JP3292110B2 - The vehicle steering control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to relates to a steering control apparatus for a vehicle, in particular, it relates to a steering control apparatus for a vehicle which performs a vehicle steering control so as not to deviate from the driving lane.

[0002]

BACKGROUND ART Conventionally, for example, JP-A-7-10485
As disclosed in No. 0, the vehicle device to generate a steering torque so as not to deviate from the driving lane is known. The above conventional apparatus, a mechanism for detecting the range of the lane during driving,
And a mechanism for detecting an area that the vehicle is traveling on the lane. Further, the conventional apparatus, the position of the vehicle when biased to the side edges of the lane, and a mechanism for generating the steering torque for returning the position in the center of the lane.

[0003] According to the conventional apparatus, when biased to the side edge of the vehicle lane for some reason while the vehicle is running, automatically generating the steering torque, the vehicle side end portion that is biased can alert the driver to. Therefore, according to the above-mentioned conventional apparatus, the vehicle can be effectively prevented from deviating from the lane.

[0004]

[SUMMARY OF THE INVENTION Incidentally, in the lane, sometimes obstacle such as motorcycles are present. If there are these obstacles above the lane, the need arises to travel the side edge of the lane to avoid the obstacle. The above conventional apparatus, when the vehicle travels a side edge of the lane, always generate a steering torque which tends to return the vehicle to the lane central portion. Accordingly, in a vehicle equipped with the conventional apparatus, when riding side end portion of the lane to avoid the obstacle,
It is necessary to perform steering operation anticaries the above steering torque.

[0005] In order to obtain a good steering characteristics during running of the vehicle, the steering wheel, it is desirable that only the reaction force due to the self-aligning torque or the like is applied. In this respect, the above conventional apparatus, when riding side end portion of the lane to avoid the obstacle, were those difficult to maintain good steering characteristics.

[0006] The present invention has been made in view of the above, the vehicle as well as generate a steering torque to prevent the departure from the lane, the driver travels on a side edge portion of intentionally lanes and an object thereof is to provide a vehicle steering control apparatus to realize good steering characteristics when.

[0007]

[Means for Solving the Problems] The above object, claim 1
As described, the lane area detection mechanism for detecting the lane area of ​​the vehicle, when the vehicle runs a control region of the side edge portion of the lane region, the return steering torque to direct the vehicle in the center of the lane region the vehicular steering control apparatus and a return steering torque generating means for generating, whether the driver is attempting to run continuously the side end portion of intentionally moving lane area leading vehicle to the control region a consciousness judging means for judging, when the driver is determined to be trying to run continuously the side end portion of intentionally moving lane area leading vehicle to the control region, the occurrence of the return steering torque and a return steering torque limiting means for limiting the, the consciousness-format
Another means detects the duration that the vehicle is traveling the control region
With a duration measuring unit for output, and said return steering DOO
Torque limiting means, wherein the duration time arrives at a predetermined threshold period
First prohibition for prohibiting the generation of the return steering torque upon reaching
It is achieved by a vehicle steering control apparatus characterized by comprising stop means.

[0008] In the present invention, the side edge of the lane area control region is recognized. When the vehicle enters the control region, the return steering torque to direct the vehicle in the center of the lane region is generated. Vehicle When the return steering torque is generated when biased to the side edges of the lane area, it is not possible for the driver to depart the vehicle from the lane area under unintended conditions.

[0009] During running of the vehicle, for example, like the case of avoiding an obstacle on the lane area, there is a case that the driver intentionally directing vehicle side end portion of the lane area. In the present invention, when a state where the vehicle is guided to consciously control region continues, generating the return steering torque is limited. According to the above-mentioned process, good steering characteristics can be obtained when the vehicle travels a side edge portion of the lane area.

Further, in the present invention, when the driver is not intended to guide the vehicle to the side edge of the lane regions, after the vehicle enters the control area, by returning the steering torque is generated, the short vehicle to escape from the control region after time. Therefore, the vehicle may duration traveling control area is not less than the predetermined threshold hours, it can be determined that the driver is led consciously vehicle side end portion of the lane area. Therefore, according to the present invention, it can accurately determine the awareness of the driver.

[0011] The above objects, as set forth in claim 2,
A lane area detection mechanism for detecting the lane area of the vehicle, vehicle
When traveling control region of the side edge portion of the lane area, car
Returning the steering torque for directing both the in the center portion of the lane area
Vehicle and a return steering torque generating means for generating
In the steering control device, the return steering torque generating means
But after the vehicle enters the control region, before a predetermined time
The vehicular steering control apparatus for generating the serial return steering torque
It is achieved.

[0012] In the present invention, to enter the vehicle control area
If that, the return steering torque is generated a predetermined time. driver
Is, the return steering torque through the steering wheel
By feel, sure that the vehicle enters the control area
To identify. After the return steering torque has been disappearance is, in vehicle
Good steering characteristics can be realized. Vehicle enters the control area
If that is what is not intended by the driver was, the driver recovery
After felt the null steering torque, recovery vehicle in the center of the lane regions
In order to ascribed perform the steering operation. Vehicle enters the control area
If it as it is along the intention of the driver was the driver its
Steering operation as the vehicle after travels side edges of the lane area
I do.

[0013] The above objects, as set forth in claim 3,
A lane area detection mechanism for detecting the lane area of the vehicle, vehicle
When traveling control region of the side edge portion of the lane area, car
Returning the steering torque for directing both the in the center portion of the lane area
Vehicle and a return steering torque generating means for generating
In the steering control device, the system consciously vehicle driver
Whether run continuously side edges of the lane area led to your region
A consciousness determination means for determining whether Utoshi driver
Side edges of the lane area but consciously direct the vehicle to the control region
If part is determined to be trying to travel to continue
In the return steering torque to limit the occurrence of the return 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 , is achieved by a vehicle steering control device comprising a second inhibiting means for inhibiting the generation of the return steering torque when the vehicle is guided to the forbidden area.

[0014] In the present invention, if the driver does not intend to be guided to the side edge of the lane area of ​​the vehicle after the vehicle enters the control area, by returning the steering torque is generated, the short vehicle to escape from the control region after. Therefore, when the vehicle reaches the outside of the prohibition region of the control region, it can be determined that the driver is led to consciously vehicle side end portion of the lane area. Therefore, according to the present invention, it can accurately determine the awareness of the driver.

[0015] The above objects, as set forth in claim 4,
The vehicular steering control apparatus according to claim 1 or 2, wherein, luck
Rolling's conscious lane area leading vehicle to the control region
It determines whether it is trying to run continuously side edges
A consciousness determination unit that the driver consciously the control vehicle
Trying to run continuously side edges of the lane area led to the area
If it is determined that a, the return steering torque
Comprising a return steering torque limiting means for limiting the generation, the prior
Serial awareness determination means is recognized outside of the control region prohibition
Prohibition condition determination for determining whether the vehicle in the stop area has led
Comprising means, the return steering torque limiting means, the vehicle front
Occurrence of the return steering torque when guided to the serial prohibited area
A second inhibiting means for inhibiting the said lane area, the
A prohibition region recognized outside the control area, the prohibited area
And a deviation preventing region recognized outside of the vehicle is the
When traveling on the deviation preventing region, the vehicle of the lane area
Deviation for generating the deviation preventing steering torque that directs the central unit
It is achieved by a vehicle steering control apparatus comprising a prevention means.

Further, the above object is achieved as set forth in claim 5, in the vehicle steering control apparatus of the claim 3, wherein the lane region, the forbidden region recognized outside the control area, wherein and a deviation preventing region recognized outside the prohibited area, when the vehicle runs the departure prevention region comprises a deviation preventing means for generating a deviation preventing steering torque to direct the vehicle in the center of the lane region It is achieved by a vehicle steering control apparatus characterized by.

[0017] In the invention of claim 4 and 5, wherein the outside of the control region is set prohibited area is set further deviation prevention area outside. Vehicle exceeds the control region,
And when entering the departure prevention area beyond the forbidden area, deviation preventing steering torque to displace toward the vehicle in the center of the lane region is generated. When departure prevention steering torque as described above occurs, deviation of the vehicle from the lane area can be effectively prevented.

[0018]

Figure 1 DETAILED DESCRIPTION OF THE INVENTION shows a system configuration diagram of a vehicle steering control apparatus which is an embodiment of the present invention. Steering control apparatus of the present embodiment, the electronic control unit 10 (hereinafter, EC
It is equipped with a referred to as U10). Steering control apparatus of the present embodiment is controlled by the ECU 10.

The steering control apparatus of the present embodiment includes a video camera 12. Video camera 12 is a camera for photographing a road surface ahead of the vehicle over a predetermined length. The image processing apparatus 14 is connected to the video camera 12. The image signal output from the video camera 12, a white line drawn on a road includes a signal corresponding to the guard rail and the preceding vehicle or the like.

The image processing apparatus 14 extracts the white line drawn on the road from the image signal. The output signal of the image processing apparatus 14, information related to the extracted white lines are included. White lines extracted as described above may be regarded as a boundary of the lane that extends in the vehicle front. The image processing apparatus 1
The output signal of 4 is supplied to the ECU 10. ECU10
Recognizes the region of the lane in the traveling on the basis of the output signal.

The steering control apparatus includes a vehicle state quantity sensor 16. The vehicle state quantity sensor 16, the vehicle speed SPD,
Yaw rate gamma, includes a sensor for detecting a longitudinal acceleration Gx and the lateral acceleration Gy and the like. Vehicle state quantity sensor 16
The output signals are supplied to the ECU 10. ECU10
Based on the output signal of the vehicle state quantity sensor 16 detects the state of the vehicle.

[0022] The steering control apparatus is provided with a GPS18. GPS antenna 20 is connected to the GPS 18. According to GPS 18, it is possible to identify the latitude and longitude of the vehicle. The output signal of GPS18 is supplied to the navigation device 22. Navigation device 2
The 2 has the map information and the like are stored. ECU10 is connected to the navigation device 22. ECU10
The position of the vehicle based on the data supplied from the navigation device 22, and detects the curvature or the like of the traveling road.

[0023] The steering control device, information interface 2
It is equipped with a 4. The information interface 24, functions as alarm, function as a display device, and a function as the operation device is built. ECU10 is connected to the information interface 24. In the steering control apparatus of the present embodiment, the necessary operations are performed via the information interface 24. Further, in the steering control apparatus of the present embodiment, the required alarm and display are performed via the information interface 24.

[0024] The steering control apparatus is equipped with a steering wheel 26. The steering shaft 28 is coupled to the steering wheel 26. A steering shaft 28, a steering angle sensor 30 is disposed. Steering angle sensor 30 generates an output signal corresponding to the steering angle of the steering wheel 26 theta. The output signal of the steering angle sensor 30 is supplied to the ECU 10. ECU10 detects the steering angle θ based on the output signal of the steering angle sensor 30.

The torque sensor 32 is arranged in 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 E
It is supplied to the CU10. ECU10 detects the steering torque T on the basis of the output signal of the torque sensor 32.

[0026] The gear mechanism to the steering shaft 28 is 3
Motor 36 through 4 are connected. Gear mechanism 34
The torque generated by the motor 36 (hereinafter, the motor torque T
To transfer referred to as M) to the steering shaft 28. Motor 36, ECU 10 via the drive circuit 38 is connected. Drive circuit 38, the motor 36, EC
Supplying a drive current corresponding to a command signal generated by the U10.
Accordingly, the motor 36 generates a motor torque TM corresponding to the command signal generated by the ECU 10.

[0027] Hereinafter, with reference to FIGS. 2 and 3, a description will be given of the basic operation of the steering control apparatus.

[0028] Figure 2 is a vehicle 40 mounting the steering control apparatus of this embodiment, and shows a bird's-eye view of the road 42 extending forward of the vehicle 40. The road 42 is drawn white line 44, 46 for indicating the boundary of the lane. The video camera 12 mounted on the vehicle 40, these white lines 44, 46 is taken at the front of the vehicle 40. The image processing apparatus 14 extracts these white lines 44, 46 by processing an image signal supplied from the video camera 12, and supplies the data relating to the position and the like in the ECU 10.

The ECU10, based on the data of the white line 44 and 46 supplied from the image processing apparatus 14 recognizes the position of the white line 44 in front of the vehicle. Then, recognizing the region between the white lines 44, 46 as the lane 48 of the vehicle 40. ECU48 further estimates a traveling line of the vehicle 40 based on the vehicle speed SPD and the yaw rate γ vehicle state or the steering angle θ such as. Hereinafter, this traveling line referred to as "estimated traveling line".

The ECU10, the estimated traveling line in front of the point from the vehicle 40 by a predetermined length L0 detects whether existing in any area on the lane 48. As a result, the estimated traveling line is determined to be located on the side end portion of the lane 48,
ECU10 is order to correct the running line of the vehicle 40 to the center side of the lane 48, the motor 36, to generate a motor torque TM to correct a steering angle theta. Hereinafter referred to the motor torque TM and the return steering torque TM.

[0031] FIG. 3 is a virtual cross-section of the road 42 (hereinafter, virtual section (III) and referred) shows a. Road 42 is actually has a substantially flat cross-sectional shape across the entire width. Steering control apparatus of the present embodiment, when the vehicle 40 is traveling on a road 42,
Normal vehicle to realize the same characteristics as the steering characteristic that exhibits when the vehicle is traveling on a road with a virtual cross-section (III).

[0032] That is, the virtual section (III) is the lane 48
In the interior of the left control area 49 and a right control area 50 is set inside the white lines 44, 46. Virtual cross (III), as near the center of the lane 48 is flat and the surface of the left and right of the control region is set to higher raised closer to the white line 44, 46.

The steering control apparatus, when the vehicle 40 as described above is guided to the side edge of the lane 48, generates a return steering torque TM for correcting the traveling line of the vehicle on the center side of the lane 48. In the present embodiment, a region steering control device generates a return steering torque TM is coincident with the left control area 49 and the right control area 50 shown in FIG. Also,
In this embodiment, the return steering torque TM to the steering control unit occurs, the vehicle 40 is changed to a large value nears the white line 44, 46. Therefore, according to the steering control apparatus of the present embodiment, it is possible to ordinary vehicle to implement the same steering properties and when traveling on a road with a virtual cross-section (III).

Next, with reference to FIGS. 4 and 5, it will be described the features of the steering control apparatus of the present embodiment.

[0035] Figure 4 shows a running line of the vehicle 40 when overtake motorcycle 51 on the road 42. On the road 42 may be an obstacle such as a motorcycle 51 is present. Vehicle 40
It is in order to overtake those obstacles temporarily lanes 4
8 it is necessary to run the side end portion of the. The driver of the vehicle 40, in this situation, consciously vehicle 40 can lead to the side edge of the lane 48.

The return steering torque TM to the steering control device generates the present embodiment, when the driver that guide the vehicle 40 to the side edge of the lane is not intended, the vehicle 40 white line 44
It is effective for preventing the deviation of the outside. However, when the driver consciously directs the vehicle 40 to the side edge of the lane 48, in order to obtain a good steering properties, return steering torque TM of the above it is desirable not to occur. Steering control apparatus of the present embodiment, to meet the above requirements, the driver have a feature that restricts the generation of the return steering torque TM in that led to the side end portion of intentionally lanes 48 of the vehicle 40 doing.

[0037] FIG. 5, so as to achieve the above-mentioned function ECU1
0 shows a flowchart of an example of control routine to be executed. The routine shown in FIG. 5 is a routine that is executed repeatedly every time the processing is terminated. First the processing of step 52 when the routine is started as shown in FIG. 5 is executed.

[0038] At step 52, toward at the current processing cycle from the previous processing cycle, whether the vehicle 40 has entered the left the control area 49 or the right control region 50 is determined. As a result, control area 4 vehicle 40 is either
If you are determined not to have entered the 9,50 is, thereafter, the current routine without any further processings is terminated. On the other hand, the control vehicle 40 is either area 49,5
If it is determined that enters the zero, the process of step 54 is executed.

[0039] At step 54, the control angle θ is calculated. Control angle θ is the lane 48 an estimated traveling line of the vehicle 40
Is the angle to be applied to the steering shaft 28 to match the in the center. In this step 54, the vehicle depending on whether you entered the right control range or has entered the left control range, calculation, including positive and negative control angle θ are performed.

In step 56, the driving current I is calculated to be supplied to the motor 36 in accordance with the magnitude of the control angle theta, the direction of the drive current I is determined according to the sign of the control angle theta.

[0041] At step 58, the processing for driving the motor 36, specifically, the process for supplying the drive current I to the motor 36 is executed. After 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.

[0042] At step 60, the vehicle 40 is left control area 49, or whether escaped from the right side control area 50 is determined. As a result, those in the control area 49 and 50
If it is determined that escaped from quickly the routine is ended. According to the above-mentioned process, the vehicle 40
There occurs a return steering torque TM after entering the one of the control areas 49 and 50, the vehicle 40 can be eliminated quickly return the steering torque TM after escape from the control area.

[0043] In the above step 60 the routine, the vehicle 4
0 is the left side control area 49, or the right control region 50
If it is determined that not escape from, the process of step 62 is executed.

[0044] At step 62, whether the elapsed time from the vehicle 40 enters the one of the control areas 49 and 50 has reached the predetermined time t0 or not. As a result, the duration after the vehicle 40 enters the control area 49 and 50 t
If it is determined that not reached 0 it is executed processes after the step 54 again. On the other hand, immediately the routine at this time when the duration is determined to have reached the predetermined time t0 is terminated. According to the above-mentioned process,
When the vehicle 40 is maintained continuously control area 49 and 50, after the vehicle 40 enters the control area 49 and 50,
Predetermined time t0 is generated between the return steering torque TM up has elapsed after the predetermined time t0 has passed, it is possible to quickly extinguish its return steering torque TM.

The driver, except when guiding the vehicle 40 to the side edge of intentionally lanes 48, after the return steering torque is transmitted to the steering wheel 26, usually positively vehicle 40
It is allowed to return to the center of the lane 48. Therefore, in step 62, if the duration in which the vehicle 40 is maintained in the control area 49 and 50 is determined to have reached the predetermined time t0, the driver side end portion of intentionally lanes 48 of the vehicle 40 and it can be determined to lead to.

[0046] Therefore, according to the steering control apparatus of the present embodiment, the control region unintentionally vehicle 40 of the driver 49,5
When entering the 0, return to generate a steering torque TM vehicle 40 can be prevented reliably from deviating from the lane 48 in the driver side end portion of intentionally lanes 48 of the vehicle 40 to when led, good to extinction by determined the return steering torque TM can realize steering characteristics.

[0047] In the above embodiment, 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 in step 52-60 "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
Beauty 3 described "awareness determination means" and "return steering torque limiting means" are realized respectively.

[0048] In the above embodiment, 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, with reference to FIGS. 6 and 7 together with FIG. 1, illustrating a second embodiment of the present invention. Steering control apparatus of the present embodiment, in the system configuration shown in FIG. 1, is realized by executing the control routine shown in FIG. 7 to ECU 10.

[0050] Figure 6 is a virtual cross-section of the road 42 (hereinafter, virtual section (VI) and referred) shows a. Incidentally, parts that are the same as the parts shown in FIG. 3 in FIG. 6 the explanation thereof will be denoted by the same reference numerals. Steering control apparatus of the present embodiment, when the vehicle 40 is traveling on a road 42, normal vehicle is a point to achieve similar characteristics to the steering characteristics exerted when the vehicle is traveling on a road with a virtual cross-section (VI) It has a feature.

[0051] In this embodiment, the road 42 is first lane 6
And a 4 and a second lane 66. Boundary of the first lane 64 is defined by white lines 44, 46. Also,
The first lane 64 and the second lane 66 is divided by the white line 44. The first lane 64, the left control area 72 in a part of the side end portion of the white line 44 side, but also, the right control area 74 is set in a part of the side end portion of the white line 46 side. Further, in the first lane 64, between the left control region 72 and the white line 44,
And, each forbidden region 78 is set between the right control region 74 and the white line 46. In the second lane 66, similar to the first lane 64, control areas and prohibited area of ​​the right and left is set.

[0052] Virtual sectional (VI), as the central portion and around prohibited area 76, 78 of the first lane 64 is flat, and, the surface of the control areas 72 and 74 of the first lane 64 and 66, they It is set to be higher as closer to the white line 44, 46 adjacent to. Also, the virtual section (VI) is a cross-sectional shape of the second lane 66 is set to be similar to the cross-sectional shape of the first lane 64.

[0053] to the steering wheel of the vehicle traveling road having a virtual cross-section (VI), after the vehicle enters the left control area 72 or the right control region 74, to direct the vehicle to the central portion of the first lane 64 return steering torque is input. Return steering torque generated as described above, the vehicle is left control area 7
2 from the prohibited area 76, or be extinguished by entering from the right side control area 74 to forbidden region 78. Therefore,
When the driver of the vehicle is guided to consciously prohibit vehicle area 78 in Ko' the return steering torque described above, then the normal steering characteristics in the vehicle can be realized.

[0054] vehicle traveling road having a virtual cross-section (VI) may be the width of the width and the right control region 74 of the left control region 72 deviates to their outward readily as a narrow. Control areas 72 and 74 of the virtual section (VI) is set narrower than the side control area 49 and 50 in the first embodiment. Therefore, the vehicle traveling on a road with a virtual cross-section (VI) can deviate outside the relatively easy control areas 72 and 74.

By the way, the virtual cross-section shown in FIG. 3 (III)
In the left and right of the control region 49 and 50 is provided adjacent to the white line 44, 46. When the left and right control regions 49 and 50 are provided adjacent to the white line 44 in this way,
If multiple lanes are provided on the road, the state of the control region to each other close belonging to each lane.

[0056] When the control area belonging to different lanes are arranged adjacent to each other, the vehicle deviates from the control area of ​​one lane immediately occur a situation that enters the control area of ​​the other lanes. A return steering torque that the vehicle is generated when present in the control region of one lane, the return steering torque generated after entering the adjacent lane, its direction different. Therefore, if the above as the vehicle enters the control region of a single lane in the control area of ​​the other lanes, resulting changes in rapid return steering torque in the vehicle.

[0057] virtual section (VI), each control area 7
Prohibited area 76, 78 on the outside of 2,74 is set. Forbidden region 78 is a region which does not transmit any return steering torque to the steering wheel of the vehicle traveling therethrough.
Accordingly, in a vehicle traveling on a road with a virtual cross-section (VI) it is before and after departing from a lane, a sudden change is prevented from occurring in the return steering torque.

[0058] Figure 7, the steering control apparatus of this embodiment, and shows a flowchart of an example of a control routine ECU10 executes to realize the same steering characteristics and vehicle traveling road having a virtual cross-section (VI). The routine shown in FIG. 7 is a routine that the process is repeatedly started every ending. Processing in first step 80 the routine is started as shown in FIG. 7 is executed.

[0059] At step 80, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle enters the one of the left and right of the control areas 72 and 74 is determined. In this step 80, the vehicle 40 each lane 64 and 66
The above conditions are judged to be satisfied if the central side has entered the control area 72, 74. In this step 80, if the vehicle 40 is determined to not entered in any of the control areas 72 and 74, the current routine is terminated without any further processings. On the other hand, the process of step 82 when the vehicle 40 is determined to have entered in any of the control areas 72 and 74 is executed.

[0060] At step 82, whether or not the control inhibition flag is on is determined. Control inhibition flag is a flag which is turned on by the vehicle 40 enters into the forbidden region 76. If the control prohibition flag in the step 82 is determined to be the ON state, thereafter, steps 84-92 are jumping, the process of step 94 is executed.

[0061] At step 84, the magnitude and sign of the control angle θ is calculated. Control angle θ left and right control area 7
The vehicle 40 existing in the 2,74 a steering angle to be applied to the steering shaft 28 in order to return to the center of the lane.

[0062] At step 86, the magnitude and direction of the drive current I corresponding to the control angle θ is calculated.

[0063] At step 88, the processing for driving the motor 36 by using the driving current I is executed. According to the above processing, after the vehicle 40 enters the control area 72 and 74, when the control prohibition flag is off, the motor 3
It is possible to generate a return operation torque TM to 6.

[0064] At step 90, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle enters either the prohibited area 78 is discriminated. As a result, when the vehicle 40 is determined to have entered the prohibited area 78, the process of step 92 is executed. On the other hand, if the above conditions are not determined to be satisfied, step 92 is jumping, the process of step 94 is executed.

[0065] At step 92, the control prohibition flag is set to ON state. After the process of step 92 is executed, every time the present routine next time is activated, in step 82, it is determined that the control inhibition flag is on. According to the above-mentioned process, the vehicle 40 is prohibited area 76,
After entering the 78, it can be inhibited occurrence of the return steering torque TM.

[0066] In step 94, the vehicle 40 is prohibited area 7
Whether escape is determined from 6,78. as a result,
The process of step 96 when the vehicle 40 is determined to have escaped from the prohibited area 76, 78 is performed. on the other hand
If the above conditions are not determined to be satisfied, step 96 is jumping, the process of step 98 is executed.

[0067] At step 96, the control prohibition flag is reset to OFF state. After the process of step 96 is executed, in the subsequent processing cycle next, in step 82, the control prohibition flag is determined to be the OFF state. Therefore, according to the above-mentioned process, after the vehicle 40 has escaped from forbidden region 76 and 78, it is possible to quickly implement a state capable of generating the return steering torque TM.

[0068] At step 98, the vehicle 40 is controlled region 7
Whether escape is determined from 2,74. In this step 98, toward at the current processing cycle from the previous processing cycle, when the vehicle 40 is escaped from the left and right control areas 72 and 74 toward the center of the lane, it is determined that the above condition is satisfied. In this step 98, if still vehicle 40 is judged not to be escaped from the control areas 72 and 74 performs the process of subsequent step 82 again.
On the other hand, when the vehicle 40 is determined to have escaped from the control areas 72 and 74, immediately thereafter the routine is ended.

[0069] As described above, according to the steering control apparatus of the present embodiment, the - vehicle 40 generates the appropriate return steering torque TM when biased to the side end portion from the center of the lane, and restoring the steering torque after TM occurs, when directing the driver more conscious vehicle 40 to the side edge portions, relatively easily be departing from the vehicle 40 to the outside of the control areas 72 and 74, and, &
Without being affected by the adjacent lane, when the vehicle 40 is guided to the outside of the control areas 72 and 74, i.e., the motor 36 is restored steering torque TM when the vehicle 40 is guided to the prohibited area 76, 78 prohibiting the generation of the, it is possible to realize all.

[0070] Therefore, according to the steering control apparatus of the present embodiment, when the driver that guide the vehicle 40 to the side edge of the lane is not intended, the vehicle 40 is effectively prevented from deviating from the lane it is possible, the driver consciously vehicle 4
0 it is possible to realize good steering properties when guided to the side edges of the lane.

[0071] In the above embodiment, 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
"Return steering torque limiting unit" described are realized respectively.

[0072] In the above embodiment, ECU 1
0, "prohibiting condition determining means" of claim 3, wherein by executing the processing in step 90 is "second inhibiting means of claim 3, wherein by executing the processing in steps 82 and 92 "it has been realized, respectively.

Next, with reference to FIGS. 8 and 9 in conjunction with FIG 1, a description will be given of a third embodiment of the present invention. Steering control apparatus of the present embodiment, in the system configuration shown in FIG. 1, is realized by executing the control routine shown in FIG. 9 to ECU 10.

[0074] Figure 8 is a virtual cross-section of the road 42 (hereinafter, virtual section (VIII) and referred) shows a. Note that FIG 8 3
The parts that are the same as the parts shown in the description thereof is omitted are denoted by the same reference numerals. Steering control apparatus of the present embodiment, when the vehicle 40 is traveling on a road 42, normal vehicle virtual section (VIII)
It is characterized in that to achieve the same characteristics as the steering characteristic that exhibits when the vehicle is traveling on a road with.

[0075] virtual section (VIII) is left control area 100 and right control area 102 is set inside the white lines 44, 46. Virtual cross (VIII) is, after the vehicle 40 enters the left control area 100 or the right control region 102, thereby the raised surface of a predetermined time t1 only those control regions 100, 102.

[0076] If the virtual section (VIII) changes its shape as described above, the steering wheel of the vehicle traveling road having a virtual cross-section (VIII), the vehicle is on the left side control area 100 or the right control region 102 after entering, the return steering torque is generated to direct the vehicle for a predetermined time t1 at the center portion of the lane 48.

[0077] Figure 9 is by the steering control apparatus of this embodiment, and shows a flowchart of an example of a control routine ECU10 executes to realize the same steering characteristics and vehicle traveling road having a virtual cross-section (VIII). The routine shown in FIG. 9 is a routine that the process is activated each time the ends. When the routine shown in FIG. 9 is started, the process of step 104 is performed.

[0078] At step 104, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle enters the one of the left and right of the control region 100, 102 is determined. As a result, when the vehicle 40 in any of the control region 100, 102 is judged not entered, the current routine is terminated without any further processings. On the other hand, the process of step 106 if the vehicle 40 is determined to have entered the one of the left and right of the control region 100, 102 is performed.

[0079] At step 106, the drive current I supplied to the motor 36 is set to a predetermined value I0. The predetermined value I0
Is a value to rotate the appropriate control angle θ only the steering shaft 28.

[0080] At step 108, the above-described drive current I0
Processing for driving the motor 36 by using the runs. After the process of step 108 is executed, the return steering torque TM corresponding to the driving current I0 is transmitted to the driver via the steering wheel 26.

[0081] At step 110, after starting the driving of the motor 36, whether a predetermined time t1 (e.g., 0.5 sec) has elapsed or not. As a result, still a predetermined time t1
If is is determined that not elapsed, the processes in and after step 106 is performed again. On the other hand, the predetermined time t1
If is is determined that has elapsed, immediately the routine is ended.

[0082] According to the above-mentioned process, the vehicle 40 is generated a predetermined time t1 by the return steering torque TM after entering the one of the left and right of the control regions 100, 102, the side end portion of the vehicle 40 lane 48 it is possible to inform the driver that is located. Driver consciously unless the vehicle 40 is guided to the side edge of the lane 48, said return steering torque T
After feeling the M, to return their vehicle 40 in the middle of the lane 48.

[0083] Therefore, according to the steering control apparatus of the present embodiment, the driver of the vehicle 40 in a situation that is not meant to guide the vehicle 40 to the side edge of the lane 48 deviates from the lane 48 effective it is possible to prevent the. Further, according to the steering control apparatus of the present embodiment, when the driver consciously directs the vehicle 40 to the side edge of the lane 48, it is possible to achieve good steering characteristics.

[0084] In the above embodiment, ECU 10
But 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 of claim 4, wherein "lane area detecting mechanism" is, step 1
Claim by executing the processing of 04 to 110 4
"Return steering torque generating means" it is realized respectively according.

Next, FIGS. 10 and together with the Figure 1 Figure 11
Reference to a description of a fourth embodiment of the present invention. Steering control apparatus of the present embodiment, in the system configuration shown in FIG. 1, is realized by executing the control routine shown in FIG. 11 to ECU 10.

[0086] Figure 10 is a virtual cross-section of the road 42 (hereinafter, virtual cross section (X) and referred) shows a. Incidentally, parts that are the same as the parts shown in FIG. 3 in FIG. 10 the explanation thereof will be denoted by the same reference numerals. Steering control apparatus of the present embodiment, the vehicle 40
There when the vehicle is traveling on a road 42, normal vehicle virtual cross (X)
It is characterized in that to achieve the same characteristics as the steering characteristic that exhibits when the vehicle is traveling on a road with.

[0087] virtual cross section (X) is a side end portion in the vicinity of the white line 44, the left control region 112, prohibited area 114 and the left departure prevention region 116 is set in that order. Also,
Virtual cross (X) is a side end portion in the vicinity of the white line 46, the right control region 118, prohibited area 120 and the right departure prevention region 122 is set in that order. Virtual cross (X), such that the central portion and around prohibition region 114 of the lane 48 is flat, and the left control region 112, the left departure prevention region 116, the right control region 118 and the right departure prevention region 122 , it is set so as to increase uplift as their surface approaches a white line 44, 46.

[0088] to the steering wheel of the vehicle traveling road having a virtual cross-section (X), after which the vehicle enters the left control area 112 or the right control region 118, the return steering for directing the vehicle to the central portion of the lane 48 torque is input. Return steering torque generated as described above, the vehicle is left control region 1
To forbidden region 114 from 12, or the right control region 11
Disappear by entering the prohibited area 120 from 8.
Accordingly, the driver of the vehicle when guided to consciously prohibit vehicle area 114, 120 and Ko' the return steering torque described above, then the normal steering characteristics in the vehicle can be realized.

[0089] left and right control regions 112 and 118 are likewise provided relatively narrow and the control areas 72 and 74 of the virtual section (VI). Therefore, in the vehicle traveling on a road with a virtual cross-section (X), by the driver performing a conscious operation, it can be obtained relatively easily good steering characteristics at the side edges of the lane 48 .

[0090] vehicle traveling road having a virtual cross-section (X) is further moved toward the outside of the lane 48 from prohibition region 114, 120 and enters the left departure prevention area 116 or the right departure prevention region 122, the the steering wheel of the vehicle, is input return steering torque that causes again returning the vehicle to the center of the lane 48. Left and right departure prevention region 11
6,122 is provided at a boundary portion of the lane 48. Therefore, according to the vehicle running virtual section (X), lane 4
While realizing good steering characteristics when traveling side edges 8, the vehicle can be effectively prevented from deviating from the lane 48.

[0091] Figure 11 is the steering control apparatus of this embodiment, and shows a flowchart of an example of a control routine ECU10 executes to realize the same steering characteristics and vehicle traveling road having a virtual cross-section (X). The routine shown in FIG. 11 is a routine that the process is repeatedly started every ending. First the process of step 124 the routine is started as shown in FIG. 11 is executed.

[0092] At step 124, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle enters the one of the left and right of the control region 112, 118 is determined. In this step 124, the vehicle 40 is lane 48
The above conditions are judged to be satisfied if the central side has entered the control area 112 and 118. This step 124
In the case where the vehicle 40 is determined to not entered in any of the control regions 112 and 118, the process of step 126 is performed. On the other hand, when the vehicle 40 is determined to have entered in any control areas 112 and 118, step 126 is jumping, the process of step 128 is performed.

[0093] At step 126, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle enters either of the left and right departure prevention region 116 and 122 is determined. In this step 126, the vehicle 40 is determined to the above condition is satisfied when entering the deviation preventing region 116, 122 from the center of the lane 48. In this step 126, deviation prevention area of ​​any vehicle 40 116,1
If you are determined not to have entered the 22, thereafter, the routine without any further processings is terminated. On the other hand, deviation prevention area if the vehicle 40 is either 116,1
If it is determined that enters the 22, then step 12
Processing of 8 is executed.

[0094] At step 128, the magnitude and sign of the control angle θ is calculated. Control angle θ left and right control area 1
12,118 or left and right departure prevention region 116, 122
A steering angle to be applied to the steering shaft 28 to return the vehicle 40 existing in the center of the lane 48.

[0095] At step 130, the magnitude and direction of the drive current I corresponding to the control angle θ is calculated.

[0096] At step 132, the processing for driving the motor 36 by using the driving current I is executed. According to the above processing, after the vehicle 40 enters the one of the control areas 72 and 74 or departure prevention region 116 and 122, the return operation torque TM corresponding to the control angle θ can be generated.

[0097] At step 134, whether the vehicle 40 has escaped from the control region 112 and 118 is determined. In this step 134, subjected during the present process cycle from the previous processing cycle, the control area 11 the vehicle 40 is left
Toward the center of the lane 48 from 2,118 or above conditions it is determined to be established when escaped to forbidden areas 114 and 116 side. In step 134, yet the vehicle 40
If is is determined that not to escape from the control region 112 and 118, the process of step 136 is performed.
On the other hand, when the vehicle 40 is determined to have escaped from the control region 112 and 118, immediately thereafter the routine is ended.

[0098] At step 136, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle is escaped from deviation preventing regions 116 and 122 is determined. As a result, yet the vehicle 40 is deviation prevention area 116,1
If it is determined that no escape from 22 is executed processes after the step 128 again. On the other hand, when the already determined that the vehicle 40 is escaped from deviation preventing regions 116 and 122, immediately thereafter the routine is ended.

[0099] According to the above-mentioned process, either the vehicle 40 is of the left and right of the control regions 112 and 118, or, after entering either of the left and right departure prevention regions 116, 122, the vehicle 40
There until the escape from those areas, which both generates a return steering torque TM in accordance with the control angle theta, after the vehicle 40 has escaped from those areas, can be eliminated quickly return the steering torque TM.

[0100] Thus, according to the routine shown in FIG. 11, the-vehicle 40 generates the appropriate return steering torque TM when biased to the side end portion from the center of the lane, and restored the steering torque TM is after that occurred, when directing the driver more conscious vehicle 40 to the side edge portions, relatively easily be departing from the vehicle 40 to the outside of the control region 112, 118, and,
When, the vehicle 40 has moved to the boundary of the lane 48,
It is possible to realize all that, that generates a return steering torque TM again.

[0102] Therefore, according to the steering control apparatus of the present embodiment, the vehicle 40 when the driver is not intended to be guided to the side edge of the lane, and effectively prevent the vehicle 40 deviates from the lane , to achieve good steering characteristics when the driver led consciously vehicle 40 to the side edge of the lane, and when the driver has led to consciously vehicle 40 to the side edge of the lane, vehicle 40
There can be effectively prevented from departing from the lane 48.

[0102] In the above embodiment, 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, in steps 124 and 128-132 "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 limitation means "are realized respectively.

[0103] In the above embodiment, ECU 1
0, "prohibiting condition determining means" of claim 3, wherein by executing the process in step 134 and the "second
Prohibition means ", it has been realized, respectively.

[0104] Further, in the above-mentioned embodiment, ECU 1
0 "deviation prevention means" of the claims 4 and 5, wherein by executing the processes of steps 126-132 and 136 is realized.

[0105] Next, FIGS. 12 and together with the Figure 1 Figure 13
See, a description will be given of a fifth embodiment of the present invention. Steering control apparatus of the present embodiment, in the system configuration shown in FIG. 1, is realized by executing the control routine shown in FIG. 13 to ECU 10.

[0106] Figure 12 is a virtual cross-section of the road 42 (hereinafter, virtual section (XII) and referred) shows a. Incidentally, parts that are the same as the parts shown in FIG. 3 in FIG. 12 the explanation thereof will be denoted by the same reference numerals. Steering control apparatus of the present embodiment, the vehicle 4
When 0 is traveling on a road 42, normal vehicle virtual section (X
It is characterized in that to achieve the same characteristics as the steering characteristic that exhibits when the vehicle is traveling on a road having a II).

[0107] virtual section (XII) is on the side end portion in the vicinity of the white line 44, the left control region 138, prohibition region 140 and the left departure prevention region 142 is set in that order. Further, in the virtual section (XII), the side end portion in the vicinity of the white line 46,
Right control region 144, prohibited area 146 and the right departure prevention region 148 is set in that order. Virtual cross section (XI
I), after the vehicle 40 has entered the left and right of the control regions 138 and 144 or left and right departure prevention region 142 and 148, a predetermined time t2 those regions 138,144,142,
148 is raised to the surface of the.

[0108] If the virtual section (XII) changes its shape as described above, the steering wheel of the vehicle traveling road having a virtual cross-section (XII), the control area 138 of the vehicle is left,
After entering the 144 or left and right departure prevention region 142 and 148, the return steering torque is generated to direct the vehicle for a predetermined time t2 at the center portion of the lane 48.

[0109] Figure 13 is the steering control apparatus of this embodiment, and shows a flowchart of an example of a control routine ECU10 executes to realize the same steering characteristics and vehicle traveling road having a virtual cross-section (XII). The routine shown in FIG. 13 is a routine that the process is activated each time the ends. When the routine shown in FIG. 13 is started, the process of step 150 is performed.

[0110] At step 150, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle enters the one of the left and right of the control region 138, 144 is determined. As a result, the process of step 152 if the vehicle 40 in any of the left and right of the control region 138, 144 is determined to have entered is executed.

[0111] At step 152, the drive current I supplied to the motor 36 is set to a predetermined value I1.

[0112] In step 154, the drive current I1
Processing for driving the motor 36 by using the runs. After the process of step 154 ​​is executed, the return steering torque TM corresponding to the driving current I1 is transmitted to the driver via the steering wheel 26.

[0113] At step 156, after starting the driving of the motor 36, whether a predetermined time t2 (e.g., 0.5 sec) has elapsed or not. As a result, still a predetermined time t2
If is is determined that not elapsed, the processes in and after step 152 is performed again. On the other hand, the predetermined time t2
If is is determined that has elapsed, immediately the routine is ended.

[0114] According to the above-mentioned process, when the vehicle 40 enters the one of the left and right of the control regions 138 and 144, by generating a return steering torque TM predetermined time t2, the side of the vehicle 40 lane 48 it is possible to inform the driver that is biased to an end. Driver consciously unless the vehicle 40 is guided to the side edge of the lane 48, after feeling the return steering torque TM of the to return themselves vehicle 40 in the center of the lane 48. Therefore, according to the steering control apparatus of the present embodiment, when the driver is not intended to guide the vehicle 40 to the side edge of the lane 48, the vehicle 40 is prevented from greatly deviating from the center of the lane 48 be able to.

[0115] In this routine in step 150, if the vehicle 40 is determined to not entered in any of the control regions 138 and 144, the process of step 158 is performed.

[0116] At step 158, whether the vehicle 40 toward the time the current processing cycle from the previous processing cycle enters either of the left and right departure prevention region 142 and 148 is determined. As a result, when the vehicle 40 is determined to not entered in any of the deviation preventing regions 142 and 148, the current routine is terminated without any further processings. On the other hand, the process of step 160 if the vehicle 40 is determined to have entered in any of departure prevention region 142 and 148 is performed.

[0117] At step 160, the drive current I supplied to the motor 36 is set to a predetermined value I2.

[0118] At step 162, the above-mentioned driving current I2
Processing for driving the motor 36 by using the runs. After the process of step 162 is executed, the return steering torque TM corresponding to the driving current I2 is transmitted to the driver via the steering wheel 26.

[0119] At step 164, after starting the driving of the motor 36, whether a predetermined time t2 has elapsed or not. As a result, when the still is determined that the predetermined time t2 has not elapsed, it is executed the processing of step 160 and later again. On the other hand, if it is determined that the predetermined time t2 has elapsed, immediately the routine is ended.

[0120] According to the above-mentioned process, when the vehicle 40 enters in any of departure prevention region 142 and 148, by generating a return steering torque TM predetermined time t2, the vehicle 4
0 can be informed to the driver that it is located at the boundary of the lane 48. When returning the steering torque TM as described above occurs, it is possible that the vehicle 40 is to alert the driver for being likely to deviate from the lane 48.

[0121] Further, according to the above-mentioned process, the time the return steering torque TM when the vehicle 40 enters the one of the control regions 138, 144 are generated, and, for preventing deviation from the region 142 vehicle 40 is either, time returning the steering torque TM is generated upon entering the 148 is set to a predetermined short time t2. Therefore, the driver can be performed when guiding the vehicle 40 to the side edge of intentionally lanes 48, the steering operation without receiving a large impact on the return steering torque TM.

[0122] Therefore, according to the steering control apparatus of the present embodiment, the vehicle 40 when the driver is not intended to be guided to the side edge of the lane, and effectively prevent the vehicle 40 deviates from the lane, to achieve good steering characteristics when the driver led consciously vehicle 40 to the side edge of the lane, and when the driver has led to consciously vehicle 40 to the boundary of the lane, effectively it is possible to draw the attention of the driver.

[0123] In the above embodiment, ECU 10
But 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 of claim 2 wherein "lane area detecting mechanism" is, step 1
Wherein by executing the processing of 50-156 claim 2
"Return steering torque generating means" it is realized respectively according.

[0124] Further, in the above-mentioned embodiment, ECU 1
0 wherein "deviation prevention means" in the claims 4 and 5, wherein are realized by executing the processing of step 158-164.

[0125]

[Effect of the Invention] As described above, according to the present invention, the vehicle is prevented from departing from the lane area the driver under unintended conditions, and the side edge of intentionally vehicle moving lane area the driver when that led to parts, it is possible to achieve good steering characteristics.

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

[0127] Furthermore, the vehicle by generating only return steering torque briefly upon reaching the side edge of the lane region, the vehicle is prevented from departing from the lane area the driver under unintended conditions, and, when the driver led intentionally vehicle side end portion of the moving lane area, it is possible to achieve a good steering characteristics.

[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 departure of the vehicle from the lane area.

BRIEF DESCRIPTION OF THE DRAWINGS

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

2 is a vehicle and the bird's eye view of a road extending ahead of the vehicle equipped with the steering control apparatus for a vehicle shown in FIG.

[Figure 3] for explaining the basic operation of a vehicle steering control apparatus of the first embodiment of the present invention, is a virtual cross-section of the road.

[4] vehicle equipped with a vehicle steering control apparatus in the first embodiment of the present invention is a diagram showing an example of a running line when overtake motorcycles.

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

[6] The vehicle steering control apparatus of the second embodiment of the present invention characteristically operate for explaining a virtual cross-section of the road.

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

[8] for illustrating a characteristic operation of the vehicle steering control apparatus of the third embodiment of the present invention, it is a virtual cross-section of the road.

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

[10] the fourth vehicle steering control apparatus of the embodiment of the present invention characteristically operate for explaining a virtual cross-section of the road.

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

[Figure 12] for illustrating a characteristic operation of the vehicular steering control apparatus of a fifth embodiment of the present invention, is a virtual cross-section of the road.

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

DESCRIPTION OF SYMBOLS

10 electronic control unit (ECU) 26 steering shaft 36 motor 40 vehicle 42 road 44 white 48 lane 49; 72; 100; 112; 138 left control region 50; 74; 102; 118; 144 right control region 76; 114, 120; 140, 146 prohibition region 116; 142 left departure prevention region 122; 148 right departure prevention area

────────────────────────────────────────────────── ─── of the front page continued (56) reference Patent flat 7-104850 (JP, a) JP flat 6-255514 (JP, a) JP flat 9-142327 (JP, a) JP flat 6- 336170 (JP, a) (58 ) investigated the field (Int.Cl. ^7, DB name) B62D 6/00

Claims (5)

(57) [the claims]
1. And 1. A lane area detection mechanism for detecting the lane area of ​​the vehicle, when the vehicle runs a control region of the side edge portion of the lane region, the return steering torque to direct the vehicle in the center of the lane region and the return steering torque generating means for generating,
   The vehicular steering control apparatus and a consciousness determination means for determining whether the driver is attempting to run continuously the side end portion of intentionally moving lane area leading vehicle to the control area, the driver If There it is determined that is trying to run continuously the side end portion of intentionally moving lane area leading vehicle to the control region, a return steering torque limiting means for limiting the occurrence of the return steering torque, equipped with a, The consciousness determination means, splicing the vehicle travels the control region
   Comprising a continuous time measuring means for detecting the connection time, and, It said return steering torque limiting means, wherein the duration of the predetermined
   The occurrence of the return steering torque upon reaching the threshold time
   The vehicle steering control apparatus characterized by comprising a first inhibiting means for inhibiting.
2. Wherein lane area detector for detecting a lane area of the vehicle
   Traveling mechanism and a control region of the side edge portion of the vehicle is the lane area
   When, to direct the vehicle in the center of the lane region
   And the return steering torque generating means for generating a return steering torque,
   The vehicular steering control apparatus comprising, It said return steering torque generating means, the vehicle is the control region
   After entering, to generate the return steering torque for a predetermined time
   The vehicle steering control apparatus characterized by that.
3. 3. A lane area detector for detecting a lane area of the vehicle
   Traveling mechanism and a control region of the side edge portion of the vehicle is the lane area
   When, to direct the vehicle in the center of the lane region
   And the return steering torque generating means for generating a return steering torque,
   The vehicular steering control apparatus comprising, Lane region driver led consciously vehicle to said control region
   Determine whether or not is trying to line run to continue the side edges of the
   And another conscious discrimination means, Lane region driver led consciously vehicle to said control region
   Is determined attempt to run continuously the side end portion of the to have the
   If that, the return steering to limit the occurrence of the return steering torque
   And the steering torque limiting means, Equipped with a, The consciousness determination unit is provided with 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, the vehicle is electrically to said forbidden area the vehicle steering control apparatus, characterized in that it comprises a second inhibiting means for inhibiting the generation of the return steering torque when he.
4. 4. The vehicle steering control apparatus according to claim 1 or 2, wherein, lane area led to the vehicle consciously by the driver in the control region
   Determine whether or not trying to run to continue the side edges of the
   And another conscious discrimination means, Lane region driver led consciously vehicle to said control region
   Is determined attempt to run continuously the side end portion of the to have the
   If that, the return steering to limit the occurrence of the return steering torque
   And the steering torque limiting means, Equipped with a, The consciousness determination unit is recognized outside of the control region
   Prohibition condition-format to determine whether the vehicle is guided to inhibition area
   With a different means, It said return steering torque limiting means, the vehicle is the prohibited area
   The inhibits the generation of the return steering torque when guided
   Equipped with a 2 prohibition means, The lane area is prohibited is recognized outside of the control region
   And regions, deviation preventing region recognized outside the forbidden region
   Including the door, When the vehicle travels the departure prevention region, said vehicle
   Calling the deviation preventing steering torque that directs the center of the lane regions
   The vehicle steering control apparatus characterized by comprising a deviation preventing means for raw.
5. 5. A steering control apparatus for a vehicle according to claim 3, wherein the lane area includes a prohibition region recognized outside of the control region, and a deviation preventing region recognized outside the forbidden region , when the vehicle runs the departure prevention area, the vehicle steering control apparatus characterized by comprising a deviation preventing means for generating a deviation preventing steering torque to direct the vehicle in the center of the lane regions.