JP2020100247A - Driving support device and driving support method - Google Patents

Abstract

To provide a driving support device and a driving support method which can support driving operation in accordance with an intention of steering by a driver.SOLUTION: A driving support device DS according to the present invention, which supports driving operation of a vehicle by imparting steering torque to a steering mechanism so that the vehicle travels along a target travel line, memorizes map information including position information showing gate positions in a plurality of gates arranged in parallel in a travelling area and measures a vehicle position; when the vehicle position is within a prescribed distance from the gate positions, virtually sets a plurality of lanes corresponding to the plurality of gates; and when the virtual lane overlapping with the vehicle is defined as a virtual lane, determines an angle of approaching of the vehicle with respect to the overlapping virtual lane and ratios of widths of overlapping with the vehicle, and controls the steering torque according to the distances between the gate positions and the vehicle position as well as the determined angle of approaching of the vehicle and the ratios.SELECTED DRAWING: Figure 1

Description

The present invention relates to a driving support device and a driving support method for supporting a driving operation of a vehicle.

2. Description of the Related Art In recent years, technologies for supporting vehicle driving operations and technologies for automating vehicle driving operations have been researched and developed. As one of such technologies, for example, there is a technology in the vicinity of a toll gate which is often required to change the vehicle speed or the lane depending on the destination (destination) of the own vehicle and the situation of other vehicles. For example, it is disclosed in Patent Document 1.

The vehicle traveling control device disclosed in Patent Document 1 has a surrounding recognition function of recognizing a lane marking, other vehicles on each lane and the front of the own vehicle from information of an external sensor, and a function of estimating an absolute position of the own vehicle. And an environmental condition estimating unit including a function of acquiring the motion condition of the vehicle based on the information of the internal sensor, and a route generating unit generating a target route based on the information acquired by the environmental condition estimating unit. A vehicle control unit that performs a speed control and a steering control so that the host vehicle follows the target route, and the environmental condition estimation unit includes a tollgate in front of the host vehicle and each gate thereof. And a function of selecting a target gate from each of the gates, and the route generation unit includes a function of generating a target approach route for entering the target gate. Then, in this vehicle traveling control device, the environmental condition estimation unit is configured such that there is no other vehicle approaching the target approach route, and there are no preceding other vehicles on the target approach route, or the number of preceding vehicles is low. It includes a function of selecting a gate as the target gate that minimizes the steering amount when traveling along the road.

Japanese Unexamined Patent Publication No. 2018-151287

By the way, in the vicinity of a gate such as a toll gate, a driver of a vehicle may want to steer toward a target gate selected by himself/herself in accordance with the destination (destination) of the own vehicle or the trend of other vehicles. .. The technique disclosed in Patent Document 1 is difficult to handle such a case because the traveling route is automatically determined on the vehicle side.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a driving support device and a driving support method capable of supporting a driving operation in accordance with a driver's steering intention.

As a result of various studies, the present inventor has found that the above object can be achieved by the present invention described below. That is, a driving assistance device according to an aspect of the present invention is a device that assists a driving operation of the vehicle by applying a steering torque to a steering mechanism so that the vehicle travels along a target travel line, A map information storage unit for storing map information including position information indicating gate positions at a plurality of gates arranged so as to be juxtaposed to the traveling region for dividing the traveling region in which the vehicle travels; Corresponding to the plurality of gates when the position measuring unit that measures the vehicle position of the vehicle and the vehicle position measured by the position measuring unit are within a predetermined distance from the gate position represented by the position information. A virtual lane setting unit that virtually sets a plurality of lanes as a plurality of virtual lanes, and a virtual lane that overlaps with the vehicle at a tip end side in the traveling direction of the vehicle among the plurality of virtual lanes set by the virtual lane setting unit. When the lane is an overlapping virtual lane, an overlapping condition calculation unit that obtains an approach angle of the vehicle with respect to the overlapping virtual lane and a ratio of the overlapping width of the overlapping virtual lane and the vehicle with respect to the lane width of the overlapping virtual lane According to the distance between the gate position represented by the position information and the vehicle position measured by the position measuring unit, and the approach angle and the ratio of the vehicle obtained by the overlapping state calculation unit, And a steering torque control unit that controls the steering torque. Preferably, in the above-described driving support device, the map information storage unit is a storage unit that stores the map information by storing the map information. Preferably, in the above-described driving support device, the map information storage unit includes a recording medium that stores the map information by storing the map information, and a reading device that reads the map information from the recording medium. Preferably, in the above driving assistance device, the map information storage unit stores the map information received by the receiving unit and a receiving unit that receives the map information from a server device that manages the map information via a network. And a storage unit that Preferably, in the above-described driving support device, the traveling area is a road, and the gate is a gate that divides the road into a toll road and a non-toll road. Preferably, in the driving support apparatus described above, the traveling area includes a road and a partitioned area, and the gate is a gate arranged at a boundary between the road and the partitioned area. Preferably, the partitioned area is one of a parking lot, a theme park, and a safari park.

Since such a driving assistance device controls the steering torque according to the distance, the approach angle of the vehicle, and the ratio when the driver performs a steering operation, a self-selection is performed by a light steering operation. You can steer towards the target gate. Therefore, the driving support device can support the driving operation according to the driver's steering intention.

In another aspect, in the above-described driving support device, further includes a target gate selection unit that selects a target gate according to the approach angle of the vehicle obtained by the overlap state calculation unit from the plurality of gates, The steering torque control unit controls the steering torque so as to guide the vehicle to the target gate selected by the target gate selection unit. Preferably, in the above driving assistance device, the target gate selection unit is farther from the current overlapping virtual lane in the traveling direction of the vehicle, as the approach angle of the vehicle obtained by the overlapping situation calculation unit is larger. An overlapping virtual lane is selected, and a gate corresponding to the selected overlapping virtual lane is selected as the target gate. Preferably, in the above driving assistance device, the target gate selection unit corresponds to the current overlapping virtual lane when the approach angle of the vehicle obtained by the overlapping situation calculation unit is equal to or less than a predetermined angle threshold value. When a gate is selected as the target gate and the approach angle of the vehicle calculated by the overlap condition calculation unit exceeds the angle threshold, the virtual virtual lane adjacent to the current virtual virtual lane in the traveling direction of the vehicle The gate corresponding to is selected as the target gate.

Since such a driving assistance device selects a target gate according to the approach angle of the vehicle, for example, when the approach angle of the vehicle is small (shallow), the gate corresponding to the current overlapping virtual lane is the target gate. On the other hand, when the approach angle of the vehicle is large (deep), an overlapping virtual lane further away from the current overlapping virtual lane in the traveling direction of the vehicle is selected, and the selected overlapping virtual lane is supported. It is possible to assist the driving operation of the vehicle so as to smoothly guide the vehicle from the current traveling direction to the target gate, such as selecting the target gate as the target gate.

In another aspect, in these above-described driving support devices, the steering torque control unit increases the steering torque as the ratio calculated by the overlap condition calculation unit increases.

Since such a driving assistance device increases the steering torque as the ratio increases, the driving assistance device guides the current overlapping virtual lane or a gate corresponding to the overlapping virtual lane adjacent to the current overlapping virtual lane in the traveling direction. , Can assist the driving operation of the vehicle.

In another aspect, in these above-described driving support devices, the steering torque control unit may control the steering as the distance between the gate position represented by the position information and the vehicle position measured by the position measuring unit decreases. Increase the torque.

Since such a driving assistance device increases the steering torque as the distance becomes shorter, the driving assistance device guides the current overlapping virtual lane or a gate corresponding to the overlapping virtual lane adjacent to the current overlapping virtual lane in the traveling direction. , Can assist the driving operation of the vehicle.

A driving support method according to another aspect of the present invention is a map including position information indicating gate positions at a plurality of gates arranged in juxtaposition with each other to divide a traveling region in which a vehicle travels. A method of assisting a driving operation of the vehicle by applying steering torque to a steering mechanism so that the vehicle travels along a target travel line using information, the vehicle position of the vehicle in the travel area. And a vehicle position measured in the position measurement step is within a predetermined distance from the gate position represented by the position information, a plurality of lanes corresponding to the plurality of gates A virtual lane that is set as a virtual lane and a virtual lane that overlaps the vehicle on the leading end side in the traveling direction of the vehicle among the plurality of virtual lanes set in the virtual lane setting step In the case, the approach angle of the vehicle with respect to the overlapping virtual lane, and an overlapping situation calculation step for obtaining a ratio of the overlapping width of the overlapping virtual lane and the vehicle with respect to the lane width of the overlapping virtual lane, and the position information. The steering torque is controlled according to the distance between the represented gate position and the vehicle position measured in the position measuring step, and the approach angle and the ratio of the vehicle obtained in the overlapping state calculating step. And a steering torque control step.

In such a driving support method, when the driver performs a steering operation, the steering torque is controlled according to the distance, the approach angle of the vehicle, and the ratio, so that the driver can make a self-selection with a light steering operation. You can steer towards the target gate. Therefore, the driving support method can support the driving operation according to the driver's steering intention.

The driving support device and the driving support method according to the present invention can support the driving operation in accordance with the driver's steering intention.

It is a block diagram showing composition of a driving support device in an embodiment. It is a figure for demonstrating the imaging part of the said driving assistance device attached to the vehicle. It is a figure for demonstrating the calculation method of the steering torque performed by the said driving assistance device. It is a flowchart which shows operation|movement of the said driving assistance device.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. In addition, in each of the drawings, the components denoted by the same reference numerals indicate the same components, and the description thereof will be appropriately omitted. In the present specification, reference numerals without suffixes are used for generic names, and reference numerals with suffixes are used when referring to individual components.

The driving assistance device according to the embodiment is a device that assists a driving operation of the vehicle by applying a steering torque to a steering mechanism so that the vehicle (own vehicle) travels along a target travel line. A map information storage unit that stores map information including position information indicating gate positions at a plurality of gates arranged so as to be juxtaposed to the traveling region to divide the traveling region, and the vehicle in the traveling region. And a plurality of lanes corresponding to the plurality of gates when the vehicle position measured by the position measuring unit is within a predetermined distance from the gate position represented by the position information. A virtual lane setting unit that virtually sets the virtual lanes as a plurality of virtual lanes, and among the plurality of virtual lanes set by the virtual lane setting unit, a virtual lane that overlaps with the vehicle on the tip side in the traveling direction of the vehicle overlaps. In the case of a virtual lane, an approach angle of the vehicle with respect to the overlapping virtual lane, and an overlapping state calculation unit that obtains a ratio of the overlapping width of the overlapping virtual lane and the vehicle with respect to the lane width of the overlapping virtual lane, and The steering torque according to the distance between the gate position represented by the position information and the vehicle position measured by the position measurement unit, and the approach angle and the ratio of the vehicle obtained by the overlap state calculation unit. And a steering torque control unit for controlling the. Hereinafter, such a driving support device will be described more specifically.

FIG. 1 is a block diagram showing a configuration of a driving support device in the embodiment. FIG. 2 is a diagram for explaining the image pickup unit of the driving support device attached to the vehicle. FIG. 3 is a diagram for explaining a steering torque calculation method executed by the driving support device.

The driving support device DS in the embodiment includes, for example, as illustrated in FIG. 1, an imaging unit 1, a position measuring unit 2, a control processing unit 3, and a storage unit 4, and in the present embodiment, travels. In order to perform the above, a power unit 5a, a power transmission unit 5b, a braking unit 6 and a steering unit 7 are provided, and an input unit 8 and a display unit 9 are provided for performing predetermined input and output.

The imaging unit 1 is a device that is connected to the control processing unit 3 and generates an image under the control of the control processing unit 3. The imaging unit 1 is, for example, an imaging optical system that forms an optical image of a subject on a predetermined image forming surface, and is arranged with the light receiving surface aligned with the image forming surface. A digital camera including an area image sensor for converting into a signal, an image processing unit for generating image data which is data representing an image of the subject by performing image processing on an output of the area image sensor, and the like. The image capturing unit 1 is mounted on the vehicle so as to capture the front of the vehicle so as to include the road surface in order to detect the lane markings. For example, as shown in FIG. 2, the image capturing unit 1 captures an image of the front of the vehicle VC so as to include the road surface on the ceiling surface (roof inner surface) near the windshield in the vehicle VC. The direction (optical axis direction) is arranged obliquely downward. As a result, the image capturing unit 1 captures the front of the vehicle VC so as to include the road surface to generate a front image (front image data). The imaging unit 1 outputs the front image (front image data) to the control processing unit 3.

The position measuring unit 2 is a device that is connected to the control processing unit 3 and measures the vehicle position of the vehicle in the traveling area in which the vehicle travels under the control of the control processing unit 3. The position measuring unit 2 is, for example, a device that measures the vehicle position by a satellite positioning system for measuring the current position on the earth, for example, a GPS (Global Positioning System) receiving device, and the positioning result (latitude X, longitude). Y, altitude Z) is output to the control processing unit 3. The GPS receiver may be a GPS receiver having a correction function for correcting an error such as DGSP (Differential GSP). Further, the satellites of the satellite positioning system include not only so-called GPS satellites that orbit the quasi-synchronous orbits, but also quasi-zenith satellites that apparently stay above the region.

The power unit 5 a is a device that is connected to the control processing unit 3 and that generates power for driving (moving) the vehicle under the control of the control processing unit 3. The power unit 5a includes, for example, an engine, a motor, a prime mover such as a hybrid device thereof, and an accessory device thereof. The power transmission unit 5b is a mechanism that transmits the power generated by the power unit 5a to the driving wheels, is connected to the control processing unit 3, and switches the traveling direction of the vehicle and changes the gear ratio according to the control of the control processing unit 3. It includes a transmission that switches the reduction ratio. The power generated by the power unit 5a is transmitted to the drive wheels via the power transmission unit 5b to rotate the drive wheels.

The braking unit 6 is a device that is connected to the control processing unit 3 and applies a braking force to the vehicle according to the control of the control processing unit 3 to decelerate the vehicle. The braking unit 6 can stop the vehicle as a result of decelerating the vehicle, and can keep the vehicle stopped as a result of continuously applying the braking force while the vehicle is stopped. The braking unit 6 is configured to include, for example, a brake device such as a disc brake and a regenerative brake and its accessory device. The braking unit 6 includes the function of a so-called parking brake device.

The steering unit 7 is a device that is connected to the control processing unit 3 and that steers the vehicle under the control of the control processing unit 3. The steering unit 7 is configured to include a steering mechanism 72 that changes the direction of the steered wheels, an actuator 71 that is connected to the control processing unit 3 and that applies a steering torque to the steering mechanism 72 under the control of the control processing unit 3, and these accessory devices. It The actuator 71 is, for example, an electric motor that generates a driving force as the steering torque. The steering mechanism 72 is, for example, a steering wheel (handle), a first shaft fixedly connected to the steering wheel at one end, and the other end of the first shaft connected at one end via a universal joint. A second shaft; and a rack shaft connected to the other end of the second shaft via a rack and pinion mechanism and extending in the vehicle width direction. The pair of steered wheels are connected to both ends of the rack shaft via a pair of tie rods. A steering sensor that detects an operation amount of a steering operation performed by a driver on the steering wheel and a steering torque generated by an actuator 71 are applied to the first shaft via a speed reducer. The actuator 71 is attached. The steering sensor and the actuator 71 may be attached to the second shaft. In such a steering unit 7, when the driver performs a steering operation on the steering hole, the operation amount of the steering operation is detected by the steering sensor and is output to the control processing unit 3. The control processing unit 3 drives the actuator 71 so as to generate a steering torque according to the detected operation amount of the steering operation in order to perform so-called power steering assist. The steering torque generated by the actuator 71 is applied to the first shaft via the speed reducer to rotate the first shaft. The rotation of the first shaft is converted into a reciprocating motion of the rack shaft by the rack and pinion, and causes the pair of steered wheels to meander through the pair of tie rods. Then, near the gate, the control processing unit 3 adds the steering torque determined as described below to the steering torque for the power steering assist, and drives the actuator 71 so as to generate the added steering torque. To do.

By controlling each of the power unit 5a and the braking unit 6, the vehicle acceleration is adjusted, the wheel speed and the vehicle speed (vehicle speed) are adjusted, and the gear ratio at that time controls the transmission of the power transmission unit 5b. It is adjusted by doing. By controlling the transmission of the power transmission unit 5b, the traveling direction (forward or backward) of the vehicle is adjusted. By controlling the steering unit 7, the traveling direction of the vehicle is adjusted.

The input unit 8 is connected to the control processing unit 3 and, for example, commands for instructing start and cancellation of constant-speed traveling, commands for initiating and canceling driving assistance, and starting and canceling automatic driving are provided. A device for inputting various commands such as commands for instructing, commands for initiating or canceling car navigation, and various data such as a set speed for constant speed traveling and a destination to the driving support device DS, for example, , A plurality of switches to which functions are assigned in advance. The display unit 9 is connected to the control processing unit 3, and under the control of the control processing unit 3, commands and data input from the input unit 8 and information related to car navigation (for example, a map, a route, cautions for driving, and the like). It is a device that displays information such as guidance and the current position), and is a display device such as a liquid crystal display (LCD) and an organic EL display.

In the present embodiment, a touch panel is composed of a part of the input unit 8 and the display unit 9. In the case of configuring this touch panel, the input unit 8 includes, as a part thereof, a position input device that detects and inputs an operation position, such as a resistance film type or an electrostatic capacitance type. In this touch panel, the position input device is provided on the display surface of the display unit 9, one or more input content candidates that can be input are displayed on the display unit 9, and a display that displays the input content that the user wants to input is displayed. When the position is touched, the position is detected by the position input device, and the display content displayed at the detected position is input to the driving support device DS as the operation input content of the user. With such a touch panel, the user can intuitively understand the input operation, and thus the driving support device DS that is easy for the user to handle is provided.

The storage unit 4 is a circuit that is connected to the control processing unit 3 and stores various predetermined programs and various predetermined data under the control of the control processing unit 3. The various predetermined programs include, for example, a control program for controlling the respective units 1, 2, 4 to 9 of the driving support device DS according to the functions of the respective units, and a front image generated by the imaging unit 1, A lane line detection processing program that detects a lane line indicating a lane arranged in the traveling area, or a virtual lane setting program that virtually sets a plurality of lanes corresponding to a plurality of gates as a plurality of virtual lanes, as described later. Alternatively, among the plurality of virtual lanes set by the virtual lane setting program, when the virtual lane that overlaps with the vehicle at the tip side in the traveling direction of the vehicle (own vehicle) is set as the overlapping virtual lane, The approaching angle of the vehicle, and an overlapping situation calculation program for obtaining a ratio of the overlapping width of the overlapping virtual lane and the vehicle with respect to the lane width of the overlapping virtual lane, and steering torque is controlled as described later to control the vehicle. A control processing program such as a traveling control program for controlling traveling is included. The various kinds of predetermined data include data necessary for executing each program, such as map information representing a map including a travel area. The storage unit 4 includes, for example, a ROM (Read Only Memory) which is a non-volatile storage element and an EEPROM (Electrically Erasable Programmable Read Only Memory) which is a rewritable non-volatile storage element. The storage unit 4 includes a RAM (Random Access Memory) that serves as a working memory of the so-called control processing unit 3 that stores data and the like generated during execution of the predetermined program. The storage unit 4 may include a hard disk device having a relatively large storage capacity, or a drive device that reads data from a recording medium such as a DVD-ROM (Digital Versatile Disk Read Only Memory). The storage unit 4 functionally includes the map information storage unit 41.

The map information storage unit 41 stores map information. In the present embodiment, the map information includes position information indicating gate positions at a plurality of gates arranged so as to be juxtaposed to the traveling area for dividing the traveling area in which the vehicle travels. The map information includes, for example, various kinds of information related to driving such as lanes and signs attached to a driving area, and various kinds of information related to car navigation such as a place name and its position and a building name and its position. Well-known map information may be used as such map information, and map information called a so-called ADAS map or high-precision map is preferable. ADAS (Advanced Driver Assistance System, advanced driving support system) is a measure for realizing automatic driving, and ADAS map (high-precision map) is data that can be used for this ADAS, such as roads and road surface signs. , Lanes, road signs, outdoor lights, power poles, bridges, tunnels, buildings, and other three-dimensional data representing major objects that can be observed from vehicles traveling on the road, and are provided by, for example, so-called map makers.

For example, the traveling area is a road, and the gate is a gate that divides the road into a toll road and a non-toll road. Further, for example, the traveling area includes a road and a partitioned area, and the gate is a gate arranged at a boundary between the road and the partitioned area. The partitioned area is, for example, a parking lot, a theme park, a safari park, or the like. Hereinafter, as an example, a case will be described in which the traveling area is a road, and the gate is a toll gate that divides a highway that is an example of the toll road and a general road that is an example of the non-toll road. The same can be explained even if the traveling area and the gate are the above-mentioned cases. Further, the driving support device DS in the embodiment is applied not only when passing through the gate to enter the toll road but also when passing through the gate to exit the toll road, and similarly enters the partitioned area. It applies not only when passing through the gate in order to pass through the gate in order to get out of the compartment area.

The control processing unit 3 is a circuit for controlling each of the units 1, 2, 4 to 9 of the driving support device DS in accordance with the function of each unit and supporting the driving operation of the user. The control processing unit 3 includes, for example, a CPU (Central Processing Unit) and its peripheral circuits. The control processing unit 3 functionally includes a control unit 31, a lane marking detection processing unit 32, a virtual lane setting unit 33, an overlap condition calculation unit 34, and a travel control unit 35 by executing the control processing program.

The control unit 31 controls each of the units 1, 2, 4 to 9 of the driving support device DS in accordance with the function of each unit, and controls the overall operation of the driving support device DS.

The lane marking detection processing unit 32 detects lane markings (lines) indicating lanes arranged in the traveling area from the front image generated by the imaging unit 1. A known processing method is used for the marking line detection processing for detecting the marking line from the image. For example, as disclosed in Japanese Patent Application Laid-Open No. 11-167636, a template image showing white lines (an example of lane markings) is prepared in advance, and the template image and the image obtained by the camera are matched to obtain white lines. The white line is obtained using the template matching method that detects the position. Alternatively, for example, as disclosed in Japanese Patent Application Laid-Open No. 7-85249, a change in brightness is searched in the lateral direction in the white line search area, and it is determined that a portion having a very small change in brightness is a road portion, and a change in brightness is detected. It is judged that the portion adjacent to the road portion having extremely few light intensity changes greatly is the white line. Alternatively, for example, as disclosed in Japanese Unexamined Patent Application Publication No. 2007-220013, a structure that is a candidate for a white line is detected by edge detection from an image on a traveling road, and a structure that is a candidate for the white line is detected with respect to the position of the structure. Then, it is determined whether or not a predetermined structure is present at each of a plurality of predetermined relative positions, and based on the result of the determination, it is determined whether or not the structure that is a candidate for the white line is a white line. Here, the predetermined plurality of relative positions and the predetermined structure are determined on the basis of a specific relative positional relationship of the plurality of structures on the road.

The virtual lane setting unit 33 determines a plurality of lanes corresponding to the plurality of gates when the vehicle position measured by the position measuring unit 2 is within a predetermined distance from the gate position represented by the position information of the map information. The virtual lanes are virtually set. In the present embodiment, since the virtual lane is set in the traveling area in front of the gate, which does not have a lane marking indicating the lane, the virtual lane setting unit 33 determines that the vehicle position measured by the position measuring unit 2 corresponds to the map information. When it is within a predetermined distance from the gate position represented by the position information and when the lane marking detection processing unit 32 detects the end of the lane marking, a plurality of lanes corresponding to the plurality of gates are detected. Virtually set as a virtual lane. The predetermined distance is appropriately set and is set to, for example, 300 m or 500 m.

More specifically, the virtual lane setting unit 33 includes a plurality of virtual lane setting units 33 arranged at the gate position based on the map information corresponding to the gate position stored in the map information storage unit 41 of the storage unit 4. Set multiple virtual lanes corresponding to the gates of.

More specifically, for example, the map information includes traveling area information indicating the shape of the traveling area, and island information indicating the shape of an island arranged in association with the gate. Then, the virtual lane setting unit 33 determines each gate based on the traveling area information in the map information corresponding to the gate position and the island information corresponding to the plurality of gates arranged at the gate position. From each one end (division point) of each island, each division line is virtually set as each virtual division line in parallel along the extension direction (travel direction) of the traveling region. As a result, virtual lanes are set between the virtual lane markings. Here, for the virtual lanes on the end side, the lane markings that divide the traveling area are regarded as virtual lane markings and used.

For example, as shown in FIG. 3, the travel area DA is a first travel section including three first to third lanes LN1, LN2, LN3 indicated by four first to fourth lane lines LM1 to LM4. From DA1 and the second travel section DA2 that does not have the lane markings LM and is wider than the road width (width) of the first travel section DA1 following the first travel section DA1 and the second travel section DA2. It is composed of two third and fourth traveling sections DA3 and DA4, which follow the second traveling section DA2 and branch in different directions (for example, the A direction and the B direction), and one end of the second traveling section DA2. When five first to fifth gates GT1 to GT5 are arranged side by side in the direction orthogonal to the traveling direction (extension direction) at the side gate position Pgt, the virtual lane setting unit 33 causes With respect to the second travel section DA2 having the shape represented by the travel area information in the map information corresponding to the gate position Pgt, the first to fifth gates GT1 to GT5 arranged at the gate position Pgt are provided. Through the fifth island information IS1 to IS5, each virtual end line Pis1 to Pis5 of each island represented by the island information is parallel to each virtual partition line VLM1 along the extension direction (travel direction) of the second travel section DA2. Set VLM5. As a result, the first virtual lane VLN1 corresponding to the first gate GT1 is set between the first lane marking LM1 and the first virtual lane marking VLM1, and the first lane marking VLM1 and the second virtual lane marking VLM2 are set. Between the second virtual lane VLM2 and the third virtual lane marking VLM3, the second virtual lane VLN2 corresponding to the second gate GT2 is set between the third virtual lane VLN3 and the third virtual lane VLN3 corresponding to the third gate GT3. Is set, a fourth virtual lane VLN4 corresponding to the fourth gate GT4 is set between the third virtual lane marking VLM3 and the fourth virtual lane marking VLM4, and a fourth virtual lane marking VLM4 and a fifth virtual lane marking are set. A fifth virtual lane VLN5 corresponding to the fifth gate GT5 is set between the VLM5 and the VLM5.

Further, for example, the map information includes traveling area information indicating a shape of the traveling area and lane width information indicating a lane width, and the position information individually represents each gate position in each of the plurality of gates. Contains location information. In the case of collectively handling the plurality of gates, the gate positions in the plurality of gates may be represented by any one of the plurality of individual position information, or the plurality of gates that are separately handled may be collectively handled. Representative position information representatively representing a gate position in a gate may be included in the position information in addition to the individual position information. Then, the virtual lane setting unit 33 uses the travel area information in the map information corresponding to the gate position, the individual position information of the position information corresponding to the plurality of gates arranged at the gate position, and the lane width information. Based on each gate position represented by each individual position information of each gate as a starting point, each virtual lane is parallel to the lane width represented by the lane width information along the extension direction (traveling direction) of the traveling area. Set.

For example, as shown in FIG. 3, the virtual lane setting unit 33 sets the individual position of the first gate GT1 with respect to the second travel section DA2 having the shape represented by the travel area information in the map information corresponding to the gate position Pgt. The first to fifth gates GT1 arranged at the gate position Pgt are parallel to each other with the lane width LW from the gate position Pgt1 represented by the information and along the extension direction (travel direction) of the second traveling section DA2. Up to GT5, the first virtual lane VLN1 is set to the full extent of the second traveling section DA2. Here, for example, when the gate position Pgt1 is defined at the center position of the lane width, the first virtual lane is set so that the gate position Pgt1 is located at the center position of the lane width (the example shown in FIG. 3). ) Further, for example, when the gate position Pgt1 is defined at one end position of the lane width, the first virtual lane is set such that the gate position Pgt1 is located at one end position of the lane width. That is, the first virtual lane is set by adjusting the position in the width direction according to the method of defining the first gate position Pgt1 with respect to the lane width. For each of the second to fifth gates GT2 to GT5, similarly, the virtual lane setting unit 33 sets the second traveling section DA2 having the shape represented by the traveling area information in the map information corresponding to the gate position Pgt, to the second traveling section DA2. The gate positions Pgt2 to Pgt5 represented by the individual position information of the second to fifth gates GT2 to GT5 are the starting points, and the lane width LW is parallel to the second traveling section DA2 in the extension direction (traveling direction). The second to fifth virtual lanes VLN2 to VLN5 are set to fill the traveling section DA2.

When a virtual lane that overlaps with the vehicle on the tip side in the traveling direction of the vehicle (own vehicle) among the plurality of virtual lanes set by the virtual lane setting unit 33 is the virtual lane that overlaps, An approach angle of the vehicle with respect to the overlapping virtual lane and a ratio of an overlapping width of the overlapping virtual lane and the vehicle with respect to a lane width of the overlapping virtual lane are obtained.

For example, as shown in FIG. 3, when the vehicle (own vehicle) VC is traveling on the second and third virtual lanes VLN2 and VLN3 from the second virtual lane VLN2 toward the third virtual lane VLN3, there is an overlap. First, the situation calculation unit 34 selects one of the five first to fifth virtual lanes VLN1 to VLN5 virtually set by the virtual lane setting unit 33 on the tip side in the traveling direction DR of the vehicle (own vehicle) VC. The third virtual lane VLN3 that overlaps with the vehicle VC is determined as an overlapping virtual lane. The overlap situation calculation unit 34 sets the extension direction and the traveling direction DR of the vehicle VC based on the extension direction of the third virtual lane VLN3 of the overlap virtual lane (in this example, the extension direction of the second travel section DA2). The angle θ formed is determined as the approach angle θ. For example, when obtaining each of the approach angles θ of this time and the previous time, each vehicle position is acquired by the position measuring unit 2, and a vector (line segment) having the previous vehicle position as the starting point and the current vehicle position as the ending point is the vehicle. (Own vehicle) VC is obtained as the traveling direction DR, and an angle θ formed by the extension direction and the traveling direction DR of the vehicle VC is obtained as the approach angle θ. Then, the overlap situation calculation unit 34 selects from the second virtual partition line VLM2 overlapping the vehicle VC, of the second and third virtual partition lines VLM2, VLM3 representing the third virtual lane VLM3 of the overlapping virtual lane, from the second virtual partition line VLM2. The distance LPW from the two virtual lane markings VLM2 to the tip of the vehicle VC farthest away is determined as the overlapping width LPW between the overlapping virtual lane and the vehicle. For example, the vehicle contour shape information indicating the contour shape of the vehicle (own vehicle) in the plan view with respect to the vehicle position acquired by the position measuring unit 2 is stored in advance in the storage unit 4 as one of the various data. Then, as shown in FIG. 3, with respect to the vehicle position Ps measured by the position measuring unit 2, on the second travel section DA2 having the shape represented by the travel area information in the map information corresponding to the gate position Pgt. The contour shape of the vehicle VC is projected (projected, drawn), and the distance LPW from the second virtual lane marking VLM2 overlapping the projected vehicle VC to the tip of the vehicle VC farthest from the second virtual lane marking VLM2. Is calculated as the overlapping width LPW. Then, the overlapping state calculation unit 34 obtains a ratio LPW/LW of the overlapping width LPW between the overlapping virtual lane and the vehicle with respect to the lane width LW of the overlapping virtual lane.

The traveling control unit 35 controls traveling of the vehicle. In the present embodiment, the traveling control unit 35 determines the distance between the gate position represented by the position information of the map information and the vehicle position measured by the position measuring unit 2, and the overlap condition calculating unit 34. A steering torque control unit that controls the steering torque according to the approach angle of the vehicle and the ratio, and a target according to the approach angle of the vehicle obtained by the overlap state calculation unit 34 from among the plurality of gates. It also functions as a target gate selection unit that selects gates.

More specifically, the traveling control unit 35 functioning as the target gate selection unit advances the vehicle as the approach angle of the vehicle obtained from the current overlapping virtual lane is larger (deeper) determined by the overlapping situation calculation unit 34. Select an overlapping virtual lane that is farther in the direction, select a gate corresponding to the selected overlapping virtual lane as the target gate, and control the steering torque so as to guide the vehicle to the selected target gate. .. In the present embodiment, the traveling control unit 35 functioning as the target gate selection unit determines that the current overlapping virtual lane is set when the approach angle of the vehicle calculated by the overlapping situation calculation unit 34 is equal to or less than a predetermined angle threshold Thθ. When the corresponding gate is selected as the target gate and the approach angle of the vehicle obtained by the overlap condition calculation unit 34 exceeds the angle threshold Thθ, the current overlapping virtual lane is adjacent in the traveling direction of the vehicle. A gate corresponding to an overlapping virtual lane is selected as the target gate, and the steering torque is controlled so as to guide the vehicle to the selected target gate. The angle threshold Thθ is set to an appropriate value in advance. For example, in the example shown in FIG. 3, when the third virtual lane VLN3 is selected as the current overlapping virtual lane and the approach angle of the vehicle is equal to or less than the predetermined angle threshold Thθ, the third virtual lane VLN3 is selected. The lane VLN3 is selected, the corresponding third gate TG3 is selected as the target gate, and when the approach angle of the vehicle exceeds the angle threshold Thθ, the traveling direction DR of the vehicle VC is set in the third virtual lane. The adjacent fourth virtual lane VLN4 is selected, and the corresponding fourth gate GT4 is selected as the target gate.

The traveling control unit 35 functioning as the steering torque control unit increases the steering torque as the ratio calculated by the overlap condition calculation unit 34 increases. The traveling control unit 35 functioning as the steering torque control unit increases the steering torque as the distance between the gate position represented by the position information and the vehicle position measured by the position measuring unit is shorter. That is, the steering torque is gradually increased as the vehicle approaches the gate.

More specifically, for example, a distance between the gate position and the vehicle position, an approach angle of the vehicle with respect to the overlapping virtual lane, and a ratio of the overlapping width of the overlapping virtual lane and the vehicle with respect to the lane width of the overlapping virtual lane. And the steering torque are appropriately set in advance so as to satisfy the above-described respective characteristics (each condition), and the correspondence information indicating the correspondence is, for example, in a table format or a relational expression. It is stored in the storage unit 4 as one of the data.

When a virtual lane is set by the virtual lane setting unit 33, that is, when the vehicle position measured by the position measuring unit 2 is within a predetermined distance from the gate position represented by the position information of the map information, When the line detection processing unit 32 detects the end of the lane marking, the traveling control unit 35 determines the distance between the gate position represented by the positional information of the map information and the vehicle position measured by the position measuring unit 2. , And the steering torque corresponding to the approach angle and the ratio of the vehicle obtained by the overlap state calculation unit 34 is obtained from the correspondence information stored in the storage unit 4, and the obtained steering torque is obtained as the power. It is added to the steering torque for steering assist, and the actuator 71 is driven so as to generate the added steering torque.

Then, when the vehicle faces the target gate substantially, that is, when the vehicle is in the virtual lane of the target gate and the center line of the vehicle is substantially parallel to the virtual lane of the target gate, the traveling control unit 35 , The traveling of the vehicle is controlled so that the vehicle travels in the virtual lane of the target gate. The term “substantially parallel” means that the vehicle can travel in the virtual lane of the target gate by so-called lane keep assist control. More specifically, the traveling direction of the vehicle is within a predetermined angle from the center line of the virtual lane of the target gate, and the vehicle position measured by the position measuring unit 2 is predetermined from the center line of the virtual lane of the target gate. When it is within the distance of, the travel control unit 35 sets the center line in the virtual lane of the target gate to the target travel line and controls the steering torque so that the vehicle travels along the target travel line. ..

In addition, in the present embodiment, the map information storage unit 41 includes a map including position information indicating gate positions at a plurality of gates arranged in juxtaposition with each other in order to divide the traveling region in which the vehicle travels. It corresponds to an example of a map information storage unit that stores information. The marking line detection processing unit 32 of the imaging unit 1 and the control processing unit 3 corresponds to an example of a marking line detection unit that detects a marking line indicating a lane arranged in the traveling area.

Next, the operation of this embodiment will be described. FIG. 4 is a flowchart showing the operation of the driving support device.

When the vehicle starts to operate, the driving support device DS as described above initializes necessary parts and starts the operation. By executing the control processing program, the control processing unit 3 functionally includes the control unit 31, the lane marking detection processing unit 32, the virtual lane setting unit 33, the overlap condition calculation unit 34, and the travel control unit 35.

In FIG. 4, the driving support device DS first acquires the generated front image from the imaging unit 1 by the control unit 31 of the control processing unit 3 and acquires the vehicle position of the measurement result from the position measurement unit 2. Yes (S1).

Next, the driving support device DS uses the virtual lane setting unit 33 of the control processing unit 3 to determine whether or not there is a gate in the vicinity (S2). More specifically, the virtual lane setting unit 33 selects (searches) the gate position of the gate closest to the vehicle position acquired in step S1 from the position information stored in the map information storage unit 41. Then, the selected gate position is compared with the vehicle position acquired in the process S1 to determine whether the vehicle position acquired in the process S1 is within the predetermined distance from the selected gate position. As a result of this determination, when the vehicle position is within the predetermined distance from the gate position, the driving support device DS determines that a gate exists near (Yes), and then executes processing S3. .. On the other hand, as a result of the determination, when the vehicle position is not within the predetermined distance from the gate position, the driving support device DS determines that there is no gate in the vicinity (No), and the process proceeds to process S1. return. Therefore, the processes S1 and S2 are repeatedly executed until it is determined that the gate exists near the host vehicle.

In this process S3, the driving assistance device DS determines whether or not the lane marking detection processing unit 32 and the virtual lane setting unit 33 in the control processing unit 3 have detected the end of the lane markings. More specifically, the lane marking detection processing unit 32 first detects lane markings from the front image acquired in step S1. Then, the virtual lane setting unit 33 determines whether the lane marking detected by the lane marking detection processing unit 32 has ended. As a result of this determination, if the lane marking detected by the lane marking detection processing unit 32 has an end, the virtual lane setting unit 33 determines that the lane marking has ended (Yes), and the lane marking is terminated. The end position of is obtained and stored in the storage unit 4, and then the process S4 is executed. For example, since the actual distance per pixel is obtained for each pixel from the lower end to the upper end in the front image from the specifications of the image pickup unit 1 (optical characteristics of the image forming optical system, etc.), it is possible to reflect in the front image. The end position of the lane marking is obtained from the pixel position corresponding to the end position of the lane marking and the vehicle position acquired in step S1 together with the front image. On the other hand, as a result of the determination, when the lane marking detected by the lane marking detection processing unit 32 does not have an end (for example, a road that branches off from the main road and does not follow the running area in which the gate is placed does not belong to the main road). When the vehicle is traveling on a road), the virtual lane setting unit 33 determines that the lane marking has not ended (No), and returns the process to the process S1.

In the above description, process S3 is executed next to process S2, but conversely, process S3 may be executed before process S2. That is, either the presence of the gate or the end of the lane marking may be determined first.

In this process S4, the driving support device DS acquires the vehicle position from the position measuring unit 2 by the control unit 31, and determines whether the vehicle position has passed the end position of the lane marking by the virtual lane setting unit 33. .. If the result of this determination is that the vehicle position has not passed the end position of the lane marking (No), the driving assistance device DS returns the process to this process S4. On the other hand, as a result of the determination, when the vehicle position has passed the end position of the lane marking (Yes), the driving assistance device DS next executes a process S5. Therefore, this processing S4 is repeatedly executed until the host vehicle equipped with the driving support device DS passes through the end position of the lane marking.

In this processing S5, the driving support device DS acquires the vehicle position of the measurement result from the position measuring unit 2 by the control unit 31, stores the acquired vehicle position in the storage unit 4, and then the processing S6. To execute.

In the process S6 subsequent to the process S5, the driving assistance device DS corresponds to each gate by the virtual lane setting unit 33 of the control processing unit 3 using the map information or the like corresponding to the gate determined in the process S2. The virtual lane is set, and then the process S7 is executed.

In a process S7 subsequent to the process S6, the driving assistance device DS causes the overlapping state calculation unit 34 of the control processing unit 3 to detect the vehicle position acquired in the current process S5, the vehicle position acquired in the previous process S5, and the process. Based on the virtual lane set in S6, the approach angle of the vehicle with respect to the overlapping virtual lane and the ratio of the overlapping width of the overlapping virtual lane and the vehicle with respect to the lane width of the overlapping virtual lane are obtained, and then the processing S8 is performed. To execute.

In the process S8 following the process S7, the driving support device DS selects the target gate by the traveling control unit 35 of the control processing unit 3, and then executes the process S9.

In the process S9 subsequent to the process S8, the driving support device DS calculates the steering torque by the traveling control unit 35, and then executes the process S10. More specifically, in the present embodiment, the traveling control unit 35 determines the gate position represented by the position information of the map information corresponding to the gate determined in process S2 and the vehicle acquired from the position measuring unit 2 in process S5. The steering torque corresponding to the distance to the position and the approach angle and the ratio of the vehicle obtained by the overlap situation calculation unit 34 in the process S7 is obtained from the correspondence information stored in the storage unit 4.

In the process S10 following the process S9, the driving support device DS controls the steering by the traveling control unit 35, and then executes the process S11. More specifically, in the present embodiment, the traveling control unit 35 adds the steering torque obtained in the process S10 to the steering torque for the power steering assist, and generates the steering torque after the addition. The actuator 71 is driven. Therefore, when the driver performs a steering operation, the steering torque corresponding to the distance, the approach angle of the vehicle, and the ratio is added to the steering torque. The driver can assist the driving operation so that the steering operation becomes light.

In the processing S10 subsequent to the processing S9, the driving support device DS determines whether the vehicle is within the virtual lane of the target gate and the center line of the vehicle is substantially parallel to the virtual lane of the target gate by the traveling control unit 35. Determine whether or not. As a result of this determination, if the vehicle is not in the virtual lane of the target gate and/or if the center line of the vehicle is not substantially parallel to the virtual lane of the target gate (No), driving is performed. The support device DS returns the process to the process S5. On the other hand, as a result of the determination, if the vehicle is in the virtual lane of the target gate and the center line of the vehicle is substantially parallel to the virtual lane of the target gate (Yes), the driving assistance device DS , Process S12 is executed. Therefore, the driving support device DS until the center line of the vehicle is substantially parallel to the virtual lane of the target gate and the vehicle is in the virtual lane of the target gate, that is, the vehicle substantially faces the target gate. Until then, each processing of the above-mentioned processing S5 to processing S11 is repeatedly executed.

In the process S12, the driving support device DS performs so-called lane keeping assist control on the virtual lane of the target gate by the traveling control unit 35, and then executes the process S13. More specifically, in the present embodiment, the traveling control unit 35 sets the center line in the virtual lane of the target gate as the target traveling line, and sets the steering torque so that the vehicle travels along the target traveling line. Control. Preferably, the traveling control unit 35 sets the maximum vehicle speed (for example, 20 km/h when the gate is an ETC gate) allowed in the gate section from one end (section point) of the island to the target gate as the target vehicle speed. The vehicle speed may be controlled such that the vehicle speed reaches the target vehicle speed before the vehicle reaches one end of the island.

In this processing S13, the driving support device DS acquires the vehicle position from the position measuring unit 2 by the control unit 31, and determines by the traveling control unit 35 whether the vehicle position has passed the gate position of the target gate. .. As a result of this determination, when the vehicle position has not passed the gate position of the target gate (No), the driving assistance device DS returns the process to the process S12. On the other hand, as a result of the determination, when the vehicle position has passed the gate position of the target gate (Yes), the driving assistance device DS ends the present process. Therefore, the lane keeping assist control is executed for the virtual lane of the target gate until the host vehicle equipped with the driving support device DS passes through the gate position of the target gate.

As described above, the driving assistance device DS and the driving assistance method implemented therein according to the present embodiment, depending on the distance, the approach angle of the vehicle, and the ratio when the driver performs the steering operation. Since the steering torque is controlled, it is possible to steer toward the target gate selected by the user with a light steering operation. Therefore, the driving support device DS and the driving support method can support the driving operation in accordance with the driver's steering intention.

Since the driving assistance device DS and the driving assistance method select the target gate according to the approach angle of the vehicle, for example, when the approach angle of the vehicle is small (shallow), the gate corresponding to the current overlapping virtual lane. On the other hand, if the approach angle of the vehicle is large (deep), a virtual virtual lane that is farther from the current virtual virtual lane in the traveling direction of the vehicle is selected, and the virtual virtual lane is selected. It is possible to assist the driving operation of the vehicle so as to smoothly guide the driver from the current traveling direction to the target gate, such as selecting the gate corresponding to the lane as the target gate.

In the driving support device DS and the driving support method, the steering torque increases as the ratio obtained by the overlapping state calculation unit 34 increases. Therefore, the current overlapping virtual lane or the current overlapping virtual lane that is adjacent to the virtual lane in the traveling direction is overlapped. The driving operation of the vehicle can be assisted so that the vehicle is guided to the gate corresponding to the virtual lane.

Since the driving assist device DS and the driving support method increase the steering torque as the distance to the gate decreases, the driving assist device DS and the driving assist method correspond to the current overlapping virtual lane or the overlapping virtual lane adjacent to the current overlapping virtual lane in the traveling direction. The driving operation of the vehicle can be assisted so that the vehicle is guided to the gate.

In the above embodiment, the map information storage unit 41 is used as an example of the map information storage unit that stores the map information, but the map information storage unit 41 is not limited to this, and the map information storage unit is It may be in the form of. For example, the map information storage unit includes a recording medium such as a DVD-ROM or a USB (Universal Serial Bus) memory for storing the map information, and a recording medium such as a DVD drive device or a USB interface. A reading device for reading the map information from the medium may be provided. Further, for example, the map information storage unit stores the map information received by the receiving unit and a receiving unit such as a communication card that receives the map information from a server device that manages the map information via a network. A storage unit may be provided.

In order to represent the present invention, the present invention has been described above appropriately and sufficiently through the embodiments with reference to the drawings, but those skilled in the art can easily modify and/or improve the above embodiments. It should be recognized that this is possible. Therefore, unless a modification or improvement carried out by a person skilled in the art is at a level that deviates from the scope of rights of the claims recited in the claims, the modification or the improvement is covered by the scope of rights of the claims. Is understood to be included in.

DS driving support device 1 imaging unit 2 position measuring unit 3 control processing unit 4 storage unit 5a power unit 5b power transmission unit 6 braking unit 7 steering unit 8 input unit 9 display unit 31 control unit 32 marking line detection processing unit 33 virtual lane setting Section 34 Overlap status calculation section 35 Travel control section (steering torque control section, target gate selection section)
41 Map information storage

Claims (5)

A driving assistance device that assists a driving operation of the vehicle by applying a steering torque to a steering mechanism so that the vehicle travels along a target travel line,
A map information storage unit that stores map information including position information indicating gate positions in a plurality of gates arranged so as to be juxtaposed in the traveling region to divide the traveling region in which the vehicle travels;
A position measuring unit that measures the vehicle position of the vehicle in the traveling area,
When the vehicle position measured by the position measuring unit is within a predetermined distance from the gate position represented by the position information, a plurality of lanes corresponding to the plurality of gates are virtually set as a plurality of virtual lanes. A virtual lane setting section,
When the virtual lane that overlaps the vehicle on the tip side in the traveling direction of the vehicle among the plurality of virtual lanes set by the virtual lane setting unit is an overlapping virtual lane, the approach angle of the vehicle with respect to the overlapping virtual lane And an overlap condition calculation unit that obtains a ratio of an overlap width of the overlapping virtual lane and the vehicle with respect to a lane width of the overlapping virtual lane,
The steering according to the distance between the gate position represented by the position information and the vehicle position measured by the position measuring unit, and the approach angle and the ratio of the vehicle obtained by the overlapping state calculation unit. And a steering torque control unit for controlling torque,
Driving support device. From the plurality of gates, further comprising a target gate selection unit that selects a target gate according to the approach angle of the vehicle obtained by the overlapping state calculation unit,
The steering torque control unit controls the steering torque so as to guide the vehicle to the target gate selected by the target gate selection unit,
The driving support device according to claim 1. The steering torque control unit increases the steering torque as the ratio obtained by the overlap condition calculation unit increases.
The driving support device according to claim 1 or 2. The steering torque control unit increases the steering torque as the distance between the gate position represented by the position information and the vehicle position measured by the position measuring unit decreases,
The driving support device according to any one of claims 1 to 3. The vehicle travels along the target travel line by using map information including position information indicating gate positions at a plurality of gates arranged so as to be juxtaposed to the travel area for dividing the travel area in which the vehicle travels. By applying a steering torque to the steering mechanism, a driving support method for supporting the driving operation of the vehicle,
A position measuring step of measuring a vehicle position of the vehicle in the traveling area;
When the vehicle position measured in the position measuring step is within a predetermined distance from the gate position represented by the position information, a plurality of lanes corresponding to the plurality of gates are virtually set as a plurality of virtual lanes. Virtual lane setting process,
Of the plurality of virtual lanes set in the virtual lane setting step, when the virtual lane that overlaps with the vehicle at the tip side in the traveling direction of the vehicle is an overlapping virtual lane, the approach angle of the vehicle with respect to the overlapping virtual lane And an overlapping state calculation step of obtaining a ratio of an overlapping width between the overlapping virtual lane and the vehicle with respect to a lane width of the overlapping virtual lane,
The steering according to the distance between the gate position represented by the position information and the vehicle position measured in the position measuring step, and the approach angle and the ratio of the vehicle obtained in the overlap situation calculating step. And a steering torque control step of controlling torque,
Driving support method.