JP4666631B2 - Vehicle steering control device and vehicle - Google Patents

Description

  The present invention relates to a vehicle steering control device that recognizes a traveling lane on a road and performs steering control of the vehicle so that the vehicle travels along the traveling lane, and a vehicle that performs the steering control.

  Conventionally, a travel division line (white line) on a road is recognized from image data obtained by an in-vehicle camera that captures a road ahead of the vehicle, and the vehicle is caused to travel along a travel lane partitioned by the travel division line. In addition, there is known a steering control device that executes a steering assist process in which a steering mechanism is driven by an electric power steering motor (EPS motor) to control the traveling direction of the vehicle.

Then, the degree of decrease in the driver's intention to drive is detected from the detection level of the steering torque input by the steering wheel operation by the driver, and a notification is given when a state where the degree of decrease is below the threshold value continues for a certain time or longer. A vehicle steering control device is proposed in which the steering assist process is interrupted when the driver's driving intention is not recovered by the notification and the driver's driving intention is not recovered by the notification (for example, a patent Reference 1).
JP 2003-154960 A

  As described above, the inventors of the present application may not be necessary depending on the traveling state of the vehicle when prohibiting the notification or the steering assist process when the driver's driving intention is lowered for a certain time or more. It has been found that there is a possibility that the notification and the steering assist process are prohibited at a proper timing, or that the timing for prohibiting the notification and the steering assist process is delayed.

  Therefore, the present invention provides a vehicle steering control device capable of prohibiting notification and steering assist processing at an appropriate timing according to the traveling state of the vehicle when a decrease in driving intention of the driver is recognized, and The object is to provide a vehicle.

  The present invention has been made to achieve the above object, and is a travel lane recognition means for recognizing a travel lane of a vehicle, an actuator for driving a steering mechanism capable of steering a steering wheel of the vehicle, and the travel lane recognition means. Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the vehicle, and driving intention detection means for detecting a degree of decrease in driving intention of the driver of the vehicle; When the state in which the degree of decrease in driving intention detected by the notifying means and the driving intention detecting means has reached a predetermined threshold or more continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notifying means The present invention relates to an improvement in a steering control device for a vehicle including a drive intention lowering countermeasure unit that performs at least one of notification.

  Further, the present invention provides a traveling lane recognition means for recognizing a traveling lane, an actuator for driving a steering mechanism capable of steering a steered wheel, and a traveling lane recognized by the traveling lane recognition means. Steering assist means for executing steering assist processing for driving the actuator, driving intention detection means for detecting a degree of reduction in driving intention of the driver, notification means, and reduction in driving intention detected by the driving intention detection means A drive intention lowering countermeasure unit that performs at least one of the prohibition of the steering assist process and the notification by the notification unit when a state in which the degree is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer. The present invention relates to an improvement of a vehicle provided.

The vehicle steering control device and the first aspect of the vehicle according to the present invention include vehicle speed detection means for detecting the travel speed of the vehicle, road condition recognition means for recognizing the road condition of the traveling lane, and the vehicle speed detection means. Determination that determines a shorter one of the first determination time based on the detected traveling speed and the second determination time based on the road condition of the traveling lane recognized by the road condition recognition unit as the determination time. And a time determining means (corresponding to claims 1 and 8 ).

  According to the present invention, by determining the determination time based on the traveling speed of the vehicle by the determination time determining means, for example, when the traveling speed is high, the determination time is shortened to quickly cope with the decrease in driving intention. Prohibition of the steering assist processing and notification by the means, and when the traveling speed is low, the determination time is lengthened to prevent unnecessary notification by the driving intention reduction countermeasure means and prohibition of the steering assist processing. Inhibition of the steering intention processing and the notification by the driving intention reduction countermeasure means can be performed at an appropriate timing according to the traveling state of the vehicle, such as suppression.

Further , according to the present invention, the determination time determining means determines the determination time based on the traveling speed of the vehicle and the road condition of the traveling lane, so that the traveling condition of the vehicle can be grasped in more detail. Since the determination time can be determined, it is possible to perform the notification by the driving intention lowering countermeasure and the prohibition of the steering assist process at a more appropriate timing.

Further, according to the present invention, the first determination time based on the traveling speed of the vehicle is compared with the second determination time based on the road condition of the traveling lane, and the shorter time is set as the determination time. Thus, for the two determination factors of the traveling speed and the road condition, the notification by the driving intention reduction countermeasure means and the prohibition of the steering assist process are performed at a timing corresponding to the determination factor that has become a more urgent situation. Can do.

Next, a vehicle steering control device and a second aspect of the vehicle according to the present invention include a vehicle speed detection unit that detects a travel speed of the vehicle, and the determination time increases as the travel speed detected by the vehicle speed detection unit increases. A determination time determining unit that sets a first upper limit time that is set in advance as the determination time when the traveling speed detected by the vehicle speed detection unit is less than or equal to a predetermined lower limit speed. (Corresponding to claims 2 and 9 ).

  According to the present invention, the higher the traveling speed of the vehicle, the stricter the execution conditions for the prohibition of the steering intention processing and the notification by the driving intention reduction countermeasure means, and the driving intention of the driver during high speed driving is reduced. We can respond promptly. In addition, the lower the vehicle traveling speed, the gentler the execution condition of the notification by the driving intention lowering countermeasure and the prohibition of the steering assist process is, and the driver is at a low speed when the driver's driving intention tends to be slow. Contrary to this, the prohibition of the notification and the steering assist process can be suppressed.

Further, according to the present invention, when the traveling speed of the vehicle is equal to or lower than the lower limit speed, the first lower limit time is set as the determination time, so that the notification by the driving intention lowering countermeasure unit can be performed during low speed traveling. The execution condition of prohibition of the steering assist process is extremely relaxed, and a situation in which the notification by the driving intention reduction countermeasure means and the prohibition of the steering assist process are not performed despite the fact that the driver's driving intention has decreased. Can be avoided.

Next, a vehicle steering control device and a third aspect of the vehicle according to the present invention include a vehicle speed detection unit that detects a travel speed of the vehicle, and the determination time increases as the travel speed detected by the vehicle speed detection unit increases. And a determination time determining means for determining a preset first lower limit time as the determination time when the traveling speed detected by the vehicle speed detection means is equal to or higher than a predetermined upper limit speed. (Corresponding to claims 3 and 10 ).

  According to the present invention, when the traveling speed of the vehicle is equal to or higher than the upper limit speed, the first lower limit time is set as the determination time, whereby the notification by the driving intention lowering means and the steering are performed during high speed traveling. The execution condition for prohibiting the assist process becomes extremely strict, and it becomes a situation in which the notification by the drive intention lowering countermeasure means and the prohibition of the steering assist process are frequently performed for a slight decrease in the drive intention. Annoying annoyance can be avoided.

Next, a fourth embodiment of the steering control apparatus and a vehicle for a vehicle of the present invention, a road condition recognition means for recognizing the degree of bend of the driving lane as the road conditions, the bending of the recognized driving lane by the road condition recognizer The larger the degree is, the shorter the determination time is set. When the degree of turning of the traveling lane recognized by the road condition recognition means is below a predetermined lower limit level, a predetermined second upper limit time is determined. And determining time determining means for determining the time (corresponding to claims 4 and 11 ).

  According to the present invention, the greater the degree of turning of the traveling lane, the more severe the conditions for executing the notification by the driving intention lowering countermeasure and the prohibition of the steering assist process, and the time when the vehicle is traveling on a sharp curved road. It is possible to quickly cope with a decrease in driving intention of the driver. Also, the smaller the degree of turning of the driving lane, the gentler the execution conditions of the notification by the driving intention reduction countermeasure means and the prohibition of the steering assist process, and when driving on a straight road where the driver's driving intention tends to become slow It is possible to suppress the prohibition of the notification and the steering assist process against the intention of the driver.

Furthermore, according to the present invention, when the degree of bending of the traveling lane is equal to or lower than the lower limit level, the degree of bending of the traveling lane is small and close to a straight line by setting the second lower limit time as the determination time. In this case, the notification by the driving intention lowering countermeasure means and the execution condition of prohibition of the steering assist processing are extremely relaxed, and the notification by the driving intention lowering countermeasure means even though the driving intention of the driver is lowered. It can be avoided that the steering assist process is not prohibited.

Next, a vehicle steering control device and a fifth aspect of the vehicle according to the present invention include road condition recognition means for recognizing the degree of curve of the travel lane as a road condition, and curve of the travel lane recognized by the road condition recognition means. The larger the degree is, the shorter the determination time is set. When the degree of turning of the traveling lane recognized by the road condition recognition unit is equal to or higher than a predetermined upper limit level, a predetermined second lower limit time is determined. And determining time determining means for determining the time (corresponding to claims 5 and 12 ).

  According to the present invention, when the degree of bending of the traveling lane becomes extremely large by setting the second lower limit time as the determination time when the degree of bending of the traveling lane is equal to or higher than the upper limit level. The execution condition of the notification by the driving intention reduction countermeasure means and the prohibition of the steering assist process becomes extremely severe, and the notification by the driving intention reduction countermeasure means and the prohibition of the steering assist process are frequently prohibited for a slight decrease in driving intention. Therefore, it is possible to avoid the driver from feeling annoyed.

Next, a vehicle steering control device and a sixth aspect of the vehicle according to the present invention include vehicle speed detection means for detecting the traveling speed of the vehicle, road condition recognition means for recognizing a road condition ahead of the vehicle at a predetermined distance. The elapsed time from when the road condition is recognized until the time when the driver needs to start an operation for dealing with the road condition is detected by the road condition, the predetermined distance, and the vehicle speed detecting means. Based on the speed, the determination time is determined by subtracting the estimated time from the notification by the driving intention reduction countermeasure means from the elapsed time until the driver starts the operation according to the notification. And a determination time determining means for performing the processing (corresponding to claims 6 and 13 ).

  According to the present invention, the determination intention determination means determines the driving intention from the elapsed time from the recognition time of the road condition ahead to the time when the driver needs to start an operation for responding to the road condition. By reducing the estimated time until the driver starts the operation after the notification by the reduction coping means is made and determining the determination time, the timing of the notification by the driving intention reduction coping means is delayed. Can be prevented.

Next, a vehicle steering control device and a seventh aspect of the vehicle according to the present invention include a vehicle speed detection unit that detects a traveling speed of the vehicle, and a driving intention detection unit that receives a notification of the driving intention after the notification unit notifies the vehicle . The determination time based on the driving intention recovery time storage means for storing past data of the driving intention recovery time, which is the time until the degree of decrease becomes less than the threshold, and the traveling speed detected by the vehicle speed detecting means. determines, in accordance with the data stored operated intent recovery time in the operating intention recovery time storage unit, the determination time is characterized in that a determination time determining means for correcting (claim 7, wherein Corresponding to item 14 ).

  According to the present invention, it is possible to recognize the driver's reaction status to the notification based on the past driving intention recovery time data stored in the driving intention recovery time storage means. Therefore, for example, when it can be inferred that the driver's reaction to notification is long due to a long driving intention recovery time, the driving intention reduction with respect to the reduction of the driving intention of the driver is performed by performing correction to shorten the determination time. The processing of the coping means can be executed more promptly.

  An example of an embodiment of the present invention will be described with reference to FIGS. 1 is an overall configuration diagram of a vehicle steering control apparatus according to the present invention, FIG. 2 is an explanatory diagram showing a vehicle position deviation Yd and a vehicle angle deviation Ah with respect to a center line Yc of a traveling lane having a curvature of 1 / R, FIG. Is a block diagram of the LKAS (Lane Keeping Assistance System) control device shown in FIG. 1, and FIG. 4 is a map for determining the first determination time based on the traveling speed and the second determination time based on the curvature of the traveling lane. FIG. 5 is an operation flowchart of the LKAS control device, FIG. 6 is an explanatory diagram showing the timing when warning and steering assist processing are prohibited by the driving intention reduction countermeasure means, and FIG. FIG. 8 to FIG. 9 are flowcharts of the start and stop processes of the steering assist process.

  Referring to FIG. 1, in a manual steering force generation mechanism 16 (corresponding to the steering mechanism of the present invention) that is a control target of a vehicle control device 1, a steering shaft 12 provided integrally with a steering wheel 11 is a universal shaft. It is connected to a pinion 15a of a rack and pinion mechanism 15 provided in the steering gear box 14 via a connecting shaft 13 having joints 13a and 13b.

  The pinion 15a meshes with the rack gear 17a of the rack shaft 17, and the rotational movement of the steering wheel 11 is converted into the reciprocating movement of the rack shaft 17 through the pinion 15a, and the tie rods 18a and 18b are connected to both ends of the rack shaft 17. The steered wheels 19a and 19b connected to each other are steered.

  A motor 20 (corresponding to the actuator of the present invention) is arranged coaxially with the rack shaft 17, and the rotational output of the motor 20 is axially transmitted through a ball screw mechanism 21 provided substantially parallel to the rack shaft 17. Converted to thrust. In other words, a drive side helical gear 20 a is attached to the output shaft of the motor 20, and the drive side helical gear 20 a meshes with a helical gear 21 b provided integrally with the shaft end of the screw shaft 21 a of the ball screw mechanism 21.

The steering box 14, steering torque Q _d, i.e. a torque sensor 22 for detecting the steering torque Q _d inputted from the steering wheel 11 by a manual operation of a driver is provided which acts on the pinion 15a. Detection signal of the steering torque Q _d by the torque sensor 22 is inputted to the LKAS (Lane Keeping Assistance System) control unit 2 and EPS (Electronic Power Steering) control device 3.

The LKAS control device 2 calculates the assist amount of the output torque of the motor 20 necessary for driving the vehicle along the road lane in the traveling direction of the vehicle under various conditions. Then, the steering assist torque Q _s is output to the EPS control device 3 as a torque command for causing the motor 20 to output the assist amount.

The LKAS control apparatus 2, in addition to the detection signal of the steering torque Q _d by the torque sensor 22, and information of the traffic lane marking lines output from the image processing apparatus 31 to be described later, the yaw rate about the vertical (gravity) axis of the vehicle center of gravity A detection signal of the yaw rate sensor 32 that detects (rotational angular velocity), a detection signal of the steering angle sensor 33 that detects the direction and magnitude of the steering angle by the driver's operation using a rotary encoder or the like provided on the steering shaft 12, A detection signal of a vehicle speed sensor 34 (corresponding to the vehicle speed detection means of the present invention) for detecting the rotational speed of the wheel is input.

  Further, the LKAS control device 2 includes a turn signal ON / OFF signal output from the turn signal SW40, a brake ON / OFF signal output from the brake SW41, a wiper ON / OFF signal output from the wiper SW42, And a signal instructing operation / stop of the LKAS control device 2 output from the main SW 43 is input.

  Further, the LKAS control device 2 includes traffic information such as map information data of the traveling lane recognized by the GPS device 37 mounted on the vehicle and VICS (Vehicle Information and Communication System) received by the communication device 38. Such road information data is input.

For example, when the turn signal ON signal is input from the turn signal SW40, the brake ON signal is input from the brake SW41, or the wiper ON signal is input from the wiper SW42. When the signal for instructing the stop of the LKAS control device 2 is input from the main SW 43, when the LKAS control device 2 is unable to recognize the travel lane marking, and from the output of the torque sensor 22, the driver's driving intention It is set so that the output of the assist torque Q _s to the EPS control device 3 is stopped when the decrease is recognized.

  Further, the LKAS control device 2 is connected to an alarm device 44 (corresponding to the notification means of the present invention) having, for example, a speaker that outputs an alarm sound, a voice message, or the like, a display that displays an alarm display, etc. It is set to output an alarm when it deviates from. The vehicle having the configuration shown in FIG. 1 corresponds to the vehicle of the present invention.

Next, EPS control unit 3 outputs a motor driving current for outputting an assist amount of the steering torque Q _d according to the running state of the vehicle to the motor 20. For this reason, the EPS control device 3 includes a motor current sensor 35 that detects the energization current of the motor 20 in addition to the steering assist torque Q _s output from the LKAS control device 2 and the steering torque Q _d detection signal from the torque sensor 22. a detection signal (motor current) I _M of a detection signal (motor voltage) V _M of the motor voltage sensor 36 that detects the energizing voltage of the motor 20 is input.

  The image processing device 31 inputs image data in front of the vehicle imaged by the camera 30 provided on the vehicle. Based on the image data, a travel lane division line (white line) that identifies the travel lane is recognized. At this time, the image processing device 31 calculates a turning radius R of the center line Yc of the traveling lane at an appropriate position in the traveling lane, as shown in FIG.

  Furthermore, the image processing device 31 sets a relative coordinate system in which the current position of the vehicle 5 is the origin, the traveling direction of the vehicle 5 is the X axis, and the direction perpendicular to the X axis (the vehicle width direction) is the Y axis. The distance (lateral deviation amount) Yd from the current position of the vehicle 5 on the Y axis to the center line Yc of the travel lane is calculated as a position deviation. Further, an angle (vehicle deflection angle) Ah formed by the tangent line a of the center line Yc at the intersection position between the center line Yc of the traveling lane and the Y axis is calculated as an angle deviation. The camera 30 and the image processing device 31 constitute a traveling lane recognition unit of the present invention.

Next, referring to FIG. 3, the LKAS control device 2 calculates the steering assist torque Q _s that decreases the lateral deviation amount Yd and the vehicle deflection angle Ah so that the vehicle 5 travels along the travel lane to calculate ESP. Road situation recognition for recognizing the road situation of the driving lane based on the data outputted from the steering assist means 54, the image processing device 31, the GPS device 37, and the communication device 38 for executing the "steering assist processing" outputted to the control device 3. Means 50, driving intention decrease detecting means 53 for detecting the driver's driving intention, determination time determining means 51 for determining a determination time for determining the driver's driving intention decrease, and the degree of decrease in the driver's driving intention Is provided with a driving intention lowering countermeasure means 53 for prohibiting the alarm and the “operation assist process” when the state where the threshold value is equal to or greater than the threshold value continues for the determination time or longer.

  Further, the LKAS control device 2 operates after the determination time map data 60 used for determining the determination time for determining the decrease in the driver's driving intention and the alarm by the driving intention decrease coping means 53 are given. A memory 55 is provided in which past data 61 and the like of driving intention recovery time, which is a time required until the recovery of intention is recognized, are stored.

  Next, the LKAS control device 2 repeatedly executes the flowchart in FIG. 4 while executing the “steering assist process” by the steering assist means 54, and issues an alarm when a decrease in the driver's driving intention is recognized. To execute a process of prohibiting the “steering assist process”. Hereinafter, the execution procedure of the process will be described with reference to the flowchart shown in FIG.

STEP 1 to STEP 3 and STEP 20 are processes by the driving intention detection means 52, and the driving intention detection means 52 recognizes the operation state of the steering wheel 11 by the driver from the steering torque Q _d detected by the torque sensor 22 in STEP 1. and, to detect the deterioration degree D _w of the operation intention. In this case, as the steering torque Q _d is small, it decreases the degree D _w driving intention increases.

Then, when the reduction degree D _w driving intention in the subsequent STEP2 is preset threshold D _w - th or adds Δt to count time T _cnt branch to time counter (not shown) in STEP 20 (T _cnt ← T _cnt + Δt). Note that Δt corresponds to the execution time of one cycle in the flowchart of FIG. On the other hand, the operation when the decreased degree D _w intention is smaller than the threshold value D _w - th, the process proceeds to STEP3, the operation intention detector 52 clears the count time T _cnt of the time counter (T _cnt ← 0).

Subsequent STEP 4 to STEP 7 and STEP 30 are processes by the determination time determination means 51. In STEP 4, the determination time determining means 51 determines a first determination time T _v corresponding to the traveling speed V _s of the vehicle detected by the vehicle speed sensor 34 according to the map shown in FIG. FIG. 5A is an interphase map of T _v −V _{s where} the vertical axis is set to the first determination time T _v and the horizontal axis is set to the traveling speed V _s .

In the map of FIG. 5A, the traveling speed V _s is higher than V _s1 (corresponding to the lower limit speed of the present invention) and lower than V _s2 (corresponding to the upper limit speed of the present invention) (V _s1 < In V _s <V _s2 ), the first determination time T _v is set to be shorter as the traveling speed V _s is higher. Further, when the travel speed V _s is V _s1 following first determination time T _v is set to the first upper limit time T _11, the first determination time when the travel speed V _s is V _s2 or more T _v is set to the first limit time T _10.

By using the map of FIG. 5A, it is possible to avoid the first determination time T _v from becoming too long at low speeds when the travel speed V _s is _{equal to} or less than V _s1 , and the travel speed V _s is _{equal to} or greater than V _s2. Thus, it is possible to avoid the first determination time T _v from becoming too short during high-speed traveling. Further, in the range where the traveling speed V _s is from V _s1 to V _s2 , the first determination time T _v is set shorter as the traveling speed V _s becomes higher, so that the driver's driving intention during high speed traveling is reduced. Can be dealt with promptly.

In the next STEP 5, the determination time determination unit 51 determines the curvature C _r (= 1 / R of the traveling lane) recognized by the road condition recognition unit 50 according to the map shown in FIG. 2nd determination time _Tr according to the curvature degree of a lane) is determined. FIG. 5B is a T _r -C _r interphase map in which the vertical axis is set to the second determination time T _r and the horizontal axis is set to the curvature C _r of the traveling lane.

Note that the curvature C _r of the travel lane can be recognized from the yaw rate of the vehicle 5 detected by the yaw rate sensor 32 and the speed V _{s of the} vehicle 5 detected by the vehicle speed sensor 34. Alternatively, it may be calculated from the turning radius R of the traveling lane detected by the image processing device 31, or may be recognized from the map information of the traveling lane acquired by the GPS device 37.

In the map of FIG. 5B, the curvature C _r is larger than C _r1 (corresponding to the lower limit level of the bending degree of the present invention) and smaller than C _r2 (corresponding to the upper limit level of the bending degree of the present invention). In the range (C _r1 <C _r <C _r2 ), the second determination time T _r is set shorter as the curvature C _r is larger. Further, when the curvature C _r is equal to or less than C _r1 , the second determination time T _r is set to the second upper limit time T ₂₁ , and when the curvature C _r is equal to or greater than C _r2 , the second determination time T _r. There has been set to the second lower limit time T _20.

By using the map of FIG. 5B, the second determination time T _r is prevented from becoming too long when traveling on a road close to a straight line with the curvature C _r of C _r1 or less, and the curvature is also increased. It is possible to avoid the second determination time T _r from becoming too short when traveling on a sharp curved road where C _r is _{equal to} or greater than C _r2 . In the range where the curvature C _r is from C _r1 to C _r2 , the driver's intention to drive on a sharp curve road is set by shortening the second determination time T _r as the curvature C _r increases. Can be dealt with promptly.

In the next STEP 6, the determination time determination means 51 compares the first determination time T _v based on the traveling speed V _s and the second determination time T _r based on the curvature C _r . When the first determination time T _v is longer than the second determination time T _r , the process branches to STEP 30, and the second determination time T _r is determined as a determination time T _j for determining a decrease in driving intention. To do. On the other hand, when the first determination time T _v is equal to or shorter than the second determination time T _r , the process proceeds to STEP 7 where the determination time determination means 51 determines the first determination time T _v for determining a decrease in driving intention. Time T _{j is} assumed.

Thus, by comparing the first determination time T _v and the second determination time _{Tr, and} setting the shorter one as the determination time T _j for determining a decrease in driving intention, the traveling state of the vehicle can be determined. Of the two determination factors of the reflected traveling speed V _s and curvature C _r , the determination time T _j corresponding to the determination factor indicating that the situation is more urgent can be determined.

The subsequent STEP8, STEP40, and STEP41 are processes by the driving intention lowering countermeasure means 53. The drive intention lowering countermeasure unit 53 determines whether or not the count time T _cnt of the time counter is equal to or greater than the determination time T _j (T _j ≦ T _cnt ) in _STEP8 .

When the count value T _cnt of the time-measuring counter reaches the determination time T _j or (T _j ≦ T _cnt), i.e., the state reduced degree D _w of the driver intention is the threshold value D _w - th or determination time T _j When the situation continues and it can be assumed that the driver has lost his driving intention, the process branches to STEP 40. Then, the drive intention lowering countermeasure unit 53 issues an alarm (corresponding to the notification of the present invention) by the alarm device 44 in STEP 40 and prohibits the “steering assist process” by the operation assist unit 54 in STEP 41.

  As a result, the drive intention lowering countermeasure unit 53 promotes recovery of the driver's drive intention and prevents the “steering assist process” from being continued in a state where the driver has lost the drive intention. ing.

FIG. 6 is an explanatory diagram showing the transition of the count time T _cnt of the time counter and the determination time T _{j in} a time series when the flowchart shown in FIG. 4 is executed, and the vertical axis indicates the count time T of the time counter. _cnt and determination time T _j are set, and the horizontal axis is set to elapsed time t.

In the figure, each time the flowchart of FIG. 4 is executed, the determination time T _j is determined by the first determination time T _v based on the travel speed and the travel lane by the processing of STEP 6 to STEP 7 and STEP 30 by the determination time determination means 51. The time is changed at any time to the shorter one of the second determination times T _r based on the curvature C _r . In the drawings, t ₁₀ is STEP2 Driving intention lowered degree D _w in Fig. 4 becomes equal to or larger than the threshold value, which indicates when the clock is started by the timing counter branches to STEP 20.

When the count time T _cnt of the time counter is increased from t _10, at t ₁₂ the T _cnt becomes determination time T _j above, the "operation assistant processing" together with an alarm by driving intention lowered remedy unit 53 is performed prohibition Is done.

In the present embodiment, by determining the time determining means 51, on the basis of the curvature C _r of the recognized traffic lane by the traveling speed V _s and the road condition recognizer 50 of the vehicle detected by the vehicle speed sensor 34, was determined determination time T _j, when determining the determination time T _j based only on the vehicle speed V _s only or curvature C _r also, it is possible to obtain the effect of the present invention.

In addition, a determination time T _j for determining a decrease in driving intention is set based on road conditions (lane restrictions, construction regulations, etc.) other than the curvature C _{r of the} traveling lane recognized by the road condition recognition means 50. It may be.

Further, the determination time determining means 51 determines the time required to travel a certain distance at the vehicle traveling speed V _s detected by the vehicle speed sensor 34 as the determination time T _j for determining a decrease in driving intention. May be.

In the present embodiment, the first determination time T _v based on the traveling speed V _s is determined using FIG. 5A, and the curvature of the traveling lane is determined using the map shown in FIG. 5B. The second determination time T _r based on C _r is determined, and the shorter time is set as the determination time T _j for determining a decrease in driving intention, but a map of another form may be used, or The determination time T _j may be set by another method such as using a correlation equation without using a map.

FIG. 7A is an explanatory diagram illustrating another method for determining the determination time T _j for determining a decrease in driving intention. In the drawing, P ₁₀ is a distance from the vehicle 5 in the travel lane U. A forward position separated by L (corresponding to a predetermined distance of the present invention) is shown. P ₁₁ indicates a position where it is necessary to start an operation (brake operation, handle operation, etc.) for dealing with the road condition in P ₁₀ when the vehicle 5 is traveling at the traveling speed V _s . P ₁₂ from performing an alarm to the driver by the warning device 44, the distance L _b by P ₁₁ of the vehicle 5 travels until the user has elapsed reaction time to the start of the manipulation of the vehicle 5 side A certain position is shown.

The road condition recognition means 50 is based on the position of the travel lane U detected by the image processing device 31, the map information of the travel lane U acquired by the GPS device 37, traffic information such as VICS earned by the communication device 38. , it recognizes the road conditions in front of the P _10.

Determining time determining means 51, based on road conditions at the distance L _a and P ₁₀ to P ₁₀ (curvature C _r of the traffic lane, lane regulation, construction regulations, etc.) and the running speed V _s, road conditions in P ₁₀ The time point t ₂₂ (the time point when the vehicle 5 reaches P ₂₂ ) at which an operation (brake operation, steering wheel operation, etc.) for dealing with the above needs to be started is calculated. The determination time T _j is determined by subtracting the estimated time (the driver's reaction time for the alarm) T _b until the driver starts the operation according to the alarm from the time from the current time t _{20 to} t _22. .

By determining the determination time T _j In this way, since at the time the vehicle 5 at a reduced state of the driver intent was reached P _12, an alarm for reliably the driver is made, corresponding to the road conditions in the P ₁₀ This makes it possible to prompt the driver to recover his / her driving intention at a timing at which no operation delay occurs.

Alternatively, the determination time T _j may be corrected using the driving intention recovery time data 61 stored in the memory 55. For example, when the most recent driving intention recovery time is long (when it takes a long time for the driver to recover driving intention after warning), it is assumed that the driver's attention and reaction time are reduced Therefore, it is effective to correct the judgment time T _j so that the warning is given early.

  Next, the start and stop processing of the “steering assist processing” by the steering assist means 54 will be described according to the flowcharts shown in FIGS.

  The steering assist means 54 is “steering assist processing” in STEP 50 by operating the main switch 43 (corresponding to a steering assist start switch for instructing start of steering assist processing by the driver's operation of the present invention) by the driver. When the start is instructed, the process proceeds to STEP 51 to start the “steering assist process”.

Then, when the stop condition of the “steering assist process” is satisfied in the next STEP 52, the process proceeds to STEP 53, where the steering assist means 54 stops the execution of the “steering assist process”. Here, as a stop condition of the “steering assist process”, (a) When a brake ON signal is input from the brake SW 41 (corresponding to the brake operation detecting means of the present invention) to the LKAS control device 2, (b) When the turn signal ON signal is input from the turn signal SW40 to the LKAS controller 2, (c) When the wiper ON signal is input from the wiper SW42 to the LKAS controller 2, (d) Driving by the LKAS controller 2 when recognition of lane marking is impossible, (e) when the conditions lowering the degree D _w driving intention has dropped below the threshold D _w - th has continued determination time T _j above, LKAS control from (f) main SW43 Six conditions are set when a signal instructing the apparatus 2 to stop the “steering assist process” is input.

  Then, in the following STEP 54, when the stop condition of the “steering assist process” established in STEP 52 is the ON signal of the brake SW 41 of (a), the process proceeds to STEP 55, and when other stop conditions are applied, the process branches to STEP 60. To do. If the stop condition of the “steering assist process” established in STEP 60 is the ON signal of the turn signal SW in (b) or the ON signal of the wiper SW in (c), the process proceeds to STEP 61, and other stop conditions If so, proceed to STEP 70 of FIG.

  If the stop condition of the “steering assist process” established in STEP 70 is unrecognizable for the travel lane marking by the LKAS device 2 in (d) above, the process proceeds to STEP 71, and if it is any other stop condition, STEP 80 Proceed to When the stop condition of the “steering assist process” established in STEP 80 is due to the lowering of the driving intention of (e), the process proceeds to STEP 81, and other stop conditions (by the operation of the main SW 43 of (f) above) Branch to STEP 50 in FIG.

  Then, when the stop condition of the “steering assist process” established in STEP 54 is the ON signal of the brake SW 41 in (a), the process proceeds to STEP 55, where the steering assist means 54 performs braking from the brake SW 41 to the LKAS control device 2. The presence or absence of the ON signal is confirmed and the driver waits for the brake operation to end.

  When the brake ON signal is not input from the brake SW 41 to the LKAS control device 2 at STEP 55 (when the brake operation by the driver is finished), the routine proceeds to STEP 56, where the steering assist means 54 sets a timer with Tw as a set time. When the timer expires in the next STEP 57, the process proceeds to STEP 51 to start (restart) the “steering assist process”. Thus, the “steering assist process” is resumed without the driver's operation of the main switch 43, and the convenience of the driver is good.

  The set time Tw of the timer may be a fixed time, or may be set variably according to the traveling speed and acceleration of the vehicle. In this case, it is assumed that the higher the vehicle traveling speed, the longer the time required for the driver to perform a brake operation (for example, to decelerate and avoid obstacles on the road). The higher the setting time Tw, the longer the setting time Tw may be set.

  In this case, Tw corresponds to a predetermined time of the present invention, and after the “steering assist process” is stopped in STEP 53, the brake ON signal is not input from the brake SW 41 to the LKAS controller 2 in STEP 55, and the Tw timer is determined in STEP 56. Is started, and Tw has elapsed in STEP 57 corresponds to the stop cancellation condition of the present invention.

Further, instead of the elapsed time, changes in the steering torque Q _d after the ON signal of the brake SW41 is input, the change in pedal force of the brake pedal (not shown), the operation amount of change of the accelerator pedal (not shown) The condition for resuming the “steering assist process” (corresponding to the stop cancellation condition of the present invention) may be set by other elements.

  Next, when the established stop condition of the “steering assist process” is based on the input of the turn signal ON signal in (b) or the input of the wiper ON signal in (c), a turn signal OFF signal is input in STEP 60 and When the wiper OFF signal is input, the process proceeds to STEP 51 and the steering assist means 54 starts (restarts) the “steering assist process”.

  Further, when the established “steering assist processing” stop condition is that the travel lane cannot be recognized in the above (d), the process goes to STEP 51 when the travel lane can be recognized by the LKAS control device 2 in STEP 71. The steering assist means 54 starts (restarts) “steering assist processing”.

Further, a condition for stopping satisfied "steering assist processing", when was a decrease in the driving intention of the (e) is greater than the reduction degree D _w is the threshold D _w - th driving intention at STEP 81, the driving intention Recovery When recognized, the process proceeds to STEP 51, where the steering assist means 54 starts (restarts) the “steering assist process”.

  When the established “steering assist process” stop condition is due to the operation of the main SW 43 in (f) above, the process proceeds to STEP 51 when the start operation of the “steering assist process” is performed by the main SW 43 in STEP 50, and the steering assist is performed. The means 54 starts (restarts) the “steering assist process”.

1 is an overall configuration diagram of a vehicle steering control device of the present invention. Explanatory drawing which showed the position deviation Yd of the vehicle with respect to the central axis Yc of the driving lane of curvature 1 / R, and the angle deviation Ah of a vehicle. The block diagram of the LKAS control apparatus shown in FIG. Explanatory drawing of the map for determining the 2nd determination time based on the map for determining the 1st determination time based on driving speed, and the curvature of a driving lane. The operation | movement flowchart of a LKAS control apparatus. Explanatory drawing which showed the timing when the warning by a driving intention fall countermeasure means and prohibition of a steering assist process are performed. Explanatory drawing of the setting method of the determination time corresponding to the road condition ahead. It is a flowchart of a start and stop process of a steering assist process. It is a flowchart of a start and stop process of a steering assist process.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle steering control apparatus, 2 ... LKAS control apparatus, 3 ... EPS control apparatus, 11 ... Steering wheel, 16 ... Manual steering force generation mechanism (steering mechanism), 20 ... Motor (actuator), 22 ... Torque sensor, 30 DESCRIPTION OF SYMBOLS ... Camera, 31 ... Image processing apparatus (travel lane recognition means), 32 ... Yaw rate sensor, 33 ... Steering angle sensor, 34 ... Vehicle speed sensor (vehicle speed detection means), 50 ... Road condition recognition means, 51 ... Determination time determination means, 52 ... Driving intention detection means, 53 ... Driving intention reduction countermeasure means, 54 ... Steering assist means

Claims (14)

Traveling lane recognition means for recognizing the traveling lane of the vehicle;
An actuator for driving a steering mechanism capable of steering a steering wheel of a vehicle;
Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver of the vehicle;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle steering control device comprising driving intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed of the vehicle;
Road condition recognition means for recognizing the road condition of the driving lane;
The shorter one of the first determination time based on the travel speed detected by the vehicle speed detection means and the second determination time based on the road condition of the travel lane recognized by the road condition recognition means is determined as the determination time. steering control apparatus for a vehicle, characterized in that a determination time determining means for determining a time. Traveling lane recognition means for recognizing the traveling lane of the vehicle;
An actuator for driving a steering mechanism capable of steering a steering wheel of a vehicle;
Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver of the vehicle;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle steering control device comprising driving intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed of the vehicle;
The higher the travel speed detected by the vehicle speed detection means, the shorter the determination time is set. When the travel speed detected by the vehicle speed detection means is less than or equal to a predetermined lower limit speed, the preset first time is set. A vehicle steering control device comprising: determination time determining means for determining an upper limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane of the vehicle;
An actuator for driving a steering mechanism capable of steering a steering wheel of a vehicle;
Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver of the vehicle;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle steering control device comprising driving intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed of the vehicle;
The higher the traveling speed detected by the vehicle speed detecting means, the shorter the determination time is set. When the traveling speed detected by the vehicle speed detecting means is equal to or higher than a predetermined upper limit speed, the preset first time is set. A vehicle steering control device comprising: determination time determining means for determining a lower limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane of the vehicle;
An actuator for driving a steering mechanism capable of steering a steering wheel of a vehicle;
Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver of the vehicle;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle steering control device comprising driving intention lowering countermeasure means for performing at least one of the following:
Road condition recognition means for recognizing the degree of curve of the driving lane as the road condition;
When the degree of turning of the traveling lane recognized by the road condition recognition unit is larger, the determination time is set shorter, and when the degree of bending of the traveling lane recognized by the road condition recognition unit is equal to or lower than a predetermined lower limit level. A vehicle steering control device comprising: determination time determining means for determining a preset second upper limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane of the vehicle;
An actuator for driving a steering mechanism capable of steering a steering wheel of a vehicle;
Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver of the vehicle;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle steering control device comprising driving intention lowering countermeasure means for performing at least one of the following:
Road condition recognition means for recognizing the degree of curve of the driving lane as the road condition;
When the degree of turning of the traveling lane recognized by the road condition recognition unit is larger, the determination time is set shorter, and when the degree of bending of the traveling lane recognized by the road condition recognition unit is equal to or higher than a predetermined upper limit level. A vehicle steering control device comprising: determination time determining means for determining a preset second lower limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane of the vehicle;
An actuator for driving a steering mechanism capable of steering a steering wheel of a vehicle;
Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver of the vehicle;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle steering control device comprising driving intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed of the vehicle;
Road condition recognition means for recognizing a road condition ahead of a predetermined distance from the vehicle;
The elapsed time from the time of recognition of the road condition to the time when the driver needs to start the operation for dealing with the road condition is determined as the running speed detected by the road condition and the predetermined distance and the vehicle speed detecting means. The determination time is determined by subtracting an estimated time from the notification by the driving intention reduction countermeasure means from the elapsed time until the driver starts the operation according to the notification from the elapsed time. A vehicle steering control device comprising: a determination time determination unit. Traveling lane recognition means for recognizing the traveling lane of the vehicle;
An actuator for driving a steering mechanism capable of steering a steering wheel of a vehicle;
Steering assist means for executing steering assist processing for driving the actuator so that the vehicle travels along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver of the vehicle;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle steering control device comprising driving intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed of the vehicle;
Driving intention recovery time storage means for storing past data of driving intention recovery time, which is a time from when the notification by the notification means is made until the degree of decrease in driving intention by the driving intention detection means becomes less than the threshold; ,
A determination time for determining the determination time based on the traveling speed detected by the vehicle speed detection means, and correcting the determination time according to the data of the driving intention recovery time stored in the driving intention recovery time storage means. A vehicle steering control device comprising: a determination unit. Traveling lane recognition means for recognizing the traveling lane;
An actuator for driving a steering mechanism capable of steering the steered wheels;
Steering assist means for executing steering assist processing for driving the actuator so as to travel along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle provided with a drive intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed;
Road condition recognition means for recognizing the road condition of the driving lane;
The shorter one of the first determination time based on the travel speed detected by the vehicle speed detection means and the second determination time based on the road condition of the travel lane recognized by the road condition recognition means is determined as the determination time. vehicle, characterized in that a determination time determining means for determining a time. Traveling lane recognition means for recognizing the traveling lane;
An actuator for driving a steering mechanism capable of steering the steered wheels;
Steering assist means for executing steering assist processing for driving the actuator so as to travel along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle provided with a drive intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed;
The higher the travel speed detected by the vehicle speed detection means, the shorter the determination time is set. When the travel speed detected by the vehicle speed detection means is less than or equal to a predetermined lower limit speed, the preset first time is set. A vehicle comprising: determination time determining means for determining an upper limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane;
An actuator for driving a steering mechanism capable of steering the steered wheels;
Steering assist means for executing steering assist processing for driving the actuator so as to travel along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle provided with a drive intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed;
The higher the traveling speed detected by the vehicle speed detecting means, the shorter the determination time is set. When the traveling speed detected by the vehicle speed detecting means is equal to or higher than a predetermined upper limit speed, the preset first time is set. A vehicle comprising: determination time setting means for determining a lower limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane;
An actuator for driving a steering mechanism capable of steering the steered wheels;
Steering assist means for executing steering assist processing for driving the actuator so as to travel along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle provided with a drive intention lowering countermeasure means for performing at least one of the following:
Road condition recognition means for recognizing the degree of curve of the driving lane as the road condition;
When the degree of bending of the traveling lane recognized by the road condition recognition unit is larger, the determination time is set shorter, and when the degree of bending of the traveling lane recognized by the road condition recognition unit is equal to or lower than a predetermined lower limit level. And a determination time determining means for determining a preset second upper limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane;
An actuator for driving a steering mechanism capable of steering the steered wheels;
Steering assist means for executing steering assist processing for driving the actuator so as to travel along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle provided with a drive intention lowering countermeasure means for performing at least one of the following:
Road condition recognition means for recognizing the degree of curve of the driving lane as the road condition;
When the degree of turning of the traveling lane recognized by the road condition recognition unit is larger, the determination time is set shorter, and when the degree of bending of the traveling lane recognized by the road condition recognition unit is equal to or higher than a predetermined upper limit level. And a determination time determining means for determining a preset second lower limit time as the determination time. Traveling lane recognition means for recognizing the traveling lane;
An actuator for driving a steering mechanism capable of steering the steered wheels;
Steering assist means for executing steering assist processing for driving the actuator so as to travel along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle provided with a drive intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed;
Road condition recognition means for recognizing a road condition ahead of a predetermined distance from the vehicle;
The elapsed time from the time of recognition of the road condition to the time when the driver needs to start the operation for dealing with the road condition is determined as the running speed detected by the road condition and the predetermined distance and the vehicle speed detecting means. The determination time is determined by subtracting an estimated time from the notification by the driving intention reduction countermeasure means from the elapsed time until the driver starts the operation according to the notification from the elapsed time. A vehicle comprising: a determination time determination unit. Traveling lane recognition means for recognizing the traveling lane;
An actuator for driving a steering mechanism capable of steering the steered wheels;
Steering assist means for executing steering assist processing for driving the actuator so as to travel along the travel lane recognized by the travel lane recognition means;
Driving intention detection means for detecting the degree of decrease in driving intention of the driver;
Notification means;
When the state in which the degree of decrease in the driving intention detected by the driving intention detection unit is equal to or greater than a predetermined threshold continues for a predetermined determination time or longer, the prohibition of the steering assist process and the notification by the notification unit A vehicle provided with a drive intention lowering countermeasure means for performing at least one of the following:
Vehicle speed detecting means for detecting the traveling speed;
Driving intention recovery time storage means for storing past data of driving intention recovery time, which is a time from when the notification by the notification means is made until the degree of decrease in driving intention by the driving intention detection means becomes less than the threshold; ,
A determination time for determining the determination time based on the traveling speed detected by the vehicle speed detection means, and correcting the determination time according to the data of the driving intention recovery time stored in the driving intention recovery time storage means. And a determining means.

Images