JP3292110B2 - Vehicle steering control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle steering control device, and more particularly to a vehicle steering control device for performing steering control so that a vehicle does not deviate from a traveling lane.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Unexamined Patent Application Publication No.
As disclosed in No. 0, a device that generates a steering torque so that a vehicle does not deviate from a traveling lane is known. The conventional device includes a mechanism for detecting a range of a traveling lane,
A mechanism for detecting an area in which the vehicle is traveling on the lane. Further, the above-mentioned conventional device is provided with a mechanism for generating a steering torque for returning the position of the vehicle to the center of the lane when the position of the vehicle is shifted to the side end of the lane.

According to the above-mentioned conventional apparatus, when the vehicle is deviated to the side end of the lane for some reason while the vehicle is running, the above steering torque is automatically generated, and the vehicle is moved to the side end. The driver can be warned that the vehicle is biased. Therefore, according to the above-described conventional device, it is possible to effectively prevent the vehicle from departing from the lane.

[0004]

By the way, an obstacle such as a motorcycle may exist on the lane. When these obstacles are present on the lane, it is necessary to drive on the side edge of the lane in order to avoid the obstacles. When the vehicle travels on the side end of the lane, the above-described conventional apparatus always generates a steering torque for returning the vehicle to the center of the lane. Therefore, in a vehicle equipped with the above-described conventional device, when traveling on the side end of the lane avoiding obstacles,
It is necessary to perform a steering operation against the above steering torque.

In order to obtain good steering characteristics while the vehicle is running, it is desirable that only a reaction force due to self-aligning torque or the like acts on the steering wheel. In this regard, it is difficult for the above-described conventional device to maintain good steering characteristics when traveling on the side end of the lane while avoiding obstacles.

The present invention has been made in view of the above points, and generates a steering torque for preventing a vehicle from deviating from a lane, and the driver consciously travels on a side edge of the lane. It is an object of the present invention to provide a vehicle steering control device that realizes good steering characteristics.

[0007]

The above object is achieved by the present invention.
A lane area detecting mechanism for detecting the lane area of the vehicle, and a return steering torque for moving the vehicle to the center of the lane area when the vehicle travels in a control area at a side end of the lane area. And a return steering torque generating means for generating the vehicle steering control device, whether or not the driver intentionally guides the vehicle to the control area to continuously travel the side end of the lane area. Means for determining whether the driver is consciously guiding the vehicle to the control area and continuously traveling the side end of the lane area, and generating the return steering torque. and a return steering torque limiting means for limiting the, the consciousness-format
Another means detects the duration of the vehicle traveling in the control area.
Output time measuring means, and the return steering
The torque limiting means determines that the duration reaches a predetermined threshold time.
A first prohibition that prohibits the generation of the return steering torque when the rotation has reached
The present invention is achieved by a vehicle steering control device including a stopping means .

In the present invention, a control area is recognized at a side end of the lane area. When the vehicle enters the control area, a return steering torque is generated to move the vehicle toward the center of the lane area. When the return steering torque is generated when the vehicle is biased to the side end of the lane area, the vehicle does not deviate from the lane area under a situation not intended by the driver.

When the vehicle is running, the driver may consciously guide the vehicle to the side end of the lane area, for example, when avoiding an obstacle in the lane area. In the present invention, when the state in which the vehicle is intentionally guided to the control region continues, generation of the return steering torque is limited. According to the above processing, good steering characteristics can be obtained when the vehicle travels on the side end of the lane area.

In the present invention, when the driver does not intend to guide the vehicle to the side end of the lane area, the vehicle returns to the control area, and then the return steering torque is generated. After a time, the vehicle escapes from the control area. For this reason, when the continuation time of the vehicle traveling in the control area is equal to or longer than the predetermined threshold time, it can be determined that the driver is intentionally guiding the vehicle to the side end of the lane area. Therefore, according to the present invention, it is possible to accurately determine the driving consciousness.

[0011] The above object is achieved by the present invention as defined in claim 2.
A lane area detection mechanism that detects a lane area of the vehicle;
When traveling in the control area at the side end of the lane area,
Return steering torque for moving both toward the center of the lane area
Return torque generating means for generating
In the steering control device, the return steering torque generating means
Is a predetermined time after the vehicle enters the control area.
The vehicle steering control device that generates the return steering torque
Achieved.

In the present invention, the vehicle enters the control area.
Then, a return steering torque is generated for a predetermined time. driver
Reduces the return steering torque via the steering wheel.
By feeling, it is recognized that the vehicle has entered the control area.
Understand. After the return steering torque has been disappearance is, in vehicle
Good steering characteristics are realized. When the vehicle enters the control area
If it is not the driver's intention, the driver
After feeling the return steering torque, return the vehicle to the center of the lane area.
Perform steering operation to return. When the vehicle enters the control area
If the driver agrees with the driver's intentions,
Steering operation so that the following vehicle runs on the side edge of the lane area
I do.

[0013] The above object is as described in claim 3.
A lane area detection mechanism that detects a lane area of the vehicle;
When traveling in the control area at the side end of the lane area,
Return steering torque for moving both toward the center of the lane area
Return torque generating means for generating
In the steering control device, the driver consciously controls the vehicle.
Guide the vehicle to the control area and continue traveling on the side edge of the lane area.
Consciousness determining means for determining whether the driver is going
Consciously guides the vehicle to the control area and the side edges of the lane area
If it is determined that the vehicle is about to continue running
A reset steering torque for limiting the generation of the reset steering torque.
With a click limiting means, said awareness determination means comprises a prohibiting condition determining means for determining whether the vehicle in the prohibited region recognized outside of the control region was derived, said return steering torque limiting means This is achieved by a vehicle steering control device including second prohibition means for prohibiting the generation of the return steering torque when the vehicle is guided to the prohibition region.

In the present invention, when the driver does not intend to guide the vehicle to the side end of the lane area, a return steering torque is generated after the vehicle enters the control area, so that a short period of time is generated. Later, the vehicle escapes from the control area. Therefore, when the vehicle reaches the prohibited area outside the control area, it can be determined that the driver is intentionally guiding the vehicle to the side end of the lane area. Therefore, according to the present invention, the driver's consciousness can be accurately determined.

[0015] The above object is as described in claim 4.
The vehicular steering control apparatus according to claim 1 or 2, wherein, luck
The divers consciously guide the vehicle to the control area and
Determines whether to continue running on the side edge
Consciousness discriminating means that the driver consciously controls the vehicle
Guide the vehicle to the area and continue traveling on the side edge of the lane area
If it is determined that the return steering torque
Comprising a return steering torque limiting means for limiting the generation, the prior
The consciousness discrimination means is prohibited from being recognized outside the control area.
Prohibition condition determination for determining whether the vehicle has been guided to the stop area
Means for restricting the return steering torque,
Generation of the return steering torque when guided to the prohibited area
A second prohibition means for prohibiting the lane area,
A prohibited area recognized outside the control area, and the prohibited area
And a departure prevention area recognized outside of the vehicle.
When traveling in the departure prevention area, the vehicle is moved in the lane area.
Departure that generates steering torque that prevents departure toward the center
This is achieved by a vehicle steering control device having prevention means .

According to a fifth aspect of the present invention, in the vehicle steering control device according to the third aspect , the lane area includes a prohibited area recognized outside the control area, A departure prevention area recognized outside the prohibited area, and a departure prevention means for generating a departure prevention steering torque that directs the vehicle toward the center of the lane area when the vehicle travels in the departure prevention area. This is achieved by a vehicle steering control device characterized by the above-mentioned features.

According to the fourth and fifth aspects of the present invention, a prohibited area is set outside the control area, and a departure prevention area is set outside the prohibited area. When the vehicle crosses the control area,
Further, when the vehicle enters the departure prevention region beyond the prohibited region, a departure prevention steering torque for displacing the vehicle toward the center of the lane region is generated. When the departure prevention steering torque is generated as described above, the departure of the vehicle from the lane region is effectively prevented.

[0018]

FIG. 1 is a system configuration diagram of a vehicle steering control device according to an embodiment of the present invention. The steering control device according to the present embodiment includes an electronic control unit 10 (hereinafter referred to as EC).
U10). The steering control device according to the present embodiment is controlled by the ECU 10.

The steering control device according to the present embodiment includes a video camera 12. The video camera 12 is a camera for photographing a road surface in front of the vehicle over a predetermined length. An image processing device 14 is connected to the video camera 12. The image signals output by the video camera 12 include signals corresponding to white lines drawn on the road, guardrails, preceding vehicles, and the like.

The image processing device 14 extracts a white line drawn on the road from the image signal. The output signal of the image processing device 14 includes information on the extracted white line. The white line extracted as described above can be grasped as the boundary of the lane extending in front of the vehicle. Image processing device 1
4 is supplied to the ECU 10. ECU10
Recognizes the area of the traveling lane based on the output signal.

The steering control device has a vehicle state quantity sensor 16. The vehicle state quantity sensor 16 includes a vehicle speed SPD,
Sensors for detecting the yaw rate γ, the longitudinal acceleration Gx, the lateral acceleration Gy, and the like are included. Vehicle state quantity sensor 16
Are supplied to the ECU 10. ECU10
Detects the state of the vehicle based on the output signal of the vehicle state quantity sensor 16.

The steering control device has a GPS 18. A GPS antenna 20 is connected to the GPS 18. According to the GPS 18, the latitude and longitude of the vehicle can be specified. The output signal of the GPS 18 is supplied to the navigation device 22. Navigation device 2
2 stores map information and the like. The ECU 10 is connected to the navigation device 22. ECU10
Detects the position of the vehicle, the curvature of the running road, and the like based on the data supplied from the navigation device 22.

The steering control device includes an information interface 2
4 is provided. The information interface 24 has a function as an alarm, a function as a display device, and a function as an operation device. The ECU 10 is connected to the information interface 24. In the steering control device of the present embodiment, necessary operations are executed via the information interface 24. Further, in the steering control device of the present embodiment, necessary alarms and displays are executed via the information interface 24.

The steering control device has a steering wheel 26. A steering shaft 28 is connected to the steering wheel 26. A steering angle sensor 30 is provided on the steering shaft 28. The steering angle sensor 30 generates an output signal corresponding to the steering angle θ of the steering wheel 26. The output signal of the steering angle sensor 30 is supplied to the ECU 10. The ECU 10 detects the steering angle θ based on the output signal of the steering angle sensor 30.

A torque sensor 32 is provided on the steering shaft 28. The torque sensor 32 outputs an electric signal corresponding to the steering torque T transmitted to the steering shaft 28. The output signal of the torque sensor 32 is E
It is supplied to CU10. The ECU 10 detects the steering torque T based on the output signal of the torque sensor 32.

The gear mechanism 3 is mounted on the steering shaft 28.
The motor 36 is connected to the motor 36 via a motor 4. Gear mechanism 34
Is the torque generated by the motor 36 (hereinafter, the motor torque T
M) is transmitted to the steering shaft 28. The motor 36 is connected to the ECU 10 via a drive circuit 38. The drive circuit 38 supplies the motor 36 with an EC
A drive current corresponding to a command signal issued by U10 is supplied.
Therefore, the motor 36 generates a motor torque TM according to the command signal issued by the ECU 10.

The basic operation of the steering control device will be described below with reference to FIGS.

FIG. 2 is a bird's-eye view of a vehicle 40 on which the steering control device of the present embodiment is mounted and a road 42 extending in front of the vehicle 40. On the road 42, white lines 44, 46 for representing the boundaries of the lanes are drawn. The video camera 12 mounted on the vehicle 40 captures these white lines 44 and 46 in front of the vehicle 40. The image processing device 14 extracts the white lines 44 and 46 by processing an image signal supplied from the video camera 12 and supplies data relating to the position and the like to the ECU 10.

The ECU 10 recognizes the positions of the white lines 44 and 46 in front of the vehicle based on the data of the white lines 44 and 46 supplied from the image processing device 14. Then, the area between the white lines 44 and 46 is recognized as the lane 48 of the vehicle 40. The ECU 48 further estimates the traveling line of the vehicle 40 based on the vehicle state such as the vehicle speed SPD and the yaw rate γ, the steering angle θ, and the like. Hereinafter, this traveling line is referred to as an “estimated traveling line”.

The ECU 10 detects in which area on the lane 48 the estimated travel line exists at a point ahead of the vehicle 40 by a predetermined length L0. As a result, when it is determined that the estimated traveling line is located at the side end of the lane 48,
The ECU 10 causes the motor 36 to generate a motor torque TM for correcting the steering angle θ in order to correct the traveling line of the vehicle 40 toward the center of the lane 48. Hereinafter, this motor torque TM is referred to as a return steering torque TM.

FIG. 3 shows a virtual cross section of the road 42 (hereinafter, referred to as a virtual cross section (III)). The road 42 has a substantially flat cross-sectional shape in the entire width. When the vehicle 40 travels on the road 42, the steering control device of the present embodiment
A characteristic similar to a steering characteristic exhibited when a normal vehicle travels on a road having a virtual cross section (III) is realized.

That is, in the virtual section (III), the lane 48
, A left control area 49 and a right control area 50 are set inside the white lines 44 and 46. The imaginary cross section (III) is set so that the vicinity of the center of the lane 48 becomes flat, and that the surfaces of the left and right control areas rise higher as they approach the white lines 44 and 46.

When the vehicle 40 is guided to the side end of the lane 48 as described above, the steering control device generates a return steering torque TM for correcting the traveling line of the vehicle to the center of the lane 48. In the present embodiment, the region in which the steering control device generates the return steering torque TM coincides with the left control region 49 and the right control region 50 shown in FIG. Also,
In this embodiment, the return steering torque TM generated by the steering control device changes to a large value as the vehicle 40 approaches the white lines 44 and 46. Therefore, according to the steering control device of the present embodiment, it is possible to realize the same steering characteristics as when a normal vehicle travels on a road having a virtual cross section (III).

Next, with reference to FIG. 4 and FIG. 5, a characteristic portion of the steering control device according to the present embodiment will be described.

FIG. 4 shows a running line of the vehicle 40 when overtaking the motorcycle 51 on the road 42. An obstacle such as the motorcycle 51 may be present on the road 42. Vehicle 40
Is temporarily in lane 4 to overtake those obstacles
It is necessary to run on the side end of the vehicle. In such a situation, the driver of the vehicle 40 may intentionally guide the vehicle 40 to the side end of the lane 48.

The return steering torque TM generated by the steering control device according to the present embodiment is based on white lines 44 and 46 when the driver does not intend to guide the vehicle 40 to the side end of the lane.
This is effective in preventing deviation from the outside of the. However, when the driver intentionally guides the vehicle 40 to the side end of the lane 48, in order to obtain good steering characteristics, it is desirable that the return steering torque TM is not generated. The steering control device according to the present embodiment is characterized in that the generation of the return steering torque TM is restricted when the driver intentionally guides the vehicle 40 to the side end of the lane 48 in order to satisfy the above demand. are doing.

FIG. 5 shows the ECU 1 for realizing the above functions.
0 shows a flowchart of an example of a control routine executed by the control routine 0. The routine shown in FIG. 5 is a routine that is repeatedly executed each time the processing ends. When the routine shown in FIG. 5 is started, first, the processing of step 52 is executed.

In step 52, it is determined whether the vehicle 40 has entered the left control area 49 or the right control area 50 from the previous processing cycle to the current processing cycle. As a result, when the vehicle 40
If it is determined that the vehicle has not entered the vehicle at 9, 50, the current routine is terminated without any further processing. On the other hand, if the vehicle 40 is in one of the control areas 49,5
If it is determined that it has entered 0, the process of step 54 is executed next.

In step 54, the control angle θ is calculated. The control angle θ corresponds to the estimated travel line of the vehicle 40 in the lane 48.
Is an angle to be given to the steering shaft 28 so as to match the center of the steering shaft 28. In this step 54, a calculation including the sign of the control angle θ is performed depending on whether the vehicle has entered the left control range or the right control range.

In step 56, the drive current I to be supplied to the motor 36 is calculated according to the magnitude of the control angle θ, and the direction of the drive current I is determined according to the sign of the control angle θ.

In step 58, a process of driving the motor 36, specifically, a process of supplying a drive current I to the motor 36 is executed. When the process of step 58 is executed, the motor 36 generates a return steering torque TM for returning the vehicle 40 to the center of the lane 48.

In step 60, it is determined whether the vehicle 40 has escaped from the left control area 49 or the right control area 50. As a result, those control areas 49, 50
If it is determined that the vehicle has escaped from the routine, the current routine is immediately terminated. According to the above processing, the vehicle 40
Generates the return steering torque TM after the vehicle enters one of the control regions 49 and 50, and can quickly eliminate the return steering torque TM after the vehicle 40 escapes from the control region.

In this routine, the vehicle 4
0 is from the left control area 49 or the right control area 50
If it is determined that the user has not escaped from the above, the process of step 62 is executed next.

In step 62, it is determined whether or not the elapsed time since the vehicle 40 has entered one of the control areas 49, 50 has reached a predetermined time t0. As a result, the continuation time after the vehicle 40 enters the control regions 49 and 50 is t.
If it is determined that it has not reached 0, the processing of step 54 and thereafter is executed again. On the other hand, if it is determined that the continuation time has reached the predetermined time t0, this routine is immediately terminated. According to the above processing,
When the vehicle 40 enters the control regions 49 and 50 when the vehicle 40 is continuously maintained in the control regions 49 and 50,
The return steering torque TM is generated until the predetermined time t0 elapses, and the return steering torque TM can be quickly eliminated after the predetermined time t0 elapses.

Unless the driver consciously guides the vehicle 40 to the side end of the lane 48, the driver normally aggressively after the return steering torque is transmitted to the steering wheel 26.
Is returned to the center of the lane 48. Therefore, if it is determined in step 62 that the duration of time that the vehicle 40 is maintained in the control areas 49 and 50 has reached the predetermined time t0, the driver consciously moves the vehicle 40 to the side end of the lane 48. Can be determined to be leading.

Therefore, according to the steering control device of the present embodiment, the vehicle 40 is controlled by the control areas 49, 5 against the driver's intention.
When the vehicle enters zero, the return steering torque TM is generated, so that the vehicle 40 can be reliably prevented from deviating from the lane 48, and the driver can consciously move the vehicle 40 to the side end of the lane 48. , The return steering torque TM is determined to be extinguished, so that the steering characteristics can be properly achieved.

In the above embodiment, the ECU 10
The lane area detecting mechanism according to any one of claims 1 to 3 , recognizes the lane 48 based on the data of the white lines 44 and 46 supplied from the image processing device 14 so that the processing of steps 52 to 60 is performed. "return steering torque generation means" of the claims 1 to 3, wherein by executing the said claim 1及 by executing the processing of step 62
And 3 described above, the "consciousness determination means" and the "return steering torque limiting means" are realized, respectively.

In the above embodiment, the ECU 1
0, "continuation time measuring unit" and "return steering torque limiting means" of claim 1, wherein by executing the process of step 62 is implemented.

Next, a second embodiment of the present invention will be described with reference to FIGS. 6 and 7 together with FIG. The steering control device according to the present embodiment is realized by causing the ECU 10 to execute a control routine shown in FIG. 7 in the system configuration shown in FIG.

FIG. 6 shows a virtual section of the road 42 (hereinafter referred to as a virtual section (VI)). In FIG. 6, the same portions as those shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted. The steering control device according to the present embodiment is characterized in that when the vehicle 40 travels on the road 42, the same steering characteristics as those exhibited when a normal vehicle travels on a road having a virtual cross section (VI) are realized. Has features.

In this embodiment, the road 42 is in the first lane 6
4 and a second lane 66. The boundary of the first lane 64 is defined by the white lines 44 and 46. Also,
The first lane 64 and the second lane 66 are separated by the white line 44. In the first lane 64, a left control area 72 is set at a part of the side end on the white line 44 side, and a right control area 74 is set at a part of the side end on the white line 46 side. Further, in the first lane 64, between the left control area 72 and the white line 44,
Further, forbidden areas 76 and 78 are set between the right control area 74 and the white line 46, respectively. Similarly to the first lane 64, the left and right control areas and the prohibited areas are set in the second lane 66 as well.

The virtual section (VI) is such that the vicinity of the center of the first lane 64 and the forbidden areas 76 and 78 are flat, and the surfaces of the control areas 72 and 74 of the first lanes 64 and 66 are Are set to be higher as they approach the white lines 44 and 46 adjacent to. The virtual cross section (VI) is set so that the cross section of the second lane 66 is the same as the cross section of the first lane 64.

The steered wheels of a vehicle traveling on a road having a virtual cross section (VI) are directed to the center of the first lane 64 after the vehicle enters the left control area 72 or the right control area 74. The return steering torque is input. The return steering torque generated as described above depends on whether the vehicle is in the left control region 7.
It disappears when entering from 2 to the prohibited area 76 or from the right control area 74 to the prohibited area 78. Therefore,
When the driver of the vehicle intentionally guides the vehicle to the prohibited areas 76 and 78 against the above-described return steering torque, normal steering characteristics are realized in the vehicle.

A vehicle traveling on a road having a virtual cross section (VI) can easily deviate outside the narrower the width of the left control area 72 and the width of the right control area 74. The control areas 72 and 74 of the virtual cross section (VI) are set smaller than the side control areas 49 and 50 in the first embodiment. Therefore, a vehicle traveling on a road having the virtual cross section (VI) can deviate outside the control areas 72 and 74 relatively easily.

The virtual cross section (III) shown in FIG.
In the figure, left and right control areas 49 and 50 are provided adjacent to the white lines 44 and 46. When the left and right control areas 49 and 50 are provided adjacent to the white lines 44 and 46 in this manner,
When a plurality of lanes are provided on a road, the control areas belonging to each lane are in a state of being close to each other.

If control areas belonging to different lanes are arranged adjacent to each other, a vehicle that deviates from the control area of one lane may immediately enter the control area of another lane. The direction of the return steering torque generated when the vehicle is in the control area of one lane is different from the direction of the return steering torque generated after entering the adjacent lane. Therefore, when the vehicle enters the control region of one lane from the control region of another lane as described above, a sudden change in the return steering torque occurs in the vehicle.

Each control area 7 is shown in the virtual section (VI).
Forbidden areas 76 and 78 are set outside the areas 2 and 74. The forbidden areas 76 and 78 are areas where no return steering torque is transmitted to the steered wheels of the vehicle traveling inside.
Therefore, in the vehicle traveling on the road having the virtual cross section (VI), the return steering torque does not suddenly change before and after deviating from one lane.

FIG. 7 shows a flowchart of an example of a control routine executed by the ECU 10 by the steering control device of the present embodiment to realize the same steering characteristics as a vehicle traveling on a road having a virtual cross section (VI). The routine shown in FIG. 7 is a routine that is repeatedly started each time the processing is completed. When the routine shown in FIG. 7 is started, first, the process of step 80 is executed.

In step 80, it is determined whether or not the vehicle 40 has entered one of the left and right control areas 72 and 74 from the previous processing cycle to the current processing cycle. In this step 80, the vehicle 40 is moved to each of the lanes 64 and 66.
It is determined that the above condition is satisfied when the vehicle enters the control areas 72 and 74 from the center side of. If it is determined in step 80 that the vehicle 40 has not entered any of the control areas 72 and 74, the current routine is terminated without any further processing. On the other hand, if it is determined that the vehicle 40 has entered one of the control areas 72 and 74, the process of step 82 is executed next.

In step 82, it is determined whether or not the control prohibition flag is on. The control prohibition flag is a flag that is turned on when the vehicle 40 enters the prohibition areas 76 and 78. If it is determined in step 82 that the control prohibition flag is on, steps 84 to 92 are jumped, and the process of step 94 is executed.

In step 84, the magnitude and sign of the control angle θ are calculated. The control angle θ is determined by the left and right control areas 7.
The steering angle to be given to the steering shaft 28 in order to return the vehicle 40 existing at 2, 74 to the center of the lane.

In step 86, the magnitude and direction of the drive current I corresponding to the control angle θ are calculated.

In step 88, a process for driving the motor 36 using the drive current I is executed. According to the above processing, after the vehicle 40 enters the control areas 72 and 74, if the control prohibition flag is in the off state, the motor 3
6, a return operation torque TM can be generated.

In step 90, it is determined whether or not the vehicle 40 has entered one of the prohibited areas 76 and 78 from the previous processing cycle to the current processing cycle. As a result, when it is determined that the vehicle 40 has entered the prohibited areas 76 and 78, the process of step 92 is executed next. On the other hand, if it is determined that the above condition is not satisfied, step 92 is jumped, and the process of step 94 is executed.

At step 92, the control prohibition flag is set to the ON state. When the process of step 92 is executed, the control prohibition flag is determined to be in the on state at step 82 each time the routine is started next time. According to the above processing, the vehicle 40 is set in the prohibited area 76,
After the vehicle enters 78, generation of the return steering torque TM can be prohibited.

In step 94, the vehicle 40 moves to the prohibited area 7
It is determined whether or not the player has escaped from 6,78. as a result,
If it is determined that the vehicle 40 has escaped from the prohibited areas 76 and 78, the process of step 96 is executed next. on the other hand,
If it is determined that the above condition is not satisfied, step 96 is jumped, and the process of step 98 is executed.

In step 96, the control prohibition flag is reset to the off state. When the process of step 96 is performed, it is determined in step 82 that the control prohibition flag is in the off state in the next and subsequent processing cycles. Therefore, according to the above-described processing, it is possible to quickly realize a state in which the return steering torque TM can be generated after the vehicle 40 escapes from the prohibited areas 76 and 78.

In step 98, the vehicle 40 moves to the control area 7
It is determined whether the player has escaped from 2,74. In this step 98, it is determined that the above condition is satisfied when the vehicle 40 escapes from the left and right control areas 72 and 74 to the center of each lane from the previous processing cycle to the current processing cycle. If it is determined in step 98 that the vehicle 40 has not escaped from the control areas 72 and 74, the processing in step 82 and thereafter is executed again.
On the other hand, if it is determined that the vehicle 40 has escaped from the control areas 72 and 74, the current routine is immediately terminated.

As described above, according to the steering control apparatus of the present embodiment, when the vehicle 40 is deviated from the center of the lane to the side end, an appropriate return steering torque TM is generated; After the occurrence of the TM, the driver can relatively easily deviate the vehicle 40 to the outside of the control regions 72 and 74 when the driver more consciously guides the vehicle 40 to the side end;
When the vehicle 40 is guided outside the control regions 72 and 74 without being affected by the adjacent lane, that is, when the vehicle 40 is guided to the prohibited regions 76 and 78, the motor 36 returns the return steering torque TM. Can be realized.

Therefore, according to the steering control device of the present embodiment, when the driver does not intend to guide the vehicle 40 to the side end of the lane, it is possible to effectively prevent the vehicle 40 from departing from the lane. The driver can consciously consider the vehicle 4
Good steering characteristics can be realized when 0 is guided to the side end of the lane.

In the above embodiment, the ECU 10
But of the claims 1 to 3, wherein by recognizing the lane 48 on the basis of the data of the white line 44 and 46 supplied from the image processing apparatus 14 "lane area detecting mechanism" is the process of step 80 to 88 "return steering torque generation means" of the claims 1 to 3, wherein by executing the said claim 1 及 by executing the processing of step 90
Beauty 3 "awareness determination means" described the claims 1 and 3 by executing the processing in steps 82 and 92
The described "return steering torque limiting means" is realized respectively.

In the above embodiment, the ECU 1
0 executes the processing of step 90, whereby the “prohibition condition determining means” according to claim 3 executes the processing of steps 82 and 92, and “the second inhibition means” of claim 3 executes the processing of steps 82 and 92. Has been realized respectively.

Next, a third embodiment of the present invention will be described with reference to FIGS. The steering control device of the present embodiment is realized by causing the ECU 10 to execute a control routine shown in FIG. 9 in the system configuration shown in FIG.

FIG. 8 shows a virtual cross section of the road 42 (hereinafter, referred to as a virtual cross section (VIII)). Note that FIG.
The same reference numerals are given to the same parts as those shown in FIG. When the vehicle 40 travels on the road 42, the steering control device according to the present embodiment can
It is characterized by realizing the same characteristics as the steering characteristics exhibited when traveling on a road having

In the virtual section (VIII), a left control area 100 and a right control area 102 are set inside the white lines 44 and 46. The virtual section (VIII) raises the surfaces of the control areas 100 and 102 for a predetermined time t1 after the vehicle 40 enters the left control area 100 or the right control area 102.

When the virtual cross section (VIII) changes its shape as described above, the steered wheels of the vehicle traveling on the road having the virtual cross section (VIII) include the vehicle in the left control area 100 or the right control area 102. After the vehicle enters, a return steering torque is generated for moving the vehicle toward the center of the lane 48 for a predetermined time t1.

FIG. 9 shows a flowchart of an example of a control routine executed by the ECU 10 by the steering control device of the present embodiment to realize the same steering characteristics as a vehicle traveling on a road having a virtual section (VIII). The routine shown in FIG. 9 is a routine that is started each time the processing ends. When the routine shown in FIG. 9 is started, first, the process of step 104 is executed.

In step 104, it is determined whether or not the vehicle 40 has entered one of the left and right control areas 100 and 102 from the previous processing cycle to the current processing cycle. As a result, when it is determined that the vehicle 40 has not entered any of the control areas 100 and 102, the current routine is terminated without any further processing. On the other hand, when it is determined that the vehicle 40 has entered any of the left and right control areas 100 and 102, the process of step 106 is executed next.

At step 106, the drive current I supplied to the motor 36 is set to a predetermined value I0. Predetermined value I0
Is a value for rotating the steering shaft 28 by an appropriate control angle θ.

In step 108, the drive current I0
Is used to drive the motor 36. When the process of step 108 is executed, the return steering torque TM corresponding to the drive current I0 is transmitted to the driver via the steering wheel 26.

At step 110, it is determined whether or not a predetermined time t1 (for example, 0.5 sec) has elapsed after the driving of the motor 36 is started. As a result, the predetermined time t1
If it is determined that has not elapsed, the processing after step 106 is executed again. On the other hand, the predetermined time t1
Is determined to have elapsed, this routine is immediately terminated.

According to the above-described processing, after the vehicle 40 enters one of the left and right control areas 100 and 102, the return steering torque TM is generated for the predetermined time t1 and the vehicle 40 is moved to the side end of the lane 48. The driver can be notified of the location. Unless the driver intentionally guides the vehicle 40 to the side end of the lane 48, the above-described return steering torque T
After feeling M, the vehicle 40 returns to the center of the lane 48 by itself.

Therefore, according to the steering control device of the present embodiment, it is effective that the vehicle 40 deviates from the lane 48 in a situation where the driver does not intend to guide the vehicle 40 to the side end of the lane 48. Can be prevented. Further, according to the steering control device of the present embodiment, when the driver intentionally guides the vehicle 40 to the side end of the lane 48, good steering characteristics can be realized.

In the above embodiment, the ECU 10
5. The "lane area detecting mechanism" according to claim 4 recognizes the lane 48 based on the data of the white lines 44 and 46 supplied from the image processing device 14 so that
4. The method according to claim 4, wherein
The "return steering torque generating means" described above is realized.

Next, FIG. 10 and FIG.
A fourth embodiment of the present invention will be described with reference to FIG. The steering control device according to the present embodiment is realized by causing the ECU 10 to execute a control routine shown in FIG. 11 in the system configuration shown in FIG.

FIG. 10 shows a virtual cross section of the road 42 (hereinafter, referred to as a virtual cross section (X)). In FIG. 10, the same portions as those shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted. The steering control device according to the present embodiment
When running on the road 42, the normal vehicle is
It is characterized by realizing the same characteristics as the steering characteristics exhibited when traveling on a road having

In the imaginary section (X), a left control area 112, a forbidden area 114, and a left departure prevention area 116 are set in that order at the side end near the white line 44. Also,
In the virtual cross section (X), a right control area 118, a forbidden area 120, and a right departure prevention area 122 are set in that order at a side end near the white line 46. The virtual cross section (X) is such that the left control area 112, the left departure prevention area 116, the right control area 118, and the right departure prevention area 122 are formed so that the vicinity of the center of the lane 48 and the forbidden areas 114 and 116 are flat. , Are set so that their surfaces are raised higher as they approach the white lines 44 and 46.

The steering wheel of a vehicle traveling on a road having a virtual cross section (X) has a steerable wheel for returning the vehicle to the center of the lane 48 after the vehicle enters the left control area 112 or the right control area 118. Torque is input. The return steering torque generated as described above depends on whether the vehicle is in the left control region 1.
12 to the prohibited area 114 or the right control area 11
8 disappears when entering the prohibited area 120.
Therefore, when the driver of the vehicle intentionally guides the vehicle to the prohibited areas 114 and 120 against the above-described return steering torque, normal steering characteristics are realized in the vehicle thereafter.

The left and right control areas 112 and 118 are provided relatively narrow similarly to the control areas 72 and 74 of the virtual cross section (VI). Therefore, in a vehicle traveling on a road having a virtual cross section (X), good steering characteristics can be obtained relatively easily at the side end of the lane 48 by the driver's conscious operation. .

When a vehicle traveling on a road having a virtual cross section (X) further moves outside the lane 48 from the prohibited areas 114 and 120 and enters the left side departure prevention area 116 or the right side departure prevention area 122, A return steering torque for returning the vehicle to the center of the lane 48 is input to the steered wheels of the vehicle. Left and right departure prevention area 11
6 and 122 are provided at the boundary of the lane 48. Therefore, according to the vehicle traveling on the virtual cross section (X), the lane 4
8 can effectively prevent the vehicle from deviating from the lane 48 while achieving good steering characteristics when traveling on the side end of the vehicle.

FIG. 11 shows a flowchart of an example of a control routine executed by the ECU 10 by the steering control device of the present embodiment to realize the same steering characteristics as a vehicle traveling on a road having a virtual cross section (X). The routine shown in FIG. 11 is a routine that is repeatedly started each time the processing ends. When the routine shown in FIG. 11 is started, first, the process of step 124 is executed.

In step 124, it is determined whether or not the vehicle 40 has entered one of the left and right control areas 112 and 118 from the previous processing cycle to the current processing cycle. In this step 124, the vehicle 40
It is determined that the above condition is satisfied when the vehicle enters the control areas 112 and 118 from the center side of. Present step 124
If it is determined that the vehicle 40 has not entered any of the control areas 112 and 118, the process of step 126 is executed next. On the other hand, if it is determined that the vehicle 40 has entered any of the control areas 112 and 118, step 126 is jumped, and the process of step 128 is executed.

In step 126, it is determined whether the vehicle 40 has entered any of the left and right departure prevention areas 116 and 122 from the previous processing cycle to the current processing cycle. In this step 126, it is determined that the above condition is satisfied when the vehicle 40 enters the departure prevention areas 116 and 122 from the center side of the lane 48. In step 126, the vehicle 40 determines which of the departure prevention areas 116, 1
If it is determined that the vehicle has not entered the vehicle 22, the current routine is terminated without any further processing. On the other hand, when the vehicle 40 is in one of the departure prevention areas 116, 1
If it is determined that the vehicle has entered the vehicle, step 12
8 is executed.

In step 128, the magnitude and sign of the control angle θ are calculated. The control angle θ is equal to the left and right control area 1
12, 118 or left and right deviation prevention areas 116, 122
Is a steering angle to be given to the steering shaft 28 in order to return the vehicle 40 existing at the center of the lane 48 to the center.

In step 130, the magnitude and direction of the drive current I corresponding to the control angle θ are calculated.

In step 132, a process for driving the motor 36 using the drive current I is executed. According to the above processing, after the vehicle 40 enters one of the control areas 72 and 74 or the departure prevention areas 116 and 122, the return operation torque TM corresponding to the control angle θ can be generated.

In step 134, it is determined whether or not the vehicle 40 has escaped from the control areas 112 and 118. In this step 134, the vehicle 40 is controlled by the left and right control areas 11 from the previous processing cycle to the current processing cycle.
It is determined that the above condition is satisfied when the vehicle escapes from the lane 2, 118 toward the center of the lane 48 or toward the prohibited areas 114, 116. In step 134, the vehicle 40
Is determined to have not escaped from the control areas 112 and 118, the process of step 136 is executed next.
On the other hand, if it is determined that the vehicle 40 has escaped from the control areas 112 and 118, the current routine is immediately terminated.

In step 136, it is determined whether or not the vehicle 40 has escaped from the departure prevention areas 116 and 122 from the previous processing cycle to the current processing cycle. As a result, the vehicle 40 is still in the departure prevention areas 116, 1
If it is determined that the user has not escaped from step 22, the processing of step 128 and thereafter is executed again. On the other hand, if it is determined that the vehicle 40 has already escaped from the departure prevention areas 116 and 122, the current routine ends immediately thereafter.

According to the above processing, after the vehicle 40 enters one of the left and right control areas 112 and 118 or one of the left and right departure prevention areas 116 and 122, the vehicle 40
Until the vehicle escapes from those regions, the return steering torque TM according to the control angle θ is generated, and after the vehicle 40 escapes from those regions, the return steering torque TM can be quickly eliminated.

As described above, according to the routine shown in FIG. 11, when the vehicle 40 is deviated from the center of the lane to the side end, an appropriate return steering torque TM is generated. After the occurrence, the driver relatively easily deviates the vehicle 40 to the outside of the control regions 112 and 118 when the driver more consciously guides the vehicle 40 to the side end;
When the vehicle 40 moves to the boundary of the lane 48,
The generation of the return steering torque TM again can be realized.

Therefore, according to the steering control apparatus of the present embodiment, when the driver does not intend to guide the vehicle 40 to the side end of the lane, it is possible to effectively prevent the vehicle 40 from departing from the lane. When the driver intentionally guides the vehicle 40 to the side edge of the lane, the vehicle achieves good steering characteristics, and when the driver intentionally guides the vehicle 40 to the side edge of the lane, Vehicle 40
Departure from the lane 48 can be effectively prevented.

In the above embodiment, the ECU 10
4. The "lane region detecting mechanism" according to any one of claims 1 to 3 recognizes the lane 48 based on the data of the white lines 44 and 46 supplied from the image processing device 14 so that "return steering torque generation means" of the claims 1 to 3, wherein by executing the process, "consciousness determination means" of the claims 1 and 3 wherein by executing the process in step 134 and "return steering "Torque limiting means" are each realized.

In the above embodiment, the ECU 1
0 executes the processing in step 134 to determine the “prohibition condition determining means” and the “second
"Prohibition means" are each realized.

Further, in the above embodiment, the ECU 1
0 executes the processing of steps 126 to 132 and 136, thereby realizing the "deviation prevention means" according to claims 4 and 5.

Next, FIG. 12 and FIG.
A fifth embodiment of the present invention will be described with reference to FIG. The steering control device according to the present embodiment is realized by causing the ECU 10 to execute a control routine shown in FIG. 13 in the system configuration shown in FIG.

FIG. 12 shows a virtual cross section of the road 42 (hereinafter, referred to as a virtual cross section (XII)). In FIG. 12, the same portions as those shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted. The steering control device according to the present embodiment
0 travels on the road 42, the normal vehicle
The characteristic is that it realizes the same characteristics as the steering characteristics exhibited when traveling on a road having II).

In the imaginary section (XII), a left control area 138, a forbidden area 140, and a left departure prevention area 142 are set in that order at the side end near the white line 44. Also, in the virtual cross section (XII), the side end near the white line 46 is
A right control area 144, a prohibited area 146, and a right departure prevention area 148 are set in that order. Virtual cross section (XI
I) shows that after the vehicle 40 enters the left and right control areas 138, 144 or the left and right departure prevention areas 142, 148, these areas 138, 144, 142,
The surface of 148 is raised.

When the virtual cross section (XII) changes its shape as described above, the steered wheels of the vehicle traveling on the road having the virtual cross section (XII) include the left and right control areas 138,
After entering the departure prevention area 144 or the left and right departure prevention areas 142 and 148, a return steering torque is generated for moving the vehicle toward the center of the lane 48 for a predetermined time t2.

FIG. 13 is a flowchart showing an example of a control routine executed by the ECU 10 by the steering control device of the present embodiment to realize the same steering characteristics as a vehicle traveling on a road having a virtual cross section (XII). The routine shown in FIG. 13 is a routine that is started each time the processing is completed. When the routine shown in FIG. 13 is started, first, the processing of step 150 is executed.

In step 150, it is determined whether or not the vehicle 40 has entered one of the left and right control areas 138 and 144 from the previous processing cycle to the current processing cycle. As a result, if it is determined that the vehicle 40 has entered one of the left and right control areas 138 and 144, the process of step 152 is executed next.

In step 152, the drive current I supplied to the motor 36 is set to a predetermined value I1.

In step 154, the drive current I1
Is used to drive the motor 36. When the process of step 154 is executed, the return steering torque TM corresponding to the drive current I1 is transmitted to the driver via the steering wheel 26.

In step 156, it is determined whether or not a predetermined time t2 (for example, 0.5 sec) has elapsed after the driving of the motor 36 was started. As a result, the predetermined time t2
If it is determined that has not elapsed, the processing after step 152 is executed again. On the other hand, the predetermined time t2
Is determined to have elapsed, this routine is immediately terminated.

According to the above processing, when the vehicle 40 enters one of the left and right control areas 138 and 144, the return steering torque TM is generated for the predetermined time t2, so that the vehicle 40 The driver can be notified of the bias toward the end. Unless the driver intentionally guides the vehicle 40 to the side end of the lane 48, the driver returns the vehicle 40 to the center of the lane 48 after feeling the return steering torque TM. Therefore, according to the steering control device of the present embodiment, when the driver does not intend to guide the vehicle 40 to the side end of the lane 48, the vehicle 40 is prevented from largely deviating from the center of the lane 48. be able to.

If it is determined in step 150 in this routine that the vehicle 40 has not entered any of the control areas 138 and 144, the process of step 158 is executed next.

In step 158, it is determined whether or not the vehicle 40 has entered any of the left and right departure prevention areas 142 and 148 from the previous processing cycle to the current processing cycle. As a result, if it is determined that the vehicle 40 has not entered any of the departure prevention areas 142 and 148, the current routine is terminated without any further processing. On the other hand, if it is determined that the vehicle 40 has entered any of the departure prevention areas 142 and 148, the process of step 160 is executed next.

In step 160, the drive current I supplied to the motor 36 is set to a predetermined value I2.

In step 162, the drive current I2
Is used to drive the motor 36. When the process of step 162 is executed, the return steering torque TM corresponding to the drive current I2 is transmitted to the driver via the steering wheel 26.

In step 164, it is determined whether or not a predetermined time t2 has elapsed after the driving of the motor 36 was started. As a result, if it is determined that the predetermined time t2 has not yet elapsed, the processing of step 160 and subsequent steps is executed again. On the other hand, if it is determined that the predetermined time t2 has elapsed, this routine is immediately terminated.

According to the above-described processing, when the vehicle 40 enters one of the departure prevention areas 142 and 148, the return steering torque TM is generated for the predetermined time t2, so that the vehicle 4
The driver can be notified that 0 is located at the boundary of the lane 48. When the return steering torque TM is generated as described above, the driver can be alerted that the vehicle 40 is about to deviate from the lane 48.

Further, according to the above processing, when the vehicle 40 enters any one of the control regions 138 and 144, the time when the return steering torque TM is generated, and when the vehicle 40 is in any of the departure prevention regions 142 and 144, The time during which the return steering torque TM is generated when the vehicle enters 148 is set to a predetermined short time t2. Therefore, when the driver intentionally guides the vehicle 40 to the side end of the lane 48, the driver can perform the steering operation without being greatly affected by the return steering torque TM.

Therefore, according to the steering control apparatus of the present embodiment, when the driver does not intend to guide the vehicle 40 to the side end of the lane, it is possible to effectively prevent the vehicle 40 from deviating from the lane. It achieves good steering characteristics when the driver intentionally guides the vehicle 40 to the side edge of the lane, and effectively when the driver intentionally guides the vehicle 40 to the lane boundary. It can draw the driver's attention.

In the above embodiment, the ECU 10
3. The "lane area detection mechanism" according to claim 2, wherein the "lane area detection mechanism" recognizes the lane 48 based on the data of the white lines 44 and 46 supplied from the image processing apparatus 14.
The method according to claim 2, wherein the processing of steps 50 to 156 is performed.
The "return steering torque generating means" described above is realized.

Further, in the above embodiment, the ECU 1
The "0" executes the processing of steps 158 to 164, thereby realizing the "deviation prevention means" according to claims 4 and 5.

[0125]

As described above, according to the present invention, it is possible to prevent a vehicle from deviating from a lane area under a situation not intended by the driver, and to intentionally move the vehicle to a side edge of the lane area. In this case, good steering characteristics can be realized.

[0126] Further, by accurately detect the awareness of the driver, it is possible to realize a steering control according to the driver's intention.

Further , when the vehicle arrives at the side end of the lane area, the return steering torque is generated for a short time to prevent the vehicle from deviating from the lane area in a situation not intended by the driver. In addition, when the driver intentionally guides the vehicle to the side end of the lane area, good steering characteristics can be realized.

[0128] Further, the vehicle after the escape to the outside of the control area, the vehicle can generate a deviation preventing torque at the time of entering the departure prevention area. Therefore, according to the present invention, it is possible to effectively prevent the vehicle from departing from the lane area.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of a vehicle steering control device according to first to fifth embodiments of the present invention.

FIG. 2 is a bird's-eye view of a vehicle equipped with the vehicle steering control device shown in FIG. 1 and a road extending in front of the vehicle.

FIG. 3 is a virtual cross section of a road for explaining a basic operation of the vehicle steering control device according to the first embodiment of the present invention.

FIG. 4 is a diagram showing an example of a traveling line when a vehicle equipped with the vehicle steering control device according to the first embodiment of the present invention passes a motorcycle.

FIG. 5 is a flowchart of an example of a control routine executed in the first embodiment of the present invention.

FIG. 6 is a virtual cross section of a road for explaining a characteristic operation of the vehicle steering control device according to the second embodiment of the present invention.

FIG. 7 is a flowchart of an example of a control routine executed in a second embodiment of the present invention.

FIG. 8 is an imaginary cross section of a road for explaining a characteristic operation of the vehicle steering control device according to the third embodiment of the present invention.

FIG. 9 is a flowchart of an example of a control routine executed in a third embodiment of the present invention.

FIG. 10 is a virtual cross section of a road for explaining a characteristic operation of the vehicle steering control device according to the fourth embodiment of the present invention.

FIG. 11 is a flowchart of an example of a control routine executed in a fourth embodiment of the present invention.

FIG. 12 is a virtual cross section of a road for explaining a characteristic operation of the vehicle steering control device according to the fifth embodiment of the present invention.

FIG. 13 is a flowchart of an example of a control routine executed in a fifth embodiment of the present invention.

[Explanation of symbols]

10 Electronic control unit (ECU) 26 Steering shaft 36 Motor 40 Vehicle 42 Road 44, 46 White line 48 Lane 49; 72; 100; 112; 138 Left control area 50; 74; 102; 118; 144 Right control area 76, 78; 114, 120; 140, 146 Forbidden area 116; 142 Left departure prevention area 122; 148 Right departure prevention area

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-7-104850 (JP, A) JP-A-6-255514 (JP, A) JP-A-9-142327 (JP, A) JP-A-6-104327 336170 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B62D 6/00

Claims (5)

(57) [Claims] 1. A lane area detection for detecting a lane area of a vehicle.
Mechanism and the vehicle travels in the control area at the side end of the lane area
The vehicle to the center of the lane area
A return steering torque generating means for generating a return steering torque;
A vehicle steering control device comprising:
The side edge of the
Consciousness discriminating means for differentiating, and a driver consciously guiding the vehicle to the control area so that the lane area
It is determined that the side end of the
The return operation to limit the generation of the return steering torque.
Rudder torque limiting means;With The consciousness discriminating means is connected to a vehicle traveling in the control area.
A duration measuring means for detecting the duration, and The return steering torque limiting means determines that the duration is a predetermined time.
When the threshold time is reached, the generation of the return steering torque is performed.
First prohibition means to prohibit For vehicles characterized by comprising
Steering control device. (2)Lane detection to detect the lane of the vehicle
Mechanism and the vehicle travels in the control area at the side end of the lane area
The vehicle to the center of the lane area
A return steering torque generating means for generating a return steering torque;
In a vehicle steering control device comprising: The return steering torque generating means is configured to move the vehicle to the control area.
After entering, the return steering torque is generated for a predetermined time.
To A vehicle steering control device characterized by the above-mentioned. (3)Lane detection to detect the lane of the vehicle
Mechanism and the vehicle travels in the control area at the side end of the lane area
The vehicle to the center of the lane area
A return steering torque generating means for generating a return steering torque;
In a vehicle steering control device comprising: The driver consciously guides the vehicle to the control area and the lane area
Continue running on the side edge of To determine whether or not
Consciousness discriminating means, The driver consciously guides the vehicle to the control area and the lane area
Is determined to be running continuously on the side end of
The return operation to limit the generation of the return steering torque.
Rudder torque limiting means; With  The consciousness discriminating means is recognized outside the control area
Prohibition condition judgment to determine whether the vehicle has been guided to the prohibited area
The return steering torque limiting means includes:
A second prohibition of generation of the return steering torque when guided.
(2) A vehicle steering control device comprising prohibition means.
Place. (4)Claim 1 or 2Vehicle steering control
In placeThe driver consciously guides the vehicle to the control area and the lane area
The side edge of the
Consciousness discriminating means, The driver consciously guides the vehicle to the control area and the lane area
Is determined to be running continuously on the side end of
The return operation to limit the generation of the return steering torque.
Rudder torque limiting means; With The consciousness discriminating means is recognized outside the control area
Prohibition condition judgment to determine whether the vehicle has been guided to the prohibited area
Equipped with another means, The return steering torque limiting unit is configured to move the vehicle to the prohibited area.
A second prohibition of generation of the return steering torque when guided.
2 equipped with prohibition means, The lane area is prohibited outside the control area
Area and a departure prevention area recognized outside the prohibited area
And When the vehicle travels in the departure prevention area, the vehicle
Generates a departure-preventing steering torque toward the center of the lane area.
Equipped with departure prevention means Vehicle operation characterized by the following:
Rudder control device. 5. The vehicle steering control device according to claim 3 , wherein the lane area includes a prohibited area recognized outside the control area and a departure prevention area recognized outside the prohibited area. A steering control device for a vehicle, comprising: departure prevention means for generating a departure prevention steering torque that causes the vehicle to move toward the center of the lane region when the vehicle travels in the departure prevention region.