JP3589037B2 - Driving support device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a driving support device that supports driving of a driver according to the driving condition of a host vehicle.
[0002]
[Prior art]
2. Description of the Related Art In recent years, a technology (driving assistance device) has been developed in which the position and attitude of a host vehicle with respect to a traveling road and the surrounding conditions are ascertained, and the driving assistance of a driver is supported based on the information.
As such a driving assistance device, for example, there is a driving guidance device such as a lane departure prevention device, which informs the driver of a driver's driving operation mistake such as departure from the traveling lane, and assists steering in a direction to avoid the departure. For example, there is a method of assisting driving in a direction to eliminate a driver's mistake.
[0003]
In addition, although it does not actively support driving, for example, in a navigation system, information on a traveling road (road map information) is provided to a driver so that the driving of the driver is indirectly supported. Has become.
[0004]
[Problems to be solved by the invention]
By the way, when the own vehicle running on the main line approaches the junction, the driver needs to pay attention to the merging vehicle entering the main line from the junction flow path. When the merging vehicle attempts to cut in front of or behind the own vehicle, if the inter-vehicle distance between the own vehicle and the preceding vehicle or the following vehicle is too short, the merging vehicle cannot cut in successfully. .
[0005]
In order to avoid such a problem, when approaching the merging section, the course is changed in advance from the merging lane to the next lane, and the merging space of the merging vehicle is secured in the merging lane, so that the merging is performed. This is desirable in order to enable quick and smooth operation and to ensure the safety of the vehicle.
However, depending on the road shape, the positional relationship with the preceding vehicle, or the like, it may not be possible to grasp the presence of the junction ahead of the course. In addition, although it is possible to confirm whether or not the junction is present ahead of the course by the navigation system, the driver itself does not inform the existence of the junction as described above. There is a problem that it is necessary to confirm and ultimately depends on the consciousness of the driver itself.
[0006]
The present invention has been made in view of such a problem, and enables a driver to positively recognize approach to a junction and also to recognize a steering direction of a steering wheel to avoid a junction vehicle. It is an object of the present invention to provide a driving assistance device.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, in the driving support apparatus according to the first aspect of the present invention, the absolute position of the own vehicle detected by the own vehicle position detecting means and the absolute position of the own vehicle stored in the road map information storing means are stored. Based on the road map information of the road on which the vehicle is traveling, the estimating means estimates whether the junction is approaching ahead of the road on which the vehicle is traveling, and estimates that the vehicle is approaching the junction. In this case, the actuator control means provides a steering control torque that can be easily overcome by a driver other than the steering torque applied by the driver via the steering wheel to change the course of the own vehicle from the merging lane to the adjacent lane. The steering actuator is controlled so as to act in the direction of urging.
[0008]
In the driving support apparatus according to the present invention, when the information receiving means receives the merging vehicle information provided from the information providing means provided on the road side, the driver controls the driver by the actuator control means. The steering actuator is controlled such that a steering control torque that can be easily overcome by a driver different from the steering torque applied via the vehicle acts in a direction that prompts the driver to change course from the merging lane of the own vehicle to the adjacent lane.
[0009]
Further, in the driving support apparatus according to the third aspect of the present invention, in the driving support apparatus according to the first or second aspect, the actuator control means may be arranged so that the merging vehicle is connected to either the front or rear of the own vehicle. Controlling the steering actuator so that the steering control torque acts in a direction to promote a change of course of the host vehicle from the merging lane to the adjacent lane, provided that a space where the vehicle can easily merge is not secured. It is characterized by.
According to a fourth aspect of the present invention, in the driving support apparatus according to the third aspect, the space where the merging vehicle can easily merge with the merging lane is defined as a space between the merging vehicle and a preceding vehicle traveling ahead of the host vehicle. The distance between the preceding vehicle and the distance between the host vehicle and a following vehicle traveling behind the host vehicle is each equal to or longer than a predetermined distance.
According to a fifth aspect of the present invention, there is provided the driving assistance device according to any one of the first to fourth aspects, wherein the actuator control means does not operate the direction indicator of the own vehicle. Under the condition, the steering actuator is controlled such that the steering control torque acts in a direction that prompts a change of course of the host vehicle from the merging lane to the adjacent lane.
According to a sixth aspect of the present invention, in the driving assistance apparatus according to any one of the first to fifth aspects, the actuator control unit includes a steering torque that is generated when a driver steers a steering wheel. On the condition that the steering control torque is equal to or less than a predetermined value, the steering actuator is controlled such that the steering control torque acts in a direction to promote a change of course of the host vehicle from the merging lane to the adjacent lane.
According to a seventh aspect of the present invention, there is provided the driving support apparatus according to the sixth aspect, wherein the predetermined value is a value at which the driver is not actively steering the steering wheel.
According to a driving support device of the present invention described in claim 8, in the driving support device according to any one of claims 1 to 7, the actuator control unit determines that the own vehicle is in a control target range in a driving lane. On the condition that the vehicle is traveling, the steering actuator is controlled such that the steering control torque acts in a direction to encourage the own vehicle to change course from the merged lane to the adjacent lane.
According to a ninth aspect of the present invention, in the driving assisting device according to the eighth aspect, the part within the control target range is set in a lane on the course changing side lane to complete the course change by the driver's own steering operation. However, the set range is a range excluding from the entire travel lane.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, a driving assistance device according to a first embodiment of the present invention will be described with reference to FIGS. Note that the driving support device of the present embodiment utilizes a conventionally known power steering device.
[0011]
That is, in the present driving assistance device, as in the case of the conventional power steering device, the magnitude of the auxiliary steering torque for assisting the driver's steering operation in accordance with the steering torque when the driver operates the steering wheel and the vehicle speed of the host vehicle. Control the driver's driving, but at the same time, if the own vehicle running on the merging lane approaches the merging section, the driver's steering wheel is driven in a direction to prompt the driver to change course to the next lane. It guides the steering.
[0012]
For this reason, as shown in FIG. 1, this driving assistance device includes a vehicle speed sensor 1 for detecting the vehicle speed V of the host vehicle and a steering torque T generated by steering the steering wheel of the driver, similarly to the conventional power steering device._dAnd a means for recognizing that the own vehicle has approached the junction, a road map information storage means 6 storing road map information, and a self-vehicle on the road map. A position detecting sensor (own vehicle position detecting means) 7 such as a GPS for detecting the current position (latitude, longitude) of the own vehicle is provided to make the positions correspond. The road map information storage unit 6 also stores specific road partial information such as a junction, as a part of the road map information or corresponding to the road map information.
[0013]
Further, a camera (image information detecting means) 8 is provided as information detecting means for determining whether or not the lane on which the own vehicle is traveling is a merging lane. A front inter-vehicle distance sensor 3 for detecting an inter-vehicle distance to a vehicle and a rear inter-vehicle distance sensor 4 for detecting an inter-vehicle distance to a following vehicle are provided. As these inter-vehicle distance sensors 3 and 4, for example, a laser radar or the like can be applied. Further, a turn signal switch (a turn signal SW) 5 for detecting which of the left and right the turn signal is pointing to is also provided.
[0014]
A control unit 100 for controlling the power steering mechanism 10 based on the detection information and the storage information of the sensors 1 to 4, 7, the blinker SW 5 and the road map information storage unit 6 is provided. By controlling the current value supplied to the DC motor 11, the power steering mechanism 10 generates an auxiliary steering torque set based on the detection information and the storage information of the sensors 1 to 4, 7, the turn signal SW 5 and the road map information storage unit 6. It is made to let. That is, in the present embodiment, the driving assistance device is configured using the electric power steering control device that assists the driver's steering operation by the rotation torque of the DC motor 11.
[0015]
As shown in FIG. 1, the power steering mechanism 10 includes a DC motor 11, a worm shaft 12a connected to an output shaft of the DC motor 11, and a worm wheel shaft 12b driven by meshing with the worm shaft 12a. And a pinion shaft 13 that meshes with a worm wheel shaft 12b and a tooth portion 14a of a rack shaft 14. With such a configuration, in the power steering mechanism 10, the rotational torque generated by the DC motor 11 is amplified in the speed reducer 12, and transmitted to the rack shaft 14 via the pinion shaft 13 as the auxiliary steering torque, so that the driver's steering can be performed. It is designed to assist the operation. The steering torque generated by the driver steering the steering wheel is transmitted to the rack shaft 14 via a steering shaft (not shown).
[0016]
Here, the internal configuration and functions of the control means 100 will be described in detail. The control means 100 includes, as functional elements, a vehicle speed measuring means 101, a steering torque measuring means 102, a front inter-vehicle distance measuring means 103, a rear inter-vehicle distance measuring means. 104, an estimating means 105, an image information processing means 106, a traveling lane estimating means 107 and a judging means 109, and a motor current value calculation driving means (actuator control means) 110 are provided.
[0017]
First, the vehicle speed measuring means 101 and the steering torque measuring means 102 determine the vehicle speed V and the steering torque T based on the detection information of the vehicle speed sensor 1 and the steering torque sensor 2, respectively._dIs to be measured. Measured vehicle speed V and steering torque T_dIs input to the motor current value drive calculating means 110 described later, and an auxiliary steering torque for assisting the driver's steering operation is calculated based on these measurement results.
[0018]
The front inter-vehicle distance measuring means 103 and the rear inter-vehicle distance measuring means 104 are provided corresponding to the front inter-vehicle distance sensor 3 and the rear inter-vehicle distance sensor 4, respectively. The information (response time from transmission to reception of the laser) is processed, and the inter-vehicle distance to the preceding vehicle (inter-vehicle distance in front) d._F, Inter-vehicle distance to following vehicle (rear inter-vehicle distance) d_RIs to be measured. Then, the measured inter-vehicle distance d ahead_F, Rear distance d_RIs input to the determination means 109 described later.
[0019]
The estimating means 105 extracts road map information corresponding to the position of the own vehicle detected by the position detection sensor 7 from the road map information storage means 6 and associates the current position of the own vehicle with the extracted road map information. This is a means for estimating whether or not a specific road portion (a junction, a junction, etc.) exists in front of the road on which the vehicle is traveling. Here, the presence or absence of a specific road portion on a road ahead of the traveling position of the host vehicle by a predetermined distance is estimated. This is done by knowing in advance whether or not there is a specific road section such as a junction or a junction on the path where the host vehicle is going to travel, so that the host vehicle can be driven in an appropriate driving state according to the road conditions. This is because the control regarding the support is performed in advance. For this reason, the above-mentioned predetermined distance is a distance sufficient to change to the running state according to the road condition, and may be changed according to the vehicle speed V, for example.
[0020]
In particular, when there is a junction ahead of the course of the host vehicle, the estimation unit 105 estimates that the junction is approaching forward when the junction reaches a predetermined distance in front of the start of the junction. ing. Then, a signal (converging section approach signal) is input to the determination means 109.
The image information processing means 106 is a means for appropriately processing road image information captured by the camera 8 in front of the own vehicle and extracting white line information included in the road image information. The extraction of the white line information may be performed, for example, by the following method.
[0021]
That is, first, a plurality of horizontal lines (scanning lines) are set at regular intervals on the road image captured from the camera 8, and the luminance of each pixel is detected in the horizontal direction from the left for each horizontal line. , A luminance change in the horizontal direction is detected. At this time, the luminance of the white road is very high while the luminance of the white road is very high while the luminance of the normal road surface is low. Therefore, a large change occurs at the white line in the luminance distribution on each horizontal line. The part with this luminance change can be recognized as the position of the white line on each horizontal line, and by connecting the positions of the white lines detected on each horizontal line from the horizontal line at the lower end to the horizontal line at the upper end, the white line is extracted from the road image. Can be extracted.
[0022]
The traveling lane estimating means 107 first estimates the traveling lane in which the host vehicle is traveling based on the shape of the white line extracted by the image information processing means 106. The estimation of the traveling lane is performed by estimating the left and right white lines closest to the own vehicle center line as the white lines of the traveling lane in which the own vehicle is traveling. Then, it is estimated which lane on the road the estimated driving lane corresponds to, that is, whether it is a merging lane or another lane (for example, an overtaking lane) from the relationship with other white lines, and the estimated driving lane corresponds to the merging lane In this case, a signal (merging lane traveling signal) is input to the determination means 105.
[0023]
The in-lane travel position calculating means 108, which is a functional element thereof, calculates the travel position of the host vehicle in the travel lane, that is, the lateral displacement amount e with respect to the center position of the travel lane (road center line). I have. The lateral shift amount e is calculated by regarding the center of the white line on the left and right of the driving lane as the road center line and measuring the shift amount of the vehicle center line with respect to the road center line. The traveling lane estimating means 107 also inputs the lateral displacement amount e calculated by the in-lane traveling position calculating means 108 to the determining means 109.
[0024]
Next, the judgment means 109 will be described. The judgment means 109 receives measurement results and signals from the front inter-vehicle distance measuring means 103, the rear inter-vehicle distance measuring means 104, the estimating means 105, and the traveling lane estimating means 107, respectively, as described above. Is input, and the steering torque T measured by the steering torque measuring means 102 is further increased._dAnd a detection signal (a blinker signal) of the blinker SW5.
[0025]
The determination means 109 determines whether or not to guide the driver to steer the steering wheel in a direction that prompts the driver to change the course to the adjacent lane based on the measurement result and the signal. When all of the following six conditions are satisfied, it is determined that steering guidance is to be performed.
First, the first condition is that the own vehicle approaches the junction, that is, the junction approach signal is input from the estimation unit 105. The first condition is satisfied when the host vehicle approaches the junction within a predetermined distance. This is an object of the present invention to enable a smooth and quick junction of the junction vehicles at the junction. This is because the course change of the own vehicle from the merging lane to the adjacent lane is completed before the own vehicle enters the junction.
[0026]
The second condition is that the vehicle is traveling on the merged lane, that is, the merged lane traveling signal is input from the traveling lane estimating means 107. Steering guidance for changing the course is required when the vehicle is traveling on the merging lane.If the vehicle is already running on a lane other than the merging lane, it is necessary to change the course considering the merging vehicle. Because there is no.
[0027]
The third condition is that the front inter-vehicle distance dF and the rear inter-vehicle distance dR are less than or equal to the predetermined distances dF0 and dR0, respectively. To change the course from the merging lane to the adjacent lane, open the merging lane and join the car to the merging lane.EasyThis is to secure a space on the merging lane so that merging can be performed. Therefore, if a space capable of merging with the merging lane has already been secured, that is, if the inter-vehicle distance dF to the preceding vehicle and the inter-vehicle distance dR to the following vehicle are already sufficiently long, the merging vehicle enters the merging lane. This is because there is no problem in merging, and in this case, the own vehicle does not need to change course.
[0028]
The fourth condition is that there is no input of a winker signal from the winker SW5. If the driver operates the turn signal, it is possible to determine that the driver is going to change his or her own route. In such a case, the steering operation is left to the driver himself. Here, the reason that steering guidance is not performed not only when the turn signal is operated in the direction to avoid the merging vehicle but also when the turn signal is operated on the merging path side is detected until the driver tries to change the course in that direction. This is to allow the driver to freely perform the steering operation while respecting the driver's intention.
[0029]
The fifth condition is that the steering torque T generated when the driver steers the steering wheel._dIs a predetermined value T_d0It is as follows. This is equal to the predetermined value T, as in the fourth condition._d0Steering torque T exceeding_dIs detected, it is considered that the driver is actively steering the steering wheel, so that the driver's intention is respected and free steering operation is allowed. Also, the steering torque T_dThe steering guidance is not performed even when the direction is on the merging flow path side, for the same reason as the fourth condition.
[0030]
The sixth condition is that the host vehicle is traveling in a range to be controlled in the traveling lane. FIG. 2 shows a control target range when a merging flow path is present on the left side of the traveling lane (merging lane) of the own vehicle. If the center (center line) of the own vehicle is within this control target range, the sixth control range will be described. Is satisfied. Here, the entire control flow area from the road center line LC to the left white line 30L and the predetermined range in the right white line 30R direction from the road center line LC are set as control target ranges.
[0031]
Thus, the reason why the control range on the course change side is limited with respect to the road center line LC is to urge the driver to confirm the following vehicle traveling on the adjacent lane. That is, if the entire driving lane is set as the control range, a driver who changes the course without confirming the rear side while leaving the steering guidance may appear. For this reason, on the course changing side, the steering guidance is stopped within a predetermined range, and thereafter, the course change is completed by the steering operation of the driver himself who has confirmed the presence of the following vehicle, so that the collision with the following vehicle traveling on the adjacent lane is completed. The trigger was prevented.
[0032]
When all of the above first to sixth conditions are satisfied, the determination unit 109 inputs a signal (alarm guidance signal) to the alarm guidance control-compatible current value calculation unit 112 which is a functional element of the motor current value calculation drive unit 110 described below. It is supposed to. The input of the alarm guidance signal is continued while all of the above-described first to sixth conditions are satisfied, and is stopped when any one of the conditions is not satisfied.
[0033]
Next, the motor current value calculation drive unit 110 will be described. The motor current value calculation drive unit 110 outputs the current value I to be supplied to the DC motor 11.₀And the calculated value I₀The DC current 11 is supplied to the DC motor 11 for driving. The DC motor 11 includes an assist control-compatible current value calculating unit 111, an alarm guidance control-compatible current value calculating unit 112, and a motor driving unit 115.
[0034]
First, the assist control corresponding current value calculating means 111 calculates the steering torque T of the driver._dCurrent value I to be supplied to the DC motor 11 in order to assist the driver in steering based on the vehicle speed V and the vehicle speed V.₁Is calculated. In the DC motor 11, the rotation torque T proportional to the magnitude of the supplied current value_rOccurs, and the rotational torque T is applied to the rack shaft 14._rIs amplified and applied as the auxiliary steering torque T. For this reason, the assist control corresponding current value calculating means 111 firstly sets the steering torque T_dSteering torque (auxiliary steering torque corresponding to assist control) T to be applied to rack shaft 14 based on vehicle speed V and vehicle speed V₁Is set and the assist control-assisted auxiliary steering torque T is set.₁Current value I according to the magnitude of₁Is calculated.
[0035]
Then, the assist control corresponding assist steering torque T₁The magnitude of the steering torque T_dWhen the vehicle speed is low, and when the vehicle speed V is low, the steering load on the driver is reduced by the large assist, and the steering torque T_dAs the vehicle speed V increases and the vehicle speed V increases, the assist is reduced so that a firm response can be obtained. Torque T_dThe steering assist of the driver according to the vehicle speed V is realized.
[0036]
On the other hand, based on the course change signal input from the determination means 109, the warning guidance control corresponding current value calculation means 112 warns the driver that a merging vehicle may join, and changes the course to the next lane. Current value I to be supplied to the DC motor 11 to encourage₂Is calculated.
Specifically, the current value calculating means 112 for warning guidance control includes a current value calculating means 113 for warning and a current value calculating means 114 for steering guidance, and the current value calculating means 113 notifies the driver. The current value I to be supplied to the DC motor 11 to warn that the merging vehicle may join₂₁And a current value I to be supplied to the DC motor 11 in order to prompt a change of course to an adjacent lane.₂₂Is calculated by the steering guidance corresponding current value calculating means 114. Then, the current value I calculated by each of the current value calculation means 113 and 114, respectively.₂₁, I₂₂Is added, and the current value I₂(= I₂₁+ I₂₂).
[0037]
The current value calculating means 113 and 114 will be described in detail. First, the alarm-corresponding current value calculating means 113 outputs the current value I for warning the presence of an obstacle as described above.₂₁Is calculated, and this current value I₂₁Is set to vibrate the steering wheel at a predetermined frequency f (for example, f = 20 Hz). That is, the current value I₂₁Is oscillated positively and negatively at a predetermined frequency f as shown in FIG. 3 so that the auxiliary steering torque T has a vibration torque component (warning-response auxiliary steering torque) T₂₁And the auxiliary steering torque T corresponding to the alarm₂₁Is transmitted to the driver via the steering wheel to warn the driver of the possibility that the merging vehicle will join.
[0038]
On the other hand, the steering guidance-corresponding current value calculating means 114 calculates the current value I to be supplied to the DC motor 11 in order to prompt a change of course to the adjacent lane as described above.₂₂Specifically, the auxiliary steering torque (auxiliary steering torque corresponding to steering guidance) T₂₂Current value I according to₂₂Is calculated.
FIG. 4 shows the course change direction and the assist steering torque T corresponding to the steering guidance.₂₂When the course is changed to the right lane, the auxiliary steering torque T corresponding to the steering guidance in the right steering direction (forward direction) is shown.₂₂Is applied, and when the course is changed to the left lane, the auxiliary steering torque T corresponding to the steering guidance in the left steering direction (negative direction).₂₂Is provided. Then, the applied steering assist-assisted steering torque T₂₂The magnitude of the absolute value of the predetermined value T is such that the driver can easily overcome in both the left and right steering directions._gIs set to
[0039]
As described above, the steering torque corresponding to the steering guidance T₂₂The size of was limited for the following reasons. That is, in the present driving assistance device, the steering guidance-assisted auxiliary steering torque T₂₂Is merely to urge the driver to change the course to the adjacent lane and guide the driver. The final change of the course to the adjacent lane is determined by the assist steering torque T corresponding to the steering guidance.₂₂Is to be performed by the driver's own steering operation that is prompted to change course. Therefore, when the driver determines that it is not necessary to change the course, the steering guidance-assisted auxiliary steering torque T₂₂The torque value T is such that the driver can easily overcome so that the driving lane can be kept irrespective of the steering guidance by the driver._gIt was restricted to.
[0040]
Thus, the current value I calculated by each of the current value calculation means 113 and 114 is calculated.₂₁, I₂₂Are added to each other, and the current value I₂And the current value I for the steering assist calculated by the assist control corresponding current value calculation means 111.₁And the current value I₀(= I₁+ I₂₁+ I₂₂) Is input to the motor driving means 115.
[0041]
The motor driving means 115 receives the input current value I₀Is supplied to the DC motor 11. The rotational torque output from the DC motor 11 is amplified by the speed reducer 12 and input to the rack shaft 14 as the auxiliary steering torque T. I have. The motor driving means 111 is provided with a low-pass filter (not shown), so that the current value I₀Of the auxiliary steering torque T is prevented, and a sudden change and an unnatural change of the auxiliary steering torque T are prevented.
[0042]
Since the driving assistance device according to the first embodiment of the present invention is configured as described above, steering guidance for driving assistance of a driver is performed by a flow as shown in FIG. 5, for example.
First, in the present driving assistance device, a vehicle speed V, a steering torque T, a steering torque sensor 2, a front inter-vehicle distance sensor 3, and a rear inter-vehicle distance sensor 4 are used._d, Distance between vehicles in front d_F, Rear distance d_RIs detected, the position of the host vehicle on the map is detected by the position detection sensor 7, and the road image ahead of the host vehicle is acquired by the camera 8 (step S10).
[0043]
Then, the assist control corresponding current value calculation means 111 detects the detected steering torque T._dAnd the vehicle speed V, the steering torque T_dIs small, and when the vehicle speed V is low, a large assist is obtained, and the steering torque T_dSteering assist torque (assist steering assist assist steering torque) T so that the assist amount decreases as vehicle speed V increases and vehicle speed V increases.₁Set. Then, the assist steering corresponding assist steering torque T₁Current value I to be supplied to the DC motor 11 to generate a rotational torque corresponding to₁Is calculated (step S20).
[0044]
At this time, the determination means 109 determines whether the first to sixth conditions in the following steps S30 to S80 are satisfied.
First, the first condition is that the junction approach signal is input from the estimating means 105, that is, based on the vehicle position detected by the position detection sensor 7 and the map information stored in the road map information storage means 6. It is estimated that the junction is approaching a predetermined distance in front of the host vehicle (step S30), and the second condition is that a junction lane traveling signal is input from the traveling lane estimation means 107, that is, The running lane of the own vehicle estimated based on the road image information detected by the camera 8 is a merging lane (step S40).
[0045]
The third condition is a distance d between the front vehicles._F, Rear distance d_RIs a predetermined distance d_F0, D_R0The following is the condition (Step S50), and the fourth condition is that the turn signal is activated, that is, there is no input of the turn signal from the turn signal SW5 (Step S60).
Further, the fifth condition is that the steering torque T generated when the driver turns the steering wheel._dIs a predetermined value (steering torque threshold value) T_d0The following is the condition (Step S70), and the sixth condition is that the host vehicle is traveling in the range to be controlled in the traveling lane (Step S80).
[0046]
When the determining means 109 determines that all of the conditions of steps S30 to S80 are satisfied, the warning guidance control corresponding current value calculating means 112 causes the warning corresponding current value calculating means 113, which is a functional element thereof, to output a predetermined frequency. f (for example, f = 20 Hz), the auxiliary steering torque T corresponding to the alarm vibrating at f₂₁Current value I corresponding to₂₁Is calculated, and the steering guidance-corresponding auxiliary steering torque T is set by the steering guidance-corresponding current value calculation means 114 to such a size that the driver can easily overcome.₂₂Current value I according to₂₂Is calculated.
[0047]
Then, the calculated current I₂(= I₂₁+ I₂₂) Is supplied to the DC motor 11, and the auxiliary steering torque T corresponding to the alarm is output from the power steering mechanism 10.₂₁And assist steering torque T corresponding to steering guidance₂₂Is output. Thus, the vibration and the torque transmitted via the steering wheel warn the driver of the possibility that the merging vehicle will join and guide the steering to the next lane (step S90). .
[0048]
As described above, according to the driving support apparatus, the presence of the junction ahead of the course is recognized in advance from the road information stored in the road map information storage unit 6 and the own vehicle position information detected by the position detection sensor 7. When the vehicle approaches the junction, the auxiliary steering torque T output from the power steering mechanism 10 includes a vibration torque component that vibrates at a predetermined cycle (for example, 20 Hz) (the auxiliary steering corresponding to the alarm). Torque) T₂₁And a component (steering guidance corresponding auxiliary steering torque) T for inducing the steering of the driver in the direction opposite to the merging flow path.₂₂Can be warned to the driver via the vibration of the steering wheel that the merging vehicle may join from the merging path, and the driver can also recognize the direction in which the course should be changed, and the driver Steering wheel steering can be guided.
[0049]
In addition, an auxiliary steering torque T corresponding to the steering guidance provided for the steering guidance.₂₂Is large enough for the driver to easily overcome, and if the driver determines that there is no need to change course, the steering guidance-assisted auxiliary steering torque T₂₂There is also an advantage that the traveling lane can be kept as it is regardless of the steering guidance by the vehicle.
[0050]
Further, an auxiliary steering torque T corresponding to the steering guidance is provided.₂₂Is limited within a predetermined range from the road center line LC on the course change side, so that the final course change needs to be performed by the driver himself / herself who has confirmed the presence of the following vehicle. This has the advantage that the driver does not change course without checking the rear side while leaving it to steering guidance, and it is possible to prevent the induction of collision with the following vehicle traveling on the adjacent lane. is there.
[0051]
In addition, since the present driving assistance device can use the conventional electric power steering device or the corner sensor as a mechanical configuration as it is, the above-described effects can be obtained at low cost, and the conventional electric power steering device can be used for fail-safe. There is also an advantage that it can be performed by the same processing as the steering device.
Next, a second embodiment of the present invention will be described. This embodiment is different from the first embodiment in a method of detecting a merging portion existing in front of the host vehicle.
[0052]
In the first embodiment, the presence of the junction is detected by estimating the road shape ahead of the host vehicle by the road information storage unit 6 and the position information detecting unit 7 provided in the host vehicle. In FIG. 6, as shown in FIG. 6, information on the presence of the junction is input from information providing means 20 such as a radio beacon or an optical beacon provided on the side of the road in front of the junction. That is, in the present embodiment, it is assumed that the information provision facilities described above are completed for each merging section due to infrastructure development.
[0053]
For this reason, as shown in FIG. 7, the travel control device of the present embodiment includes an information selection unit (information reception unit) 120 instead of the road information storage unit 6, the position detection sensor 7, and the estimation unit 105. (Information Providing Means) The information provided from the information receiving unit 20 is received, and only information useful for controlling the traveling of the vehicle is selected from the information.
[0054]
Here, as described above, the information on the existence of the junction and the information on the existence of the junction vehicle 40 entering the junction are also selected. Therefore, it is assumed that the beacon 20 includes at least information on the presence of the junction and information on the presence of the junction vehicle entering the junction. Then, based on the selected information, if there is a merging section ahead of the course of the own vehicle and a merging vehicle exists, a signal (merging section approach signal) is input to the determination means 109.
[0055]
The determination means 109 sets the input of the junction approach signal from the information selection means 120 as a first condition, and when all of the first condition and the second to sixth conditions as in the first embodiment are satisfied. , A signal (alarm guidance signal) is input to the current value calculation means 112 for alarm guidance control.
In response to the input of the alarm guidance signal, the alarm guidance control-compatible current value calculating means 112 receives the alarm-assisted auxiliary steering torque T.₂₁Current value I corresponding to₂₁And the auxiliary steering torque T corresponding to the steering guidance.₂₂Current value I corresponding to₂₂Is calculated, whereby a warning to the driver through the vibration of the steering wheel and steering guidance are performed.
[0056]
In FIG. 7, components having the same functions as in the first embodiment are denoted by the same reference numerals as in FIG.
Since the driving support device as the second embodiment of the present invention is configured as described above, when the own vehicle approaches the merging portion and there is a merging vehicle entering the merging portion, The auxiliary steering torque T output from the power steering mechanism 10 is added to the vibration torque component (auxiliary steering torque for alarm) T that vibrates at a predetermined period f (for example, f = 20 Hz).₂₁And a component (steering guidance corresponding auxiliary steering torque) T for inducing the steering of the driver in the direction opposite to the merging flow path.₂₂Is given, the driver can be warned of the presence of the merging vehicle through the vibration of the steering wheel, and can also recognize the direction to change course and guide the steering of the driver in that direction. There is an advantage that you can.
[0057]
Furthermore, even when approaching the junction, if there is no merging vehicle to enter, neither warning to the driver via steering wheel vibration nor steering guidance is performed. There is an advantage that it is possible to prevent the driver from feeling uncomfortable due to the warning or the steering guidance despite the lack of performance.
[0058]
It should be noted that the present invention is not limited to the above-described embodiment, and can be implemented with various modifications without departing from the spirit of the present invention. For example, in the above-described embodiment, when the own vehicle approaches the junction, a warning is issued via the vibration of the steering wheel and steering guidance is performed in the direction of the adjacent lane. The warning may be given by a buzzer or the like, or only the steering guidance may be given.
[0059]
Further, in the above-described embodiment, the case has been described in which the driving assist device of the present invention is configured using the electric power steering device. However, it is of course possible to configure using the hydraulic power steering device. In this case, for example, an electric motor may be provided in parallel with the hydraulic mechanism, and the current value supplied to the electric motor may be controlled in the same manner as the current value in the DC motor 11 of the above-described embodiment.
[0060]
【The invention's effect】
As described in detail above, according to the driving support apparatus of the present invention, the road information stored in the road map information storage means and the own vehicle position information detected by the own vehicle position detection means, The presence of the junction ahead of the course can be recognized in advance, and when the vehicle approaches the junction, a steering control torque enough for the driver to easily overcome the steering actuator from the steering actuator is adjacent to the junction lane of the vehicle. Since it is provided so as to act in a direction that prompts the driver to change lanes to the lane, it is possible for the driver to recognize the approach to the merging section and also to recognize the steering direction of the steering wheel to avoid the merging vehicle. Can be.
[0061]
According to the driving support device of the present invention, the presence of the merging vehicle can be recognized in advance by the merging vehicle information provided from the information providing means, and when the merging vehicle information is received, Since a steering control torque that the driver can easily overcome from the steering actuator is applied so as to act in a direction that prompts a change of course from the merging lane of the own vehicle to the adjacent lane, the presence of the merging vehicle is given to the driver. It is possible to recognize the steering direction of the steering wheel to avoid.
Furthermore, according to the driving support device of the present invention described in claims 3 and 4, it is possible to prevent the own vehicle from changing the course until it is not necessary to change the course.
According to the driving support device of the fifth aspect of the present invention, when the driver operates the turn signal, it is possible to rely on the driver's own steering operation.
According to the driving support device of the present invention, when it is considered that the driver is actively steering the steering wheel, the driver's intention is respected and the free steering operation is allowed. it can.
According to the driving support system of the present invention, the control range on the course change side is limited so as to urge the driver to confirm the following vehicle traveling on the adjacent lane and to perform the steering operation of the driver himself. By completing the course change, it is possible to prevent a collision with a following vehicle traveling on the adjacent lane.
[Brief description of the drawings]
FIG. 1 is a functional block diagram showing a configuration of a driving support device as a first embodiment of the present invention.
FIG. 2 is a schematic diagram illustrating a support range on a driving lane according to the driving support device as the first embodiment of the present invention.
FIG. 3 is an alarm-corresponding current value I according to the driving assistance device according to the first embodiment of the present invention;₂₁It is a figure showing the example of setting of.
FIG. 4 is a diagram illustrating a driving assist device according to a first embodiment of the present invention;₂₂It is a figure showing the example of setting of.
FIG. 5 is a flowchart showing a processing flow of the driving support device as the first embodiment of the present invention.
FIG. 6 is an explanatory diagram for explaining features of a driving support device as a second embodiment of the present invention.
FIG. 7 is a functional block diagram illustrating a configuration of a driving support device as a second embodiment of the present invention.
[Explanation of symbols]
6 Road map information storage means
7 Own vehicle position detection means (position detection sensor)
10. Power steering mechanism (steering actuator)
11 DC motor
20 beacons (information provision means)
100 control means
105 Judging means
109 Judging means
110 Motor current value calculation driving means (actuator control means)
111 Assist control corresponding current value calculation means
112 Current value calculating means for alarm guidance control
113 Alarm current value calculation means
114 Current value calculating means for steering guidance
115 Motor drive means
120 Information selection means (information reception means)

Claims (9)

A driving assistance device that assists the driver's driving by applying a steering control torque that the driver can easily overcome in accordance with the driving situation of the own vehicle by the steering actuator of the vehicle, separately from the steering torque applied by the driver via the steering wheel. And
An actuator control means for controlling the steering actuator;
Own vehicle position detecting means for detecting the position of the own vehicle,
Road map information storage means for storing road map information of a road on which the vehicle travels;
Based on the position of the host vehicle detected by the host vehicle position detecting means and the road map information stored in the road map information storage means, a junction approaches the front of the road on which the host vehicle is traveling. Guessing means for guessing whether or not
The actuator control means, when the estimating means estimates that the own vehicle is approaching the junction, if the own vehicle is traveling on the merging lane, the steering control torque is applied to the own vehicle. A driving support device, wherein the steering actuator is controlled so as to act in a direction to promote a change of course from the junction lane to an adjacent lane. A driving assistance device that assists the driver's driving by applying a steering control torque that the driver can easily overcome in accordance with the driving situation of the own vehicle by the steering actuator of the vehicle, separately from the steering torque applied by the driver via the steering wheel. And
An actuator control means for controlling the steering actuator;
An information receiving means for receiving merging vehicle information provided from the information providing means provided on the road side,
When the information receiving means receives the merging vehicle information, the actuator control means causes the steering control torque to be adjacent to the merging lane of the own vehicle if the own vehicle is traveling on the merging lane. A driving assistance device, wherein the steering actuator is controlled so as to act in a direction that prompts a change of course to a lane.   The actuator control means is configured to control the steering control torque based on the condition that the space for allowing the merging vehicle to easily merge with the merging lane is not secured either in front of or behind the own vehicle. 3. The driving support device according to claim 1, wherein the steering actuator is controlled so as to act in a direction that prompts a change of course from a lane to an adjacent lane. The space in which the merging vehicle can easily merge with the merging lane is defined as a distance between the preceding vehicle traveling in front of the own vehicle and a distance between the following vehicle and a following vehicle traveling behind the own vehicle, respectively. The driving support device according to claim 3, wherein: The actuator control means may be configured such that the steering control torque acts in a direction that prompts a change of course of the host vehicle from the merging lane to the adjacent lane, provided that the direction indicator of the host vehicle is not operated. The driving support apparatus according to any one of claims 1 to 4, wherein the steering actuator is controlled. The actuator control means controls the steering control torque to change the course of the host vehicle from the merging lane to the adjacent lane on condition that the steering torque generated when the driver turns the steering wheel is equal to or less than a predetermined value. The driving assistance device according to any one of claims 1 to 5, wherein the steering actuator is controlled so as to act in a direction in which the driving is promoted. 7. The driving support device according to claim 6, wherein the predetermined value is a value at which the driver does not actively steer the steering wheel. The actuator control means causes the steering control torque to prompt a change in course of the own vehicle from the merged lane to an adjacent lane, provided that the own vehicle is running within a control target range in the running lane. The driving assistance device according to any one of claims 1 to 7, wherein the steering actuator is controlled to act in a direction. The control target range is a range in which a part of completing a course change by a driver's own steering operation is set as a course change side lane, and the set range is excluded from the entire travel lane area. 8. The driving support device according to 8.

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