JP4136732B2 - Vehicle steering control apparatus and steering control method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle steering control device for controlling a power steering means so as to generate an anti-auxiliary torque in a direction opposite to the steering direction of a steering by a driver when the presence of an obstacle is recognized in the steering direction of the steering, and its Regarding the method.
[0002]
[Prior art]
Conventionally, in a vehicle having a function of detecting a steering direction of a driver's steering by a power steering means and adding an auxiliary torque to the steering steered in the steering direction, information on an obstacle around the own vehicle is acquired. Provide surrounding information acquisition means, determine whether there is an obstacle around the vehicle from the acquisition information of the surrounding information acquisition means, and recognize the presence of an obstacle in the steering direction of the steering by the driver, steering at that time The power steering means is controlled so as to generate an anti-auxiliary torque in a direction opposite to the direction and hardly collide with an obstacle (see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-9-277945 (paragraph [0002])
[0004]
[Problems to be solved by the invention]
However, as described above, when the anti-auxiliary torque is generated by the power steering means, for example, when traveling on a curved road of a plurality of lanes, the recognition of the lane becomes ambiguous and stable traveling cannot be performed. There is a problem in that generating anti-auxiliary torque in such a state may lead to a decrease in safety.
[0005]
Moreover, in the conventional apparatus, since the degree of restriction of the anti-auxiliary torque of the power steering means cannot be selected, the steering feeling according to the driver's preference cannot be realized.
[0006]
SUMMARY OF THE INVENTION An object of the present invention is to provide a steering control device and method for limiting or canceling the anti-auxiliary torque by the power steering means when the vehicle travels on a curved road having a predetermined curvature or more.
[0007]
[Means for Solving the Problems]
In order to achieve the above-described object, a vehicle steering control device according to the present invention includes peripheral information acquisition means for acquiring information related to obstacles around the vehicle, and a steering direction of the driver's steering to detect the steering direction of the driver. Power steering means for adding auxiliary torque in the same direction to the steering direction, and when the presence of an obstacle in the steering direction of the steering is recognized from the acquisition information of the peripheral information acquisition means, steering of the steering by the driver In a vehicle steering control device for controlling power steering means so as to generate anti-assist torque in a direction opposite to the direction, navigation means for detecting and notifying the current position of the vehicle and the road condition in the traveling direction, and the navigation means A curve road that detects the existence of a curve road with a predetermined curvature or more in the direction of travel of the vehicle The anti-auxiliary torque generated by the power steering means is detected even when an obstacle is detected in the steering direction of the driver's steering when a curve road having a predetermined curvature or more is detected by the exit means and the curved road detection means. And limiting means for limiting or canceling. (Claim 1)
[0008]
According to such a configuration, even when an obstacle is detected in the steering direction of the driver's steering when the curved road detection means determines that there is a curved road having a predetermined curvature or more in the traveling direction of the host vehicle, a restriction is imposed. The means limits or cancels the anti-auxiliary torque generated by the power steering means.
[0009]
Therefore, even when driving on a curved road where lane recognition is ambiguous and is likely to be unstable, stable driving can be realized.
[0010]
The vehicle steering control device according to the present invention includes a vehicle speed detecting means for detecting the own vehicle speed, and the own vehicle on the curved road detected by the curved road detecting means from the own vehicle speed detected by the vehicle speed detecting means. Deriving means for deriving a predicted entry time of the vehicle, and the limiting means is configured to predict the approach prediction derived by the deriving means when the host vehicle speed detected by the vehicle speed detecting means is faster than a predetermined set speed. The restriction or cancellation of the anti-auxiliary torque is started before a predetermined time of the time (Claim 2).
[0011]
According to such a configuration, when the vehicle speed when entering the curved road is faster than a predetermined set speed, the anti-auxiliary torque is applied from a predetermined time before the predicted entry time to the curved road. Therefore, even when the vehicle is traveling on a curved road where the lane recognition is ambiguous and is likely to be unstable, stability during traveling can be further improved.
[0012]
The vehicle steering control device according to the present invention includes a vehicle speed detecting means for detecting the own vehicle speed, and the own vehicle on the curved road detected by the curved road detecting means from the own vehicle speed detected by the vehicle speed detecting means. Derivation means for deriving the predicted entry time of the vehicle, and the restriction means determines the derivation when the curvature of the curved road is determined to be greater than or equal to a threshold value greater than the predetermined curvature from the detection result of the navigation means. The restriction or cancellation of the anti-auxiliary torque is started before a predetermined time before the predicted approach time derived by the means (claim 3).
[0013]
According to such a configuration, when the curvature of the curved road existing in the traveling direction of the host vehicle is equal to or greater than the threshold value, the anti-auxiliary torque limit or the predetermined time before the predicted entry time to the curved road. Since the cancellation is executed, the stability during traveling can be further improved even when the vehicle travels on a curved road where the lane recognition is ambiguous and is likely to be unstable.
[0014]
The vehicle steering control device according to the present invention includes a vehicle speed detecting means for detecting the own vehicle speed, and the own vehicle on the curved road detected by the curved road detecting means from the own vehicle speed detected by the vehicle speed detecting means. Deriving means for deriving the predicted entry time of the vehicle, and the limiting means is derived by the deriving means when the road width of the curve road is narrower than the predetermined width determined in advance from the detection result of the navigation means. The anti-auxiliary torque limitation or cancellation is started before a predetermined time before the predicted entry time (claim 4).
[0015]
According to such a configuration, when the road width of the curved road existing in the traveling direction of the own vehicle is narrower than the predetermined width, the anti-auxiliary torque is limited or canceled from the predetermined time before the predicted entry time to the curved road. Therefore, even when the vehicle travels on a curved road where lane recognition is ambiguous and is likely to be unstable, stability during traveling can be further improved.
[0016]
In addition, the vehicle steering control device according to the present invention is characterized in that the limiting means includes notifying means for notifying the driver that the anti-auxiliary torque is limited or canceled (Claim 5).
[0017]
According to such a configuration, the notification means that the restriction or cancellation of the anti-auxiliary torque is executed, so that the driver can easily understand that the restriction or cancellation of the anti-auxiliary torque is being executed. Can travel safely.
[0018]
In addition, the vehicle steering control device according to the present invention is characterized by comprising an operation means for variably operating the degree of restriction of the anti-auxiliary torque (claim 6).
[0019]
According to such a configuration, the driver can set the limit degree of the anti-auxiliary torque by the power steering means to suit his / her preference by the variable operation of the operation means.
[0020]
The vehicle steering control method according to the present invention includes a road condition detection step of detecting the road condition of the current position and the traveling direction of the own vehicle by the navigation means, and the traveling direction of the own vehicle from the detection result of the road condition detecting step. A curved road detecting step for detecting the presence of a curved road having a predetermined curvature or more, and when a curved road having a predetermined curvature or more is detected by the curved road detecting step, an obstacle is detected in the steering direction of the driver's steering. And a limiting step of limiting or canceling the anti-auxiliary torque generated by the power steering means (Claim 7).
[0021]
According to such a configuration, even when an obstacle is detected in the steering direction of the driver's steering when it is determined by the curved road detection step that there is a curved road having a predetermined curvature or more in the traveling direction of the host vehicle, a restriction is imposed. In the process, the anti-auxiliary torque generated by the power steering means is limited or canceled.
[0022]
Therefore, even when driving on a curved road where lane recognition is ambiguous and is likely to be unstable, stable driving can be realized.
[0023]
The vehicle steering control method according to the present invention includes a vehicle speed detecting step for detecting the own vehicle speed, and the own vehicle on the curved road detected by the curved road detecting means from the own vehicle speed detected in the vehicle speed detecting step. A deriving step for deriving a predicted entry time of the vehicle, and in the restricting step, when the host vehicle speed detected by the vehicle speed detecting step is faster than a predetermined set speed, the approach prediction derived in the deriving step The restriction or cancellation of the anti-auxiliary torque is started before a predetermined time of the time (Claim 8).
[0024]
According to such a configuration, when the vehicle speed when entering the curved road is faster than a predetermined set speed, the anti-auxiliary torque is applied from a predetermined time before the predicted entry time to the curved road. Therefore, even when the vehicle is traveling on a curved road where the lane recognition is ambiguous and is likely to be unstable, stability during traveling can be further improved.
[0025]
The vehicle steering control method according to the present invention includes a vehicle speed detecting step for detecting the own vehicle speed, and the own vehicle on the curved road detected by the curved road detecting means from the own vehicle speed detected in the vehicle speed detecting step. A deriving step for deriving the predicted entry time of the vehicle, and in the limiting step, when it is determined from the detection result of the road condition detection step that the curvature of the curve road is greater than or equal to a threshold value greater than the predetermined value, The restriction or cancellation of the anti-auxiliary torque is started before a predetermined time before the predicted approach time derived in the deriving step (claim 9).
[0026]
According to such a configuration, when the curvature of the curved road existing in the traveling direction of the host vehicle is equal to or greater than the threshold value, the anti-auxiliary torque limit or the predetermined time before the predicted entry time to the curved road. Since the cancellation is executed, the stability during traveling can be further improved even when the vehicle travels on a curved road where the lane recognition is ambiguous and is likely to be unstable.
[0027]
The vehicle steering control method according to the present invention includes a vehicle speed detecting step for detecting the own vehicle speed, and the own vehicle on the curved road detected by the curved road detecting means from the own vehicle speed detected in the vehicle speed detecting step. A deriving step for deriving a predicted entry time of the vehicle, and in the limiting step, when the road width of the curve road is narrower than the predetermined width determined in advance from the detection result of the road condition detecting step, the deriving step derives The execution of the restriction or cancellation of the anti-auxiliary torque is started a predetermined time before the predicted approach time to be executed (claim 10).
[0028]
According to such a configuration, when the road width of the curved road existing in the traveling direction of the own vehicle is narrower than the predetermined width, the anti-auxiliary torque is limited or canceled from the predetermined time before the predicted entry time to the curved road. Therefore, even when the vehicle travels on a curved road where lane recognition is ambiguous and is likely to be unstable, stability during traveling can be further improved.
[0029]
In addition, the vehicle steering control method according to the present invention includes a notification step of notifying the driver that the anti-auxiliary torque is limited or canceled by the limiting step (claim 11).
[0030]
According to such a configuration, the notification that the restriction or cancellation of the anti-auxiliary torque is executed is performed in the notification process, so that the driver easily grasps that the restriction or cancellation of the anti-auxiliary torque is being executed. Can travel safely.
[0031]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to FIGS. 1 is a block diagram, FIG. 2 is an operation explanatory diagram, and FIG. 3 is an operation explanatory flowchart.
[0032]
As shown in FIG. 1, a rear side monitoring unit 1 and a front monitoring unit 3 are provided as peripheral information acquisition units. These monitoring units 1 and 3 include an imaging unit such as a CCD camera mounted on a vehicle, and an imaging unit. Image processing means for processing a captured image by the means to acquire information on obstacles such as the presence or absence of obstacles around the own vehicle and sending the information to a main ECU described later.
[0033]
In particular, the rear side monitoring means 1 recognizes the presence of a surrounding obstacle such as a vehicle running alongside the host vehicle or an overtaking vehicle, and issues a warning by a notification means described later when the obstacle is recognized. Further, the forward monitoring means 3 detects a white line on the road, detects mainly that the own vehicle deviates from the traveling lane, and issues a warning by an informing means described later when the lane departure is detected. The rear side monitoring means 1 does not necessarily include a camera, and may have a monitoring function using an ultrasonic sensor.
[0034]
Further, as shown in FIG. 1, the steering torque of the steering by the driver's operation is detected by the steering torque sensor 5, and the steering angle of the steering is detected by the steering angle sensor 7, and the outputs of these sensors 5, 7 are A control signal is output to a steering motor driver 9 after being taken in by a main ECU, which will be described later, and the driving current of the steering motor 10 is controlled to generate auxiliary torque according to the steering angle at that time. Is added in the steering direction. Here, the steering torque sensor 5, the steering angle sensor 7, the steering motor driver 9, and the steering motor 10 constitute an electric power steering means.
[0035]
Further, as shown in FIG. 1, there is provided navigation means 11 for detecting the current position of the host vehicle and displaying the route to the target position on the screen of the display unit. Use for other than the directions.
[0036]
Here, the navigation means 11 receives a radio wave from a plurality of GPS satellites and detects a current position (latitude, longitude) of the own vehicle, a position detection unit including a navigation road map data. A road map data storage unit comprising a stored CD-ROM, DVD, etc., a read unit for reading road map data around the current position of the vehicle by the position detection unit from the road map data storage unit, and a read unit A display unit consisting of a liquid crystal display that displays a road map based on the road map data on the screen and a mark indicating the current position of the vehicle on the road map, and an operation unit for setting a destination, etc. A deriving unit for deriving an optimum guidance route to the destination set by the operation of the operation unit, and a predetermined guidance message for guiding the host vehicle along the guidance route And an audio output unit for outputting.
[0037]
By the way, in the road map data stored in the road map data storage unit described above, in addition to road types of general roads and expressways, even roads such as roads such as city roads, narrow streets, and congestion roads are shown. Data and road condition data such as road widths and road curvatures of these various roads are stored, and if the current position and traveling direction of the host vehicle are known, the main ECU, which will be described later, reads from the navigation means 11 the road in the traveling direction. Get road condition data on width and curvature. The acquisition process of road condition data by the main ECU corresponds to the road condition detection step in the present invention.
[0038]
Further, as shown in FIG. 1, a vehicle speed sensor 13 is provided as a vehicle speed detection means for detecting the own vehicle side, and a notification means 15 comprising a buzzer, a warning light and the like for performing various notifications under the control of a main ECU which will be described later. Is provided.
[0039]
A main ECU 17 composed of a microcomputer is provided, and it is determined from the information acquired by the rear side monitoring means 1 and the front monitoring means 3 whether there is an obstacle such as the own vehicle and a parallel running vehicle or an overtaking vehicle. Is recognized, the driving current of the steering motor 10 of the power steering means is controlled so as to generate an anti-auxiliary torque in the direction opposite to the steering direction of the driver's steering, and the steering in the direction of the obstacle is made difficult. To avoid collisions with obstacles.
[0040]
Further, at this time, the main ECU 17 detects a curvature R (≧≧ predetermined curvature (Rt1) preset in the traveling direction of the host vehicle from the detection result of the navigation unit 11, that is, road condition data ahead of the host vehicle by the navigation unit 11. It is determined whether or not a curved road Rt1) exists. Such a curved road detection process by the main ECU 17 corresponds to the curved road detection means and the curved road detection step in the present invention.
[0041]
By the way, when the main ECU 17 detects the presence of a curved road having a curvature equal to or greater than a predetermined curvature (Rt1) in the traveling direction, the main ECU 17 determines in the steering direction of the driver's steering from the acquired information of the rear side monitoring means 1 and the front monitoring means 3. Even if an obstacle is detected, the anti-auxiliary torque generated by controlling the drive current of the steering motor 10 is limited or canceled as described above. Such restriction processing by the main ECU 17 corresponds to restriction means and a restriction step in the present invention.
[0042]
More specifically, for example, when traveling on a right curve road having a curvature smaller than a predetermined curvature Rt1 from a straight traveling state, the drive current to the steering motor 10 is controlled as indicated by the one-dot chain line in FIG. As a result, the driver's steering torque is reduced. At this time, when the presence of an obstacle is recognized in the steering direction, the drive current to the steering motor 10 is controlled as shown by the solid line trapezoid in FIG. The anti-assist torque in the direction is added, and the steering is controlled so as not to easily rotate with a slight steering torque in the direction of the obstacle, and is controlled so as not to collide with the obstacle.
[0043]
On the other hand, in the case of trying to drive on the right curve of the expressway, when the curvature R of the curved road is equal to or greater than the predetermined curvature Rt1, even when there is an obstacle in the steering direction, FIG. The drive current to the steering motor 10 is not controlled as shown by the broken line in the middle, and the drive current to the steering motor 10 is controlled and applied in the direction opposite to the steering direction as shown by the dotted line in the figure. The anti-auxiliary torque is limited, or the drive current to the steering motor 10 is controlled as indicated by the solid line in the figure, the anti-auxiliary torque is canceled, and the auxiliary torque in the normal steering direction is added.
[0044]
Here, as shown by the two-dot chain line in FIG. 2, the driving current to the steering motor 10 may be controlled so that an auxiliary torque smaller than the auxiliary torque in the steering direction to be normally applied may be added. .
[0045]
At this time, as an execution start timing of the anti-auxiliary torque limiting process by the main ECU 17, a predicted approach time to the curve road is derived from the own vehicle speed detected by the vehicle speed sensor 13, and the execution is started at any of the following timings: . That is,
{Circle around (1)} When the detected vehicle speed V is faster than a predetermined set speed Vs (V> Vs), T time before a predetermined time of the predicted approach time to the curve road,
(2) It is determined that the curvature R of the curved road that is determined to be present in the traveling direction of the host vehicle is equal to or greater than the threshold value Rt2 (> Rt1) that is greater than the predetermined curvature (Rt1) described above (R ≧ Rt2). At the time T, which is a predetermined time of the predicted time of entry to the curved road,
(3) When it is determined that the road width W of a curved road that is determined to be present in the traveling direction of the vehicle is narrower than a predetermined width Wt (W <Wt), the estimated time of entry to the curved road T time before the predetermined time.
[0046]
The time T is preferably set to a value corresponding to the vehicle speed V at that time. The relationship between the T time and the vehicle speed is experimentally obtained in advance, and the main ECU 17 not shown in FIG. What is necessary is just to read out the time value according to the own vehicle speed V at that time, storing it in a memory or an external memory.
[0047]
As described above, when the driving current of the steering motor 10 is controlled by the main ECU 17 to limit or cancel the counter-auxiliary torque in the direction opposite to the steering direction, an auxiliary torque slightly smaller than usual is added, or A normal auxiliary torque is added.
[0048]
When the anti-auxiliary torque limiting or canceling process is executed by the main ECU 17, the main ECU 17 controls the notification means 15 to notify the driver to that effect. Here, the derivation process of the predicted approach time by the main ECU 17 corresponds to the derivation means and the derivation process.
[0049]
Further, as shown in FIG. 1, an operation switch 21 is provided as an operation means for variably operating the degree of restriction of the anti-auxiliary torque by the main ECU 17, and the operation of the switch 21 causes the driver to operate the power steering means. The anti-auxiliary torque limit degree can be set to suit your preference.
[0050]
Next, the above-described anti-auxiliary torque restriction processing procedure will be described with reference to the flowchart of FIG. As shown in FIG. 3, the main ECU 17 acquires road condition data relating to the road width and curvature in the traveling direction from the navigation means 11 (S1), and the curvature R (≧ Rt1) equal to or greater than the predetermined curvature Rt1 in the traveling direction of the host vehicle. ) (S2), if this determination result is NO, the process proceeds to step S4, and the process of limiting the anti-auxiliary torque in the direction opposite to the steering direction is stopped. (S3), and then returns to step S1 described above.
[0051]
On the other hand, if the decision result in the step S2 is YES, an estimated approach time to a curved road whose existence has been recognized in the process of the step S2 is derived based on the own vehicle speed V detected by the vehicle speed sensor 13 (S4). The steering direction is determined based on the output of the steering angle sensor 7, the presence or absence of an obstacle in the steering direction is determined from the acquired information of the monitoring means 1 and 3 (S5), and the vehicle speed V at that time is determined in advance. It is determined whether or not it is faster than the set speed Vs (V> Vs) (S6). If this determination result is NO, the curvature R of the curve road is predetermined in the next step S7. It is determined whether or not the threshold value is Rt2 or more (R ≧ Rt2) (S7). If the determination result is NO, in the next step S8, the road width W of the curve road is predetermined. Narrower than width Wt (W <W ) For determining whether or not is made (S8), the determination result is returned to step S1 mentioned above if NO.
[0052]
By the way, if the determination result of step S6, S7, S8 is YES, it will transfer to step S9, and even if the presence of an obstruction is recognized by step S5, the limitation process of the anti-auxiliary torque in the direction opposite to the steering direction is performed. Execution is started T hours before the predicted approach time derived in step S6 (S9), and then the process returns to step S1 described above.
[0053]
Therefore, according to the above-described embodiment, when it is determined from the detection result of the navigation means 11 that there is a curved road having the curvature R equal to or greater than the predetermined curvature Rt1 in the traveling direction of the host vehicle, the obstacle in the steering direction of the steering by the driver Even if it is determined that the vehicle is present, the anti-auxiliary torque in the direction opposite to the steering direction generated by the power steering means is limited or canceled. Even in this case, stable traveling can be realized.
[0054]
Further, since the notification means 19 notifies that the anti-auxiliary torque is limited or canceled, the driver can easily understand that the anti-auxiliary torque is limited or canceled. You can travel with peace of mind.
[0055]
Furthermore, since the driver can variably set the degree of restriction of the anti-auxiliary torque by the power steering means by operating the selection switch 21, the driver can set the degree of restriction of the anti-auxiliary torque to suit his / her preference.
[0056]
The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.
[0057]
For example, in the above-described embodiment, the case has been described in which any of the conditions V> Vs, R ≧ Rt2, and W <Wt is satisfied as the execution start timing of the anti-auxiliary torque limiting process by the main ECU 17. The execution start timing may be set when any two or more of these conditions are satisfied.
[0058]
【The invention's effect】
As described above, according to the first and seventh aspects of the present invention, when it is determined that there is a curved road having a predetermined curvature or more in the traveling direction of the host vehicle, an obstacle is detected in the steering direction of the driver's steering. Even if this is done, the anti-auxiliary torque generated by the power steering means is limited or canceled. Therefore, even when driving on a curved road where lane recognition is ambiguous and is likely to be unstable, stable driving can be realized.
[0059]
According to the second and eighth aspects of the present invention, when the vehicle speed when entering a curved road is faster than a predetermined set speed, the vehicle speed is predetermined from the predicted entry time to the curved road. Anti-auxiliary torque restriction or cancellation is executed from before time, so even when driving on curved roads where lane recognition is ambiguous and unstable driving is likely to be improved It becomes possible.
[0060]
According to the third and ninth aspects of the present invention, when the curvature of the curved road existing in the traveling direction of the host vehicle is equal to or greater than the threshold value, a predetermined time before the predicted entry time to the curved road. Anti-auxiliary torque is limited or canceled, so even when driving on curved roads where lane recognition is ambiguous and unstable, it is possible to improve stability during driving. become.
[0061]
According to the inventions of claims 4 and 10, when the road width of the curved road existing in the traveling direction of the host vehicle is smaller than the predetermined width, from a predetermined time before the predicted entry time to the curved road, Anti-auxiliary torque restriction or cancellation is executed, so even when driving on a curved road where lane recognition is ambiguous and unstable, it is possible to improve stability during driving. Become.
[0062]
Further, according to the fifth and eleventh aspects of the invention, since the notification that the restriction or cancellation of the anti-auxiliary torque is executed is made, the driver can easily execute the restriction or cancellation of the anti-auxiliary torque. This makes it possible to travel with peace of mind.
[0063]
According to the sixth aspect of the invention, the driver can set the degree of restriction of the anti-auxiliary torque by the power steering means to suit his / her preference.
[Brief description of the drawings]
FIG. 1 is a block diagram of an embodiment of the present invention.
FIG. 2 is an operation explanatory diagram of one embodiment of the present invention.
FIG. 3 is a flowchart for explaining the operation of the embodiment of the present invention.
[Explanation of symbols]
1 Rear side monitoring means
3 Forward monitoring means
5 Steering torque sensor (power steering means)
7 Steering angle sensor (power steering means)
9 Steering motor driver (power steering means)
10 Steering motor (power steering means)
11 Navigation means
13 Vehicle speed sensor (vehicle speed detection means)
15 Notification means
17 Main ECU (curve road detection means, restriction means, derivation means)
21 Operation switch (operating means)

Claims (11)

Peripheral information acquisition means for acquiring information related to obstacles around the own vehicle, and power steering means for detecting the steering direction of the driver's steering and adding auxiliary torque in the same direction to the steering direction to the steering When the presence of an obstacle in the steering direction of the steering is recognized from the acquired information of the peripheral information acquiring means, the vehicle controls the power steering means so as to generate an anti-auxiliary torque in the direction opposite to the steering direction of the steering by the driver. In the steering control device of
Navigation means for detecting and notifying the current position of the vehicle and the road conditions in the traveling direction;
A curved road detection means for detecting the presence of a curved road having a predetermined curvature or more in the traveling direction of the host vehicle from the detection result of the navigation means;
Even when an obstacle is detected in the steering direction of the driver's steering when the curved road detecting means detects a curved road having a predetermined curvature or more, the anti-auxiliary torque generated by the power steering means is limited or canceled. A vehicle steering control apparatus comprising: a limiting unit. Vehicle speed detection means for detecting the host vehicle speed, and derivation means for deriving a predicted time of entry of the host vehicle into the curve road detected by the curve road detection means from the host vehicle speed detected by the vehicle speed detection means,
The limiting means is
When the host vehicle speed detected by the vehicle speed detection means is faster than a predetermined set speed, execution of limiting or canceling the anti-auxiliary torque is started before a predetermined time before the predicted approach time derived by the derivation means. The vehicle steering control device according to claim 1, wherein: Vehicle speed detection means for detecting the host vehicle speed, and derivation means for deriving a predicted time of entry of the host vehicle into the curve road detected by the curve road detection means from the host vehicle speed detected by the vehicle speed detection means,
The limiting means is
When it is determined from the detection result of the navigation means that the curvature of the curved road is equal to or greater than a threshold value greater than the predetermined curvature, the anti-auxiliary is performed a predetermined time before the predicted approach time derived by the deriving means. 2. The vehicle steering control device according to claim 1, wherein execution of torque limitation or cancellation is started. Vehicle speed detection means for detecting the host vehicle speed, and derivation means for deriving a predicted time of entry of the host vehicle into the curve road detected by the curve road detection means from the host vehicle speed detected by the vehicle speed detection means,
The limiting means is
From the detection result of the navigation means, when the road width of the curved road is narrower than the predetermined width, the anti-auxiliary torque limit or the predetermined time before the predicted entry time derived by the derivation means 2. The vehicle steering control device according to claim 1, wherein execution of cancellation is started. 5. The vehicle steering control device according to claim 1, further comprising notification means for notifying a driver that the anti-assist torque is restricted or canceled by the restriction means. 6. The vehicle steering control device according to any one of claims 1 to 5, further comprising operation means for variably operating the degree of restriction of the anti-auxiliary torque. Peripheral information acquisition means for acquiring information related to obstacles around the own vehicle, and power steering means for detecting the steering direction of the driver's steering and adding auxiliary torque in the same direction to the steering direction to the steering When the presence of an obstacle in the steering direction of the steering is recognized from the acquired information of the peripheral information acquiring means, the vehicle controls the power steering means so as to generate an anti-auxiliary torque in the direction opposite to the steering direction of the steering by the driver. In the steering control method of
A road condition detection step of detecting the current position of the own vehicle and the road condition in the traveling direction by means of navigation;
A curved road detection step for detecting the presence of a curved road having a predetermined curvature or more in the traveling direction of the host vehicle from the detection result of the road condition detection step;
Even when an obstacle is detected in the steering direction of the driver's steering when a curved road having a predetermined curvature or more is detected by the curved road detecting step, the anti-auxiliary torque generated by the power steering means is limited or canceled. A vehicle steering control method comprising: a limiting step. A vehicle speed detection step for detecting the host vehicle speed, and a derivation step for deriving a predicted time of entry of the host vehicle into the curved road detected by the curved road detection means from the host vehicle speed detected in the vehicle speed detection step,
In the limiting step,
When the host vehicle speed detected in the vehicle speed detection step is faster than a predetermined set speed, the anti-auxiliary torque is limited or canceled before a predetermined time before the predicted approach time derived in the derivation step. The vehicle steering control method according to claim 7, wherein: A vehicle speed detection step for detecting the host vehicle speed, and a derivation step for deriving a predicted time of entry of the host vehicle into the curved road detected by the curved road detection means from the host vehicle speed detected in the vehicle speed detection step,
In the limiting step,
When it is determined from the detection result of the road condition detection step that the curvature of the curved road is greater than or equal to a threshold value greater than the predetermined value, the predetermined time before the predicted entry time derived in the derivation step, The vehicle steering control method according to claim 7, wherein execution or limitation of anti-auxiliary torque is started. A vehicle speed detection step for detecting the host vehicle speed, and a derivation step for deriving a predicted time of entry of the host vehicle into the curved road detected by the curved road detection means from the host vehicle speed detected in the vehicle speed detection step,
In the limiting step,
When the road width of the curve road is narrower than the predetermined width determined in advance from the detection result of the road condition detection step, the anti-auxiliary torque is reduced by a predetermined time before the predicted entry time derived in the derivation step. 8. The vehicle steering control device according to claim 7, wherein execution of restriction or cancellation is started. The vehicle steering control method according to claim 7, further comprising a notifying step of notifying a driver that the anti-auxiliary torque is limited or canceled by the limiting step.

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