JP3772799B2 - Automatic steering device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic steering device, and more particularly, to an automatic steering device for a vehicle to perform lane-holding travel.
[0002]
[Prior art]
In recent years, an automatic steering device that performs in-lane holding travel has been developed. Such an automatic steering device includes a lane detection unit that detects a lane in which the host vehicle is traveling, a calculation unit that calculates information necessary for automatic steering, a calculation It is comprised by the steering actuator which steers a steered wheel based on the information input from a part.
[0003]
The automatic steering device starts automatic steering control by the driver's operation (start switch etc.) after the lane and marker are detected, the lane and marker are not detected, the driver operates the dedicated switch operation and brake In general, when an operation is performed, the control is terminated.
[0004]
[Problems to be solved by the invention]
As a result of the revision of the Road Traffic Law that came into effect on October 30, 1997, large trucks are in principle the first lane of traffic from the left (first Specified to pass through.
[0005]
The law also mandates trailers to travel in the first lane (first lane) on the main road, such as a national highway.
As described above, the conventional automatic steering device is configured to start the automatic steering control by the driver's start switch operation or the like, so that the lane in which the vehicle is traveling (traffic) The automatic steering control is started regardless of the type of the belt.
[0006]
For this reason, there is a problem that automatic steering control can be started even when the driver fails to comply with the road traffic law.
Accordingly, an object of the present invention is to realize an automatic steering device for encouraging a driver of a large lorry and a trailer to comply with the law in an automatic steering device for a vehicle to perform traveling in a lane.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, an automatic steering apparatus according to the present invention includes an automatic steering switch for activating automatic steering control, a lane detector, and a traffic zone determination that determines a traffic zone in which the host vehicle is traveling. And when the automatic steering switch is turned on, the automatic steering control is started only when the traffic zone determined by the traffic zone determination unit is a predetermined traffic zone that a large lorry or a trailer should pass by law. A calculation unit that determines a position in the target lane based on the lane information detected by the lane detection unit, and holds the start of the automatic steering control when the traffic band is not the predetermined traffic band; and the calculation unit There has been characterized by comprising a steering actuator which performs steering control based on the determined the target lane position.
[0008]
In other words, when the automatic steering switch for starting the automatic steering control is turned on, the calculation unit should pass the large-sized lorry or the trailer in accordance with the legislation when the own vehicle is traveling as determined by the traffic zone determination unit. The automatic steering control is started only when the traffic zone is a predetermined traffic zone (first traffic zone), the target lane position is determined based on the lane information detected by the lane detection unit, and the traffic zone is the predetermined traffic zone. If not, the start of the automatic steering control is suspended. Further, the steering actuator, intends row steering control based on the target lane position the operational unit has been determined.
[0009]
Therefore, even if the driver turns on the automatic steering switch, the automatic steering control is not started if the large truck or trailer is traveling in a traffic zone other than the predetermined traffic zone to be legally passed. Since the display unit displays that the start of the steering control is pending, it is possible to encourage the driver of the large lorry and the trailer to comply with the law.
[0010]
The automatic steering apparatus according to the present invention further includes a work operation switch for operating the work equipment, and when the work equipment is in operation when the work operation switch is turned on. When the automatic steering switch is turned on, even if the traffic zone is not the first traffic zone, the calculation unit starts the automatic steering control and determines the target lane position based on the lane information. Good.
[0011]
That is, for example, when the work operation switch for operating the work equipment such as road surface cleaning, snow melting agent distribution, watering, etc. is turned on and the work equipment is in operation, the calculation unit Even if the vehicle is not in the predetermined traffic zone, if the automatic steering switch is turned on, the calculation unit starts the automatic steering control and determines the target lane position based on the lane information.
[0012]
Therefore, in the case of a road maintenance work vehicle such as a road cleaning vehicle, a snow melting agent spreading vehicle, a watering vehicle, etc., it is possible to travel by automatic steering control other than a predetermined traffic zone in order to perform the work.
The automatic steering apparatus may further include a display unit that displays that the start of the automatic steering control is pending .
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, when the embodiment of the present invention is applied to a general large lorry and a trailer as an embodiment (1), and is applied to a road maintenance work vehicle such as a road cleaning vehicle, a snow melting agent distribution vehicle, a watering vehicle, etc. Will be described as Example (2).
[0014]
First, FIG. 1 shows a configuration of embodiments (1) and (2) of an automatic steering apparatus according to the present invention. The automatic steering device according to the embodiment (1) includes an automatic steering switch 1, a lane detection unit 2, a traffic zone determination unit 3, a calculation unit 5, a steering actuator 6, a steering wheel 7, and a display unit 8. Further, the automatic steering apparatus according to the embodiment (2) is provided with a work operation switch 4 described later in addition to the configuration of the embodiment (1).
[0015]
Example (1)
The automatic steering switch 1 is a dedicated switch for the driver to instruct the start and release of automatic steering control by turning the switch ON / OFF.
The lane detection unit 2 outputs information on the relative position of the lane detected with reference to the own vehicle, and is configured by a combination of a camera and an image processing device, a combination of a lane marker / sensor and a signal processing device, or the like. A known one that can be used may be used.
[0016]
The traffic zone determination unit 3 determines whether or not the lane in which the vehicle is traveling is the first lane (first traffic zone) counting from the left, by combining the camera and the image processing device, etc. A known configuration may be used.
Normally, the lane markings outside the left and right lanes are solid lines, and the lane marking between the lanes is a broken line, so the left lane marking in the first lane is a solid line and the right lane The dividing line is a solid line (in the case of one lane on one side) or a broken line (in the case of one lane on one side). Therefore, except for special cases, if the left lane marking is a solid line, it can be determined that the vehicle is the first traffic zone.
[0017]
In the present embodiment, for the sake of explanation, the traffic zone determination unit 3 is shown as a separate component from the lane detection unit 2, but both are used, for example, the left lane division line detected by the lane detection unit 2 is In the case of a solid line, it can be determined that the vehicle is traveling in the first traffic zone.
[0018]
The calculation unit 5 reads the automatic steering switch signal from the automatic steering switch 1, the information on the relative position of the lane detected with reference to the own vehicle from the lane detection unit 2, and the traffic band determination signal from the traffic band determination unit 3. An input unit 51, a CPU 52 that performs calculation / judgment regarding automatic steering control using the output signal of the input unit 51, a RAM 53 that is used by the CPU 52 for calculation, and a ROM 54 that stores control programs and control parameters, When the steering actuator 6 is driven according to the output data obtained by the CPU 52 and the start of the automatic steering control is suspended, the output unit 55 outputs a signal for turning on the display of the display unit 8, and the vehicle power supply to each of these units And a power supply unit 56 for supplying necessary power.
[0019]
The steering actuator 6 may be a well-known device that automatically operates the steering wheel 7 of the vehicle by the output from the output unit 55.
Further, the display unit 8 displays that the start of the automatic steering control is pending based on the signal from the output unit 55.
[0020]
FIG. 2 shows the flow of the control program stored in the ROM 54 in the arithmetic unit 5 shown in FIG. 1 in the case of the embodiment (1). Hereinafter, referring to FIG. 1 and FIG. The operation of example (1) will be described. The flowchart in FIG. 2 is assumed to be started at predetermined time intervals, and only the part related to the control of the control device is described, but the initial processing at the time of starting the hardware such as the CPU is omitted.
[0021]
First, the CPU 52 receives the automatic steering switch signal from the automatic steering switch 1 via the input unit 51, the information on the relative position of the lane detected with reference to the own vehicle from the lane detection unit 2, and the traffic from the traffic band determination unit 3. A band determination signal is read (step S1).
Next, the CPU 52 confirms ON / OFF of the automatic steering switch 1 based on the automatic steering switch signal read in step S1 (S2). When the automatic steering switch 1 is OFF, automatic steering control is not performed. Therefore, the display on the display unit 8 is turned OFF (S3), the steering actuator 6 is set to no steering control (S4), and the process ends.
[0022]
When the automatic steering switch 1 is ON in step S2, the CPU 52 determines whether or not the vehicle is traveling in the first traffic zone based on the traffic zone determination signal read from the traffic zone determination unit 3 in step S1 ( At S5), when the vehicle is not traveling in the first traffic zone, the display unit 8 is turned on (S6). Thereby, the display unit 8 indicates to the driver that the start of the automatic steering control is suspended.
[0023]
When the vehicle is traveling in the first traffic zone in step S5, the display unit 8 is turned off (same as S7), and whether or not a predetermined release condition (for example, brake operation by the driver) is satisfied. Confirm (step S8).
If the release condition is not satisfied, the center position of the lane width is calculated based on the information from the lane detector 2 read in step S1 (S9). If the release condition is satisfied, the steering actuator The process is terminated with 6 being no steering control (S4).
[0024]
Note that the lane information from the lane detector 2 used in step S9 is information on the relative position of the lane detected with reference to the center line in the lateral direction of the vehicle (in the case of lane marking detection, the position of the left and right lane markings). Information, and in the case of marker row detection, the position information of the marker row).
[0025]
Therefore, when the lane detector 2 detects a lane marking, the center of the left segment lane and the right segment lane is the center of the lane width, and when the marker column is detected, the marker column position remains as the lane width center. Usually it is the position.
After calculating the lane width center position in step S9, the CPU 52 calculates the target lane position from the calculated lane width center position (step S10). In this case, the center position of the lane width obtained in step S9 may be set so as to be slightly offset in the left-right direction without being directly set as the target lane position.
[0026]
Since the target lane position obtained in step S10 is based on the center line in the left-right direction of the host vehicle, it is as follows.
(a) Target lane position = 0: The target lane position is on the center line in the lateral direction of the host vehicle.
(b) Target lane position <0: The target lane position is on the left side of the center line in the lateral direction of the vehicle.
[0027]
(c) Target lane position> 0: The target lane position is on the right side of the center line in the lateral direction of the vehicle.
It is determined whether or not the target lane position determined in this way corresponds to any of the above cases (step S11).
[0028]
That is, when the target lane position = 0 (a), since the target lane position exists on the center line in the left-right direction of the host vehicle, the steering actuator 6 is controlled to be neutrally held in step S12.
When the target lane position <0 (b), since the target lane position is on the left side of the center line in the left-right direction of the host vehicle, the steering actuator 6 is steered to the left in step S13.
[0029]
Further, when the position in the target lane> 0 (c), the target lane position is on the right side of the center line in the left-right direction of the own vehicle.
Note that, as described above, the flowchart shown in the figure is started at predetermined time intervals. While the vehicle power is being supplied to the arithmetic unit 5 via the power source unit 56 shown in FIG. Processing is started even when 1 is OFF. That is, while the automatic steering switch 1 is OFF, the processes of steps S1 to S4 are repeated.
[0030]
Thus, even if the driver turns on the automatic steering switch 1 and starts automatic steering control, if the driver is not traveling in the first traffic zone, the automatic steering control is not started, and the display unit 8 Displays that the start of automatic steering control is pending.
Example (2)
FIG. 3 shows the flow of the control program stored in the ROM 54 in the calculation unit 5 shown in FIG. 1 in the case of the embodiment (2). Hereinafter, the embodiment will be described with reference to FIGS. The operation of (2) will be described.
[0031]
In the present embodiment (2), in addition to the configuration of the above embodiment (1), a work operation switch 4 is provided as shown in FIG. The work operation switch 4 is, for example, an operation switch for operating work equipment such as road surface cleaning, snow melting agent spraying, watering, etc., and a well-known one may be used.
[0032]
In the flow shown in FIG. 3, the work operation switch signal from the work operation switch 4 is added to the information read by the CPU 52 in step S1, and the work operation switch is turned ON / OFF between steps S2 and S5. 2 except that step S15 to be confirmed is added.
[0033]
That is, in step S15, based on the work operation switch signal read in step S1, the process proceeds to step S7 if the work operation switch is ON, and to step S5 if it is OFF.
Therefore, in the flow of the embodiment (2) shown in FIG. 3, unlike the flow of the embodiment (1) shown in FIG. 2, even if the automatic steering switch is ON in step S2, the work operation is performed in step S15. If the switch is ON, automatic steering control is started unless the release condition is satisfied in step 8.
[0034]
Other processes are the same as those in FIG. 3 and FIG.
Thus, in the embodiment (2), when the work operation switch is ON in step S15, automatic steering control can be started even when the vehicle is not traveling in the first traffic zone.
[0035]
【The invention's effect】
As described above, according to the automatic steering device of the present invention, the calculation unit is traveling when the vehicle determined by the lane determining unit is running when the automatic steering switch for starting the automatic steering control is turned on. The automatic steering control is started only when the traffic zone of the vehicle is a predetermined traffic zone that a large lorry or a trailer should pass under the law, and the target lane position is determined based on the lane information detected by the lane detection unit, If the walking area is not the predetermined traffic zone to hold the start of the automatic steering control, the steering actuator, it is arranged that intends row steering control based on the target lane position the arithmetic unit is determined, It is possible to encourage drivers of large trucks and trailers to comply with the law.
In addition, when a work operation switch for operating the work equipment is turned on and the work equipment is in operation, when the automatic steering switch is turned on, the traffic zone is the predetermined traffic zone. Even if the calculation unit is configured to start the automatic steering control and determine the position in the target lane based on the lane information, a road maintenance work vehicle such as a road cleaning vehicle, a snow melting agent distribution vehicle, a watering vehicle, etc. In this case, in order to perform the work, it is possible to travel with automatic steering control outside a predetermined traffic zone.
[Brief description of the drawings]
FIG. 1 is a block diagram showing embodiments (1) and (2) of an automatic steering apparatus according to the present invention.
FIG. 2 is a flowchart showing a control program used in the embodiment (1) of the automatic steering apparatus according to the present invention.
FIG. 3 is a flowchart showing a control program used in the embodiment (2) of the automatic steering apparatus according to the present invention.
[Explanation of symbols]
1 Automatic steering switch
2 Lane detector
3 Traffic zone judgment part
4 Operation switch
5 Calculation unit
6 Steering actuator
7 Steering wheel
8 In the drawing of the display section, the same reference numerals indicate the same or corresponding parts.

Claims (3)

An automatic steering switch for activating automatic steering control;
A lane detector;
A traffic zone determination unit that determines a traffic zone in which the vehicle is traveling;
When the automatic steering switch is turned on, the automatic steering control is started only when the traffic zone determined by the traffic zone determination unit is a predetermined traffic zone that a large lorry or a trailer should pass by law , A calculation unit that determines a position in the target lane based on the lane information detected by the lane detection unit, and suspends the start of the automatic steering control when the lane is not the predetermined lane;
A steering actuator that performs steering control based on the position in the target lane determined by the calculation unit;
Automatic steering apparatus characterized by comprising a. In claim 1,
A work operation switch for operating the work equipment;
When the work device is in operation by turning on the work operation switch, the arithmetic unit does not operate even when the traffic zone is not the predetermined traffic zone when the automatic steering switch is turned on. An automatic steering apparatus characterized by starting the automatic steering control and determining the position in the target lane based on the lane information. In claim 1 or 2,
An automatic steering apparatus , further comprising a display unit for displaying that the start of the automatic steering control is pending .

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