predetermined location between the lane marking and the roadside, the first steering force is reduced. First steering control to apply to the vehicle, and to apply the second steering force to the vehicle when the side end of the vehicle is located in a range from the predetermined location to the roadside;
A second steering control that determines that the vehicle speed is outside the predetermined speed range and applies the first steering force to the vehicle when the vehicle is located in a range from the lane marking to the roadside;
Run selectively,
Vehicle control device. The vehicle control device according to claim 1,
In a case where the vehicle control unit executes the first steering control, the second steering force applying unit is configured to reduce the second steering force relatively as the vehicle speed increases. Command to
Vehicle control device. In the vehicle control device according to claim 1 or 2,
When the vehicle control unit executes the first steering control, the first steering force applying unit is configured to apply the first steering force based on the constant first steering characteristic regardless of the vehicle speed. Command the steering force generator,
Vehicle control device. The vehicle control device according to any one of claims 1 to 3,
The vehicle further includes a traveling environment detection unit that detects a traveling environment of a lane in which the vehicle travels,
The vehicle control unit also uses a detection result from the traveling environment detection unit when selectively performing the first steering control and the second steering control.
Vehicle control device. The vehicle control device according to claim 4,
The traveling environment detection unit detects a speed limit of a speed limit sign provided for the lane as the traveling environment,
Vehicle control device. A vehicle control method for applying a steering force to the vehicle to suppress the vehicle from deviating off the road according to a traveling situation,
A lane marking detection step for detecting a lane marking extending along the traveling direction of the vehicle on one side of the vehicle,
A roadside detection step of detecting a roadside that is on the one side and that is adjacent to the outside of the vehicle than the lane marking and that extends along the traveling direction;
A vehicle speed detecting step of detecting a vehicle speed of the vehicle;
The lane marking detecting step, the roadside detecting step, and a steering force applying step capable of applying the steering force to the vehicle based on each detection result detected in the vehicle speed detecting step;
With
The steering force applying step includes:
A first steering force applying sub-step of applying a first steering force that is the steering force based on a first steering characteristic;
A second steering force applying sub-step of applying a second steering force that is the steering force greater than the first steering force based on a second steering characteristic different from the first steering characteristic;
Has,
It is determined that the vehicle speed is within a predetermined speed range, and when the side end of the vehicle is located in a range from the lane marking to a predetermined location between the lane marking and the roadside, the first steering force is reduced. First steering control to apply to the vehicle, and to apply the second steering force to the vehicle when the side end of the vehicle is located in a range from the predetermined location to the roadside;
A second steering control that determines that the vehicle speed is outside the predetermined speed range and applies the first steering force to the vehicle when the vehicle is located in a range from the lane marking to the roadside;
Run selectively,
Vehicle control method. The vehicle control method according to claim 6,
In the case where the first steering control is executed in the steering force applying step, the second steering force in the second steering force applying sub-step is relatively reduced as the vehicle speed increases.
Vehicle control method. In the vehicle control method according to claim 6 or 7,
When the first steering control is performed in the steering force applying step, the first steering force in the first steering force applying sub-step is set based on the constant first steering characteristic regardless of the vehicle speed.
Vehicle control method. In the vehicle control method according to any one of claims 6 to 8,
The vehicle further includes a traveling environment detection step of detecting a traveling environment of a lane in which the vehicle travels,
In the steering force applying step, when selectively performing the first steering control and the second steering control, a result related to the traveling environment detected in the traveling environment detection step is also used.
Vehicle control method. The vehicle control method according to claim 9,
In the traveling environment detecting step, a speed limit of a speed limit sign installed for the lane is detected as the traveling environment.
Vehicle control method.

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