JP3912279B2 - Car with automatic steering control device - Google Patents

Car with automatic steering control device Download PDF

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Publication number
JP3912279B2
JP3912279B2 JP2002372359A JP2002372359A JP3912279B2 JP 3912279 B2 JP3912279 B2 JP 3912279B2 JP 2002372359 A JP2002372359 A JP 2002372359A JP 2002372359 A JP2002372359 A JP 2002372359A JP 3912279 B2 JP3912279 B2 JP 3912279B2
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Japan
Prior art keywords
steering
automatic
steering wheel
speed
mode
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JP2002372359A
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Japanese (ja)
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JP2004203117A (en
Inventor
高広 前村
淳史 菅原
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三菱自動車工業株式会社
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automobile with an automatic steering control device capable of performing automatic steering and manual steering.
[0002]
[Prior art]
In recent years, various automatic driving systems for automobiles have been developed. Examples of such automatic driving system technologies include those that automatically control the traveling speed and those that automatically steer the steered wheels. Since an automatic driving system cannot be fully implemented unless an infrastructure system such as road conditions is available, when such technology is installed in an actual vehicle, manual driving and driving by the driver are performed. It is necessary to switch to automatic operation where operation is performed even if it is not.
[0003]
When switching between manual and automatic driving operations such as vehicle speed control and steering, there is generally no increase in the driver's operational burden when switching from manual driving to automatic driving, and the impact on driver and occupant feelings is significant. However, when switching from automatic operation to manual operation is abrupt, a heavy burden is placed on the operation of the driver, which has a great influence on the feeling of the driver and the occupant. This is because the shift from manual operation to automatic operation reduces the burden on the driver, and automatic operation itself is configured to smoothly continue the driving state by manual operation, while automatic operation This is because the shift from the manual operation to the manual operation is a shift that increases the burden on the driver, and if the driver does not smoothly perform the shift, there is a risk of driving with a sense of discomfort.
[0004]
For example, in the case of auto-cruise driving that runs at a constant speed on an expressway or the like, switching from constant-speed automatic driving to manual driving may cause delays in grasping the situation such as road gradient and behavior of the preceding vehicle, depending on the driver. There is a problem in that deceleration is not performed properly, causing vehicle body vibration, or that the distance between the front and rear vehicles cannot be properly obtained. Similarly, in the case of automatic steering traveling in which steering wheels are automatically steered, switching from automatic operation to manual operation while the vehicle is turning may result in approaching a parallel vehicle due to a driver's steering delay. There is a problem that there is.
[0005]
Various techniques have been developed for the problems as described above. For example, a technique for switching a plurality of operation means such as a steering, an accelerator, and a brake from automatic to manual step by step when switching from automatic operation to manual operation is disclosed (see Patent Document 1). According to this technique, the automatic operation is not suddenly switched to the manual operation, and the burden on the driver is prevented from increasing rapidly.
[0006]
There is also a technique of gradually changing the control amount of the steering actuator when switching between automatic operation and manual operation (see, for example, Patent Document 2). According to this technique, it is possible to prevent the steering reaction force of the steering wheel from changing suddenly, and to reduce the uncomfortable feeling that the driver receives from the operation of the steering wheel. On the other hand, automatic driving systems are also being developed for parking and stopping and for constant speed travel. For example, when entering a garage or parallel parking, it automatically detects surrounding obstacles and road surfaces, and even if the driver does not operate the steering wheel, the automatic steering controller guides the vehicle to the appropriate parking position. There is a technology for automatically controlling the wheels so as to do this (see Patent Document 3). According to such automatic parking technology, the driver temporarily stops the vehicle at a position set in advance with respect to the position where the driver wants to park the vehicle, and operates the automatic steering operation switch. The recommended route from the current position to the parking position is automatically calculated, and the wheels are steered so that the vehicle travels according to the recommended route, so that the vehicle can always be parked at an appropriate parking position. It is like that.
[0007]
[Patent Document 1]
JP-A-9-86223 (paragraph 0005 on the second page)
[Patent Document 2]
Japanese Patent Laid-Open No. 11-78940 (paragraphs 0005 to 0006 on the second page, FIG. 4)
[Patent Document 3]
Japanese Patent Laid-Open No. 2001-18821 (second page paragraph 0005 to third page paragraph 0013, FIG. 4)
[0008]
[Problems to be solved by the invention]
However, since the steering by the automatic steering control device disclosed in Patent Document 3 described above starts immediately when the automatic steering operation switch is pressed, the steering wheel suddenly starts rotating without any notice, and the driver or the occupant May be surprised or uncomfortable. Also, if the switch is pressed while the driver is touching the steering wheel, the sudden rotation of the steering wheel has a greater effect on the driver's feeling. Moreover, since not only steering but also accelerator and brake are automatically controlled by automatic steering control, a sudden change in vehicle behavior may cause surprise and discomfort to not only the driver but also the passenger.
[0009]
In particular, when parking or stopping at low speeds, the control of moving the steering wheel by rotating the steering wheel greatly increases, so the steering behavior tends to increase when switching from manual operation to automatic operation. And the passengers' feelings are greatly affected.
The present invention has been devised in view of these problems, and in an automobile having an automatic steering control device provided with an automatic steering mode and a manual steering mode, there is a rapid change when starting steering in the automatic steering mode. An object of the present invention is to provide an automobile with an automatic steering control device capable of performing automatic control so that a driver and a passenger do not feel surprise or discomfort with respect to steering behavior or vehicle behavior.
[0010]
[Means for Solving the Problems]
  For this reason, the vehicle with an automatic steering control device according to the first aspect of the present invention includes a steering actuator that steers steering wheels, and a steering wheel that rotates in conjunction with the steering wheels when the steering wheels are steered. And a control means for controlling the steering actuator, wherein the control means controls the steering actuator in accordance with an operation of the steering wheel by a driver, and the control means automatically controls the steering actuator. And an automatic steering control device provided with an automatic steering mode, comprising: a detecting means for detecting whether or not the driver is in contact with the steering wheel; and the control means,When the steering actuator starts to drive the steering wheel and the steering wheel in the automatic steering mode, the steering actuator is controlled so as to gradually increase the turning speed of the steering wheel and the rotation speed of the steering wheel from a low speed. As well as controlWhen the contact is not detected by the detection means, the steering actuator is controlled so that the maximum value of the steering speed of the steering wheel and the rotation speed of the steering wheel becomes a preset first predetermined speed, When the contact is detected by the detection means, the maximum value of the steering speed of the steering wheel and the rotational speed of the steering wheel becomes a second predetermined speed set in advance lower than the first predetermined speed. The steering actuator is controlled as described above.
[0011]
  Preferably, when the steering actuator starts driving the steering wheel and the steering wheel in the automatic steering mode, it further includes a notifying means for informing the driver or the occupant beforehand (claim 2)..
[0013]
  More preferably, the automatic steering mode includes an automatic parking steering mode in which the steering actuator is automatically controlled to automatically perform steering when the vehicle is operated to park at a predetermined position ( Claim3).
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, an automobile with an automatic steering control device as a first embodiment of the present invention will be described. 1 and 2 show an automobile with an automatic steering control device according to a first embodiment of the present invention, and FIG. 1 is an overall configuration diagram schematically showing the configuration of the automatic steering control device. Is a flowchart showing a control flow of the automatic steering.
[0015]
As shown in FIG. 1, the vehicle with an automatic steering control device according to the present embodiment can transmit a rotational force to each other in conjunction with the steering wheel 3, the steering actuator 2 that steers the steering wheel 3, and the steering actuator 2. A steering wheel 4, a notification device (notification means) 5 for notifying a driver or an occupant in advance of the steering state of the vehicle, a steering rotation angle sensor 6 for detecting the steering angle of the steering wheel 4, and the steering of the vehicle Steering mode selection switch 7 for selecting a mode, an automatic parking switch 10 for starting automatic driving when a car is parked, a steering angular velocity sensor 8 for detecting the rotational speed of the steering wheel 4, and a driver for the steering wheel 4 Steering touch sensor (detection means) 9 for detecting contact and automatic steering Manual steering and the steering ECU (control means) 1 for both controls and is configured to include a.
[0016]
The notification device 5 is a sound / speech presentation device 11 for notifying the state of automatic steering of sound and sound information, a display 12 for notifying information by screen display, and a vibration device 13 for notifying information by vibration. In accordance with an instruction from the steering ECU 1, information notification to the driver and the occupant is performed in advance.
The steering rotation angle sensor 6 detects the rotation angle of the steering wheel 4 and transmits it to the steering ECU 1. The rotation angle detected here refers to the rotation angle of the steering wheel 4 that rotates in conjunction with the operation of the steering actuator 2 controlled by the steering ECU 1 in the automatic steering mode, and in the manual steering mode. Indicates the rotation angle of the steering wheel 4 operated by the driver.
[0017]
The steering angular velocity sensor 8 detects the rotational speed of the steering wheel 4 and transmits it to the steering ECU 1. The rotational speed detected here refers to the rotational speed of the steering wheel 4 that rotates in conjunction with the operation of the steering actuator 2 controlled by the steering ECU 1 in the automatic steering mode, and in the manual steering mode. It means the rotational speed of the steering wheel 4 operated by the driver.
[0018]
Information output from the steering touch sensor 9 is a sensor that detects contact of the driver with the steering wheel 4, and the detected information is transmitted to the steering ECU 1. The steering touch sensor 9 is turned on when contact with the steering wheel 4 by the driver is detected, and is turned off when contact is not detected.
[0019]
The steering ECU 1 is provided with an automatic steering mode and a manual steering mode as steering modes, and these two types of steering modes are selected by a steering mode selection switch 7. The steering mode selection switch 7 allows the driver to arbitrarily select a steering mode. Two types of steering modes, an automatic steering mode and a manual steering mode, are selected according to the state of the steering mode selection switch 7. Either mode is selected and set. The steering ECU 1 performs steering control according to each mode.
[0020]
In particular, in this car, the car can be parked automatically, and the vehicle is stopped at a predetermined position with respect to the place where the driver wants to park, and parallel parking or parallel parking (garage parking) is performed. When the automatic parking switch 10 is turned on after selection, the automatic steering mode is automatically selected, and the forward and backward movements of the vehicle are also automated, and the vehicle is brought to the target position by drawing a preset trajectory. You can park automatically.
[0021]
Next, the control performed by the steering control device will be specifically described with reference to the flowchart of FIG. Note that the following control determination is mainly performed by the steering ECU 1.
In step S110, it is first determined whether automatic steering control is being performed. Here, when the steering mode selected by the steering mode selection switch 7 is the automatic steering mode, or when the automatic parking switch 10 is set to the automatic steering mode, the process proceeds to step S120. However, if the steering mode selected by the steering mode selection switch 7 is the manual steering mode, all steps are skipped and the routine is terminated.
[0022]
In step S120, it is determined whether the information detected by the steering touch sensor 9 is on or off. That is, it is a step for determining whether or not there is contact with the steering wheel 4. If contact with the steering wheel 4 is detected, that is, if the information from the steering touch sensor 9 is on, the process proceeds to step S130, whereas if contact with the steering wheel 4 is not detected, that is, the steering touch sensor. If the information from 9 is off, the process proceeds to step S140.
[0023]
In step S130 and step S140, the steering speed with respect to the cumulative steering amount is set based on the graphs shown in FIGS.
First, when the information from the steering touch sensor 9 is OFF, that is, in step S140, as shown in the graph of FIG. 3, the steering speed gradually increases from the low speed as the cumulative steering amount increases, and the cumulative Steering amount is a predetermined value a1If it exceeds, the rate of increase in steering speed will be even greater. In other words, at the start of steering, by gradually increasing the steering speed, the start of automatic steering is communicated to the driver and the occupant without surprise or incongruity, and then the steering speed is quickly increased to increase the target steering amount (target steering angle). ) Can be steered in a short time.
[0024]
After that, the steering speed is a predetermined value ω1(In other words, the cumulative steering amount is a predetermined value a2Is set to keep the steering speed at that time, that is, to perform the upper limit clip. Then, the predetermined value a when the cumulative steering amount approaches the target steering amount aThreeThe steering speed starts to decrease rapidly, and the cumulative steering amount becomes a predetermined value a.FourAs the steering speed decreases, the rate of decrease in the steering speed becomes smaller, and when the cumulative steering amount becomes the target steering amount when the steering speed gradually approaches 0, the steering speed becomes just zero. In this way, the steering speed is determined according to the cumulative steering amount, and the process proceeds to step S150.
[0025]
Steering speed increase rate at the start of automatic steering (cumulative steering amount 0 → a1) And the decrease rate of the steering speed at the end (cumulative steering amount a)Four→ The target steering amount) is kept low so that steering without a sense of incongruity is achieved, and this makes it possible to stabilize the behavior of the vehicle body during steering that is not stationary. A turn can be realized.
[0026]
On the other hand, when the information from the steering touch sensor 9 is on, that is, in step S130, as shown in the graph of FIG. 4, the predetermined steering speed, that is, the steering speed is compared with the setting in step S140. Maximum value is a predetermined value ω221) And the steering speed is set to be low. First, as the cumulative steering amount increases, the steering speed gradually increases from a low speed, and the steering speed becomes a predetermined value ω.2(In other words, the cumulative steering amount is a predetermined value b).1The steering speed is controlled to keep a constant value. Further, a predetermined value b in which the cumulative steering amount approaches the target steering amount2The steering speed is gradually decreased when the value reaches the target value, and the steering speed becomes just zero when the cumulative steering amount reaches the target steering amount. When the steering speed is determined according to the cumulative steering amount in this way, the process proceeds to step S150.
[0027]
In step S150, the steering angle of the steering wheel 4 is fed back to the steering ECU 1. The steering amount of the steering wheel fed back here is stored in the steering ECU 1, and the cumulative steering amount is calculated. The calculated cumulative steering amount is used for calculating the steering speed in step S130 or step S140 in the next cycle of this routine.
[0028]
In the next step S160, a command from the steering ECU 1 is issued to the notification device 5, and the notification means 5 has switched to the automatic steering mode from the steering mode to the driver by a sound / voice message, screen display and vibration to the steering wheel. Is notified. These notifications are controlled by the steering ECU 1.
In the next step S170, the steering ECU 1 operates the steering actuator 2 to perform automatic steering control.
[0029]
With the configuration as described above, according to the vehicle with an automatic steering control device of the present embodiment, the following operations and effects can be obtained.
First, the steering mode selection switch 7 or the automatic parking switch 10 is operated by the driver, and the steering mode is set. When the steering mode set here is an automatic steering mode such as parking assist control, the steering ECU 1 performs two different types of control based on information from the steering touch sensor 9.
[0030]
When the touch of the driver to the steering wheel 4 is not detected by the steering touch sensor 9, that is, when the information detected by the steering touch sensor 9 is OFF, the steering ECU 1 performs general automatic steering control, that is, target steering promptly. The steering wheel 3 is steered by controlling the steering actuator 2 so that the steering wheel 2 can be steered to a certain amount. The steering speed at the time of steering is calculated from the cumulative steering amount at that time by the steering ECU 1 using a functional relationship as shown by the solid line in FIG. 3, and the operation of the steering actuator 2 is controlled based on this. Further, since the steering wheel 4 is also interlocked with the operation of the steering actuator 2, the rotational speed of the steering wheel 4 also changes in the same manner as the steering speed shown in FIG.
[0031]
On the other hand, when the touch of the driver to the steering wheel 4 is detected by the steering touch sensor 9, that is, when the information detected by the steering touch sensor 9 is on, the steering ECU 1 turns off the information detected by the steering touch sensor 9. In this case, the maximum value of the steering speed is limited, and the steering actuator 2 is controlled to steer the steered wheels 3. The steering speed at the time of steering is calculated from the cumulative steering amount at that time according to the functional relationship as indicated by the solid line in FIG. 4, so that the steering speed is compared with the case where the detection information of the steering touch sensor 9 is off. The upper limit of is limited, and it rotates slowly. Since the steering wheel 4 is also linked to the operation of the steering actuator 2, the maximum value of the rotational speed of the steering wheel 4 is also limited, and the steering wheel 4 rotates slowly.
[0032]
Further, in any case where the detection information by the steering touch sensor 9 is any of the above, the steering ECU 1 issues a command to the notification device 5 to notify the driver. The notification to the driver is performed by a buzzer, an alarm, or voice by the sound / voice presentation device 11, by screen display by the display 12, or by vibration of the steering wheel 4 by the vibration device 13. After this notification, the steering ECU 1 controls the steering actuator 2 to steer the steered wheels 3 to perform automatic steering control.
[0033]
Further, when the steering mode is the manual steering mode, the notification device 5 does not notify the driver or the occupant, and the steering ECU 1 does not automatically control the steering actuator 2. Therefore, the steering ECU 1 performs general manual steering control for controlling the steering actuator 2 in accordance with the driver's operation on the steering wheel 4.
[0034]
Therefore, according to the vehicle with the automatic steering control device as the first embodiment, in the automatic steering mode, the steering speed of the steering wheel 3 and the steering wheel 4 changes gently immediately after the start of the steering control and just before the end of the steering control. As a result, sudden changes in vehicle behavior can be prevented. In particular, the steering amount at the time of parking tends to be larger than that at the time of normal driving, and on the other hand, since it is required to perform steering as quickly as possible, the automatic steering control described in the present embodiment at the time of automatic parking. By performing the above, it is possible to more effectively reduce surprise and discomfort for the driver and the occupant with respect to the steering behavior and the vehicle behavior accompanied by a rapid change.
[0035]
In addition, since the maximum value of the steering wheel and the steering speed of the steering wheel 4 is limited when the driver is in contact with the steering wheel 4, the behavior change of the vehicle body can be moderated, Discomfort can be reduced more effectively.
Further, before the steering ECU 1 automatically drives the steering actuator 2 to perform the steering control in the automatic steering mode including the parking assist control, the notification device 5 is surely notified to the driver. Therefore, the surprise and discomfort of the driver and the occupant can be further reduced. Moreover, the surprise and discomfort given to the driver via the steering wheel can be reduced more effectively.
[0036]
[Second Embodiment]
Next, an automobile with an automatic steering control device as a second embodiment of the present invention will be described. 5 and 6 show an automobile with an automatic steering control device according to a second embodiment of the present invention, and FIG. 5 is an overall configuration diagram schematically showing the configuration of the automatic steering control device. Is a flowchart showing a control flow of the automatic steering. In addition, the component with the same code | symbol as 1st Embodiment is a component with a substantially equivalent function. Further, in the present embodiment, the steering rotation angle sensor 6, the steering angular velocity sensor 8, and the steering touch sensor 9 are omitted from the first embodiment.
[0037]
In other words, as shown in FIG. 5, the vehicle with an automatic steering control device of the present embodiment rotates in conjunction with the steering wheel 3, the steering actuator 2 that steers the steering wheel 3, and the steering actuator 2 via the steering ECU 1. A steering wheel 4 configured to transmit force, a notification device 5 for notifying a driver or an occupant of a steering state of the vehicle, a steering mode selection switch 7 for selecting a steering mode of the vehicle, and a vehicle being parked. The automatic parking switch 10 for starting the automatic driving at the time and the steering ECU 1 having the automatic steering mode and the manual steering mode are provided.
[0038]
Next, the control performed by the steering control device will be specifically described with reference to the flowchart of FIG. Note that the following control determination is mainly performed by the steering ECU 1.
In step S210, it is first determined whether automatic steering control is being performed. Here, when the steering mode selected by the steering mode selection switch 7 is the automatic steering mode, or when the automatic parking mode is set by the automatic parking switch 10, the process proceeds to step S220. However, if the steering mode selected by the steering mode selection switch 7 is the manual steering mode, all steps of the flow are skipped and this routine is terminated.
[0039]
In step S220, a command from the steering ECU 1 is issued to the notification device 5, and the notification unit 5 confirms that the steering mode is changed to the automatic steering mode for the driver and the occupant by sound / voice message, screen display and steering wheel vibration. Inform. These notifications are controlled by the steering ECU 1.
In the next step S230, the steering ECU 1 controls the steering actuator 2 to perform automatic steering control.
[0040]
According to the control as described above, according to the automobile with the automatic steering control device of the present embodiment, the same operation and effect as the first embodiment can be obtained by having the same configuration as the first embodiment.
That is, according to the vehicle with the automatic steering control device of the present embodiment, the steering ECU 1 automatically drives the steering actuator 2 to perform the steering control in the automatic steering mode before the notification device 5 reliably confirms the driver and the occupant. Therefore, it is possible to reduce the driver's and passenger's surprise and discomfort. In particular, the steering amount at the time of parking tends to be larger than that at the time of normal driving, and on the other hand, since it is required to perform steering as quickly as possible, the automatic steering control according to the above-described embodiment at the time of automatic parking. By performing the above, it is possible to more effectively reduce surprise and discomfort for the driver and the occupant with respect to the steering behavior and the vehicle behavior accompanied by a rapid change.
[0041]
[Third Embodiment]
Next, an automobile with an automatic steering control device as a third embodiment of the present invention will be described. 7 and 8 show an automobile with an automatic steering control device according to a third embodiment of the present invention. FIG. 7 is an overall configuration diagram schematically showing the configuration of the automatic steering control device. Is a flowchart showing a control flow of the automatic steering. In addition, the component with the same code | symbol as 1st Embodiment is a component with a substantially equivalent function. Moreover, this embodiment has a configuration in which the notification device 5 is omitted from the first embodiment.
[0042]
That is, as shown in FIG. 7, the vehicle with an automatic steering control device of the present embodiment rotates with each other in conjunction with the steering wheel 3, the steering actuator 2 that steers the steering wheel 3, and the steering actuator 2 via the steering ECU 1. A steering wheel 4 for transmitting force, a steering rotation angle sensor 6 for detecting a rotation angle of the steering wheel 4, a steering mode selection switch 7 for selecting a steering mode of the automobile, and a rotation speed of the steering wheel 4. A steering angular velocity sensor 8 for detecting the vehicle, a steering touch sensor (detecting means) 9 for detecting the contact of the driver with the steering wheel 4, an automatic parking switch 10 for starting automatic driving when parking the vehicle, and automatic steering. Steering ECU (control means) 1 for controlling both manual steering and It is configured to include a.
[0043]
Next, the control performed by the steering control device will be specifically described with reference to the flowchart of FIG. The following judgment control is mainly performed by the steering ECU 1.
In step S310, it is first determined whether automatic steering control is being performed. Here, when the steering mode selected by the steering mode selection switch 7 is the automatic steering mode, or when the automatic parking switch 10 is set to the automatic steering mode, the process proceeds to step S320. However, if the steering mode selected by the steering mode selection switch 7 is the manual steering mode, all steps are skipped and the routine is terminated.
[0044]
In step S320, it is determined whether the information detected by the steering touch sensor 9 is on or off. That is, it is a step for determining whether or not there is contact with the steering wheel 4. If contact with the steering wheel 4 is detected, that is, if the information from the steering touch sensor 9 is on, the process proceeds to step S330, whereas if contact with the steering wheel 4 is not detected, that is, the steering touch sensor. If the information from 9 is off, the process proceeds to step S340.
[0045]
In step S330 and step S340, the steering speed with respect to the cumulative steering amount is set based on the graphs shown in FIGS.
First, when the information from the steering touch sensor 9 is OFF, that is, in step S340, as shown in the graph of FIG. 3, as the cumulative steering amount increases, the steering speed gradually increases from the low speed, and the cumulative Steering amount is a predetermined value a1If it exceeds, the rate of increase in steering speed will be even greater. In other words, at the start of steering, by gradually increasing the steering speed, the start of automatic steering is communicated to the driver and the occupant without surprise or incongruity, and then the steering speed is quickly increased to increase the target steering amount (target steering angle). ) Can be steered in a short time.
[0046]
After that, the steering speed is a predetermined value ω1(In other words, the cumulative steering amount is a predetermined value a2Is set to keep the steering speed at that time, that is, to perform the upper limit clip. Then, the predetermined value a when the cumulative steering amount approaches the target steering amount aThreeThe steering speed starts to decrease rapidly, and the cumulative steering amount becomes a predetermined value a.FourAs the steering speed decreases, the rate of decrease in the steering speed becomes smaller, and when the cumulative steering amount becomes the target steering amount when the steering speed gradually approaches 0, the steering speed becomes just zero. In this way, the steering speed is determined according to the cumulative steering amount, and the process proceeds to step S350.
[0047]
Steering speed increase rate at the start of automatic steering (cumulative steering amount 0 → a1) And the decrease rate of the steering speed at the end (cumulative steering amount a)Four→ The target steering amount) is kept low so that steering without a sense of incongruity is achieved, and this makes it possible to stabilize the behavior of the vehicle body during steering that is not stationary. A turn can be realized.
[0048]
On the other hand, when the information from the steering touch sensor 9 is on, that is, in step S330, as shown in the graph of FIG. 4, the predetermined steering speed, that is, the steering speed is compared with the setting in step S340. Maximum value is a predetermined value ω221) And the steering speed is set to be low. First, as the cumulative steering amount increases, the steering speed gradually increases from a low speed, and the steering speed becomes a predetermined value ω.2(In other words, the cumulative steering amount is a predetermined value b).1The steering speed is controlled to keep a constant value. Further, a predetermined value b in which the cumulative steering amount approaches the target steering amount2The steering speed is gradually decreased when the value reaches the target value, and the steering speed becomes just zero when the cumulative steering amount reaches the target steering amount. When the steering speed is determined according to the cumulative steering amount in this way, the process proceeds to step S350.
[0049]
In step S350, the steering angle of the steering wheel 4 is fed back to the steering ECU 1. The steering amount of the steering wheel 4 fed back here is stored in the steering ECU 1, and the cumulative steering amount is calculated. The calculated cumulative steering amount is used for calculating the steering speed in step S330 or step S340 in the next cycle of this routine.
[0050]
In the next step S360, the steering ECU 1 controls the steering actuator 2 according to the steering speed set in step S330 or step S340, and performs automatic steering control.
According to the control as described above, according to the automobile with the automatic steering control device of the present embodiment, the same operation and effect as the first embodiment can be obtained by having the same configuration as the first embodiment.
[0051]
That is, according to the vehicle with an automatic steering control device of the present embodiment, the steering speed of the steering wheel 3 and the steering wheel 4 is gradually increased in the automatic steering mode. Can be prevented. In particular, the steering amount at the time of parking tends to be larger than that at the time of normal driving, and on the other hand, since it is required to perform steering as quickly as possible, the automatic steering control according to the above-described embodiment at the time of automatic parking. By performing the above, it is possible to more effectively reduce surprise and discomfort for the driver and the occupant with respect to the steering behavior and the vehicle behavior accompanied by a rapid change.
[0052]
In addition, since the maximum value of the steering wheel and the steering speed of the steering wheel 4 is limited when the driver is in contact with the steering wheel 4, the behavior change of the vehicle body can be moderated, Discomfort can be reduced more effectively. Moreover, the surprise and discomfort given to the driver via the steering wheel can be reduced more effectively.
[0053]
The first to third embodiments of the present invention have been described above. However, the present invention is not limited to such embodiments, and various modifications may be made without departing from the spirit of the present invention. it can.
For example, the automatic steering control performed in each of the above-described embodiments is not limited to the control at the time of automatic parking of the automobile, and is widely applied at the time of shifting from manual steering control to automatic steering control during general traveling. Can do.
[0054]
In the first and third embodiments described above, the automatic steering control is performed using the functional relationship between the cumulative steering amount and the steering speed as shown by the solid lines in FIGS. 3 and 4. The change in the steering speed with respect to the amount may be set to be smaller, or the steering speed may be set to change smoothly in a curve. In this case, the behavior change of the vehicle body becomes more gradual or smooth, and the surprise and discomfort given to the driver and the occupant can be further effectively reduced.
[0055]
Further, when the information from the steering touch sensor 9 is switched from on to off during the steering of the automatic steering control in the first and third embodiments described above, the steering speed as shown by the broken line 1 in FIG. It may be set to gradually increase to the same steering speed as when the information from the steering touch sensor 9 is OFF from the beginning of the automatic steering control, or the information from the steering touch sensor 9 is switched from OFF to ON. When changed, the steering speed may be kept constant as shown by the broken lines 2 and 3 in FIG. 3 or may be set so as to reduce the steering speed. In this case, since the steering speed changes depending on whether or not the driver is in contact with the steering wheel 4 during automatic steering control, gentle automatic control is performed when contact is detected, and agility is detected when contact is not detected. Automatic control is performed.
[0056]
In the above-described embodiment, the steering ECU 1 is provided with an automatic steering mode and a manual steering mode, and either mode is always selected. However, the automatic steering mode automatically performs constant speed traveling. The automatic steering mode and the automatic parking mode for automatically parking may be configured. By providing the control different from the automatic steering control at the time of constant speed traveling, that is, the automatic steering control at the time of automatic parking, it becomes possible to perform appropriate control according to each situation of the automobile.
[0057]
In the first and third embodiments described above, the steering ECU 1 sets the steering speed using the cumulative steering amount as a parameter and performs automatic steering control. However, the steering speed is set using another parameter (for example, time). The automatic steering control may be performed by setting the above.
[0058]
【The invention's effect】
  As described above in detail, according to the vehicle with the automatic steering control device of the first aspect of the present invention, when the driver is in contact with the steering wheel, the control means controls the turning speed of the steering wheel and the rotation of the steering wheel. Since the upper limit value of the speed is limited, the abrupt steering behavior can be limited. In addition, it is possible to make it difficult to remember surprise and discomfort when the driver takes his / her hand on the handle.Further, since the control means controls the steering actuator so as to gradually increase the steering speed of the steering wheel and the rotation speed of the steering wheel from a low speed, the steering behavior and the vehicle behavior can be changed more gently. In addition, it is possible to make it difficult for drivers and passengers to remember surprises and discomfort.
  According to the vehicle with an automatic steering control device of the second aspect of the present invention, when the steering actuator starts driving the steering wheel and the steering wheel in the automatic steering mode, the notification means notifies the driver or the occupant beforehand. Therefore, it is possible to make it difficult for the driver and the occupant to be surprised and uncomfortable with respect to the steering behavior and the vehicle behavior accompanied by a rapid change.
[0062]
  Claims3According to the vehicle with an automatic steering control device of the present invention described above, at the start of control of the automatic steering mode for parking in which steering is automatically performed when the vehicle is operated to park at a predetermined position,1 or 2The effect of can be obtained.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram schematically showing a configuration of an automatic steering control device in an automobile with an automatic steering control device according to a first embodiment of the present invention.
FIG. 2 is a flowchart showing a control flow of automatic steering in an automobile with an automatic steering control device according to the first embodiment of the present invention.
FIG. 3 shows the relationship between the cumulative steering amount and the steering speed when the driver is not in contact with the steering wheel by the detection means in the automobile with the automatic steering control device according to the first and third embodiments of the present invention. It is a graph to show.
FIG. 4 shows the relationship between the cumulative steering amount and the steering speed when the driver is in contact with the steering wheel by the detecting means in the automobile with the automatic steering control device according to the first and third embodiments of the present invention. It is a graph to show.
FIG. 5 is an overall configuration diagram schematically showing a configuration of an automatic steering control device in an automobile with an automatic steering control device according to a second embodiment of the present invention.
FIG. 6 is a flowchart showing a control flow of automatic steering in an automobile with an automatic steering control device according to a second embodiment of the present invention.
FIG. 7 is an overall configuration diagram schematically showing a configuration of an automatic steering control device in an automobile with an automatic steering control device according to a third embodiment of the present invention.
FIG. 8 is a flowchart showing a control flow of automatic steering in an automobile with an automatic steering control device according to a third embodiment of the present invention.
[Explanation of symbols]
1 Steering ECU (control means)
2 Steering actuator
3 Steering wheels
4 Steering wheel
5. Notification device (notification means)
6 Steering angle sensor
7 Steering mode selection switch
8 Steering angular velocity sensor
9 Steering touch sensor (detection means)
10 Automatic parking switch
11 Sound / Voice Presentation Device
12 display
13 Vibration device

Claims (3)

  1. A steering actuator for steering the steered wheels;
    A steering wheel that rotates in conjunction with the steering wheel when the steering wheel is steered;
    Control means for controlling the steering actuator,
    An automobile with an automatic steering control device in which the control means is provided with a manual steering mode in which the steering actuator is controlled in accordance with an operation of the steering wheel by a driver and an automatic steering mode in which the control means automatically controls the steering actuator. Because
    Detecting means for detecting whether or not the driver is in contact with the steering wheel;
    When the steering actuator starts driving the steering wheel and the steering wheel in the automatic steering mode , the control means gradually increases the turning speed of the steering wheel and the rotation speed of the steering wheel from a low speed. When the steering actuator is controlled and the contact is not detected by the detecting means, the maximum value of the turning speed of the steering wheel and the rotational speed of the steering wheel becomes a preset first predetermined speed. If the contact is detected by the detection means, the maximum value of the turning speed of the steering wheel and the rotation speed of the steering wheel is lower than the first predetermined speed in advance. The steering actuator is controlled so that the second predetermined speed is set. Automatic steering control unit with motor vehicles.
  2. 2. The information processing apparatus according to claim 1, further comprising a notification unit that notifies a driver or an occupant beforehand when the steering actuator starts driving the steering wheel and the steering wheel in the automatic steering mode. Automobile with automatic steering control device.
  3. The automatic steering mode includes an automatic parking mode for automatically controlling the steering actuator in order to automatically perform steering when the vehicle is operated to park at a predetermined position. An automobile with an automatic steering control device according to claim 1 or 2 .
JP2002372359A 2002-12-24 2002-12-24 Car with automatic steering control device Active JP3912279B2 (en)

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