JP5475257B2 - Lane departure prevention control device - Google Patents

Description

  The present invention relates to a lane departure prevention control device that is provided in a vehicle such as an automobile and prevents a departure from the traveling lane of the host vehicle, and more particularly to a device that can obtain an appropriate support level according to the traveling environment of the vehicle.

The lane departure prevention control device recognizes the traveling lane of the host vehicle by environment recognition means such as a stereo camera, and provides a steering force for maintaining the host vehicle in the lane according to the tendency of the host vehicle to deviate from the traveling lane. It is given to the steering mechanism.
For example, Patent Literature 1 discloses a steering support system that sets a travel target point in front of the host vehicle and performs steering control so that the host yaw rate matches the target yaw rate when the vehicle travels on the travel target point. Is described.
JP 2005-332192 A

In steering control in the lane departure prevention control device, when the support level for driving the host vehicle along the target travel position is increased by feedback control between the actual steering angle and the target steering angle, interference between the driver's steering operation and control may occur. In some cases, it is likely to occur and give the driver a sense of incongruity. In order to prevent such interference, it is necessary to frequently stop the steering control.
On the other hand, when the control is made low without providing feedback of the actual steering angle, and the control stability is lowered to facilitate the driver's intervention, interference with the driver's steering operation is unlikely to occur. However, in driving situations where the driver expects a higher level of assistance, such as when driving on highways, using other driving assistance devices such as cruise control, or when visibility is deteriorating, the assistance level expected by the driver is obtained. The convenience of the device is impaired.

Conventional lane departure prevention control devices generally perform control in conjunction with cruise control mainly when driving on highways, etc., so the support level is set to a certain level to this specific situation. In many cases, optimized control is performed. However, when the usable range of the lane departure prevention control device is expanded to when cruise control is turned off or when driving on ordinary roads, interference between the driver operation and control frequently occurs, and the driver may feel a sense of restraint and discomfort. Concerned.
On the other hand, even when a low support level is usually required, such as when driving on general roads, for example, at low visibility such as at night or in rainy weather, or in situations where there is a large risk of deviation such as face-to-face traffic or downhill It is required to raise the support level to some extent.
The subject of this invention is providing the lane departure prevention control apparatus which can obtain the steering force of a suitable assistance level according to the driving | running | working condition of a vehicle.

The present invention solves the above-described problems by the following means.
According to a first aspect of the present invention, there is provided a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, a traveling state detection unit that detects a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle. Second steering force setting means for setting the present second steering force by feedforward control of the steering force based on the target steer angle and the vehicle state quantity; and the first steering force in accordance with the travel situation And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The travel condition detection means includes high standard road determination means for determining whether the road on which the host vehicle is traveling is a high standard road, and vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed. And the target steering force setting means determines whether the high-standard road discrimination means determines the high-standard road when the high-standard road discrimination means determines the high-standard road and the vehicle speed maintenance support means is operating. Discriminate high-standard roads, and For the case wherein the vehicle speed maintenance supporting means is inactive, the driver determines that the situation where obtaining a higher level of assistance, sets the target steering force so as to increase the proportion of the first steering force A lane departure prevention control device characterized by the above.

In here, the high-standard road, for example, is intended to refer to the motorway, the motorway and the like.

According to a second aspect of the present invention, there is provided a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent a departure from a lane of the host vehicle, a traveling state detection unit that detects a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle. Second steering force setting means for setting the present second steering force by feedforward control of the steering force based on the target steer angle and the vehicle state quantity; and the first steering force in accordance with the travel situation And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The travel condition detection means includes high standard road determination means for determining whether the road on which the host vehicle is traveling is a high standard road, and vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed. And the target steering force setting means determines whether the high-standard road discrimination means determines the high-standard road when the high-standard road discrimination means determines the high-standard road and the vehicle speed maintenance support means is operating. Without distinguishing high-standard roads When the vehicle speed maintenance support means is operating, it is determined that the driver is seeking a higher support level, and the target steering force is set to increase the ratio of the first steering force. it is a car line departure prevention control device you characterized.

According to a third aspect of the present invention, there is provided a lane departure prevention control apparatus that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, a traveling state detection unit that detects a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle. Second steering force setting means for setting the present second steering force by feedforward control of the steering force based on the target steer angle and the vehicle state quantity; and the first steering force in accordance with the travel situation And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The travel condition detection means includes vehicle speed detection means for detecting the vehicle speed of the host vehicle and vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed, and the target steering force setting means is When the vehicle speed is equal to or higher than a predetermined threshold value and the vehicle speed maintenance support means is operating, the driver is compared with the case where the vehicle speed is equal to or higher than a predetermined threshold value and the vehicle speed maintenance support means is inactive. Higher support Determines that the situation where obtaining a bell, a car line deviation prevention controller you and sets the target steering force so as to increase the proportion of the first steering force.

According to a fourth aspect of the present invention, in a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, a traveling state detection unit that detects a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle. Second steering force setting means for setting the present second steering force by feedforward control of the steering force based on the target steer angle and the vehicle state quantity; and the first steering force in accordance with the travel situation And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The travel condition detection means includes vehicle speed detection means for detecting the vehicle speed of the host vehicle and vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed, and the target steering force setting means is When the vehicle speed is equal to or higher than a predetermined threshold value and the vehicle speed maintenance support means is operating, the driver is operated when the vehicle speed is less than the predetermined threshold value and the vehicle speed maintenance support means is operating. Higher support Determines that the situation where obtaining a bell, a car line deviation prevention controller you and sets the target steering force so as to increase the proportion of the first steering force.

According to a fifth aspect of the present invention, in the lane departure prevention control device that applies a steering force to the steering mechanism so as to prevent the departure of the host vehicle from the lane, a traveling state detection unit that detects the traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle. Second steering force setting means for setting the present second steering force by feedforward control of the steering force based on the target steer angle and the vehicle state quantity; and the first steering force in accordance with the travel situation And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The travel condition detection means includes follow-up travel determination means for determining follow-up travel to a preceding vehicle, and the target steering force setting means is configured to detect the follow-up when the follow-up travel is determined by the follow-up travel determination means. for the case where the running is not determined, the driver determines that the situation where obtaining a higher level of assistance, you and sets the target steering force so as to increase the proportion of the first steering force car Line A prevention control device.
According to a sixth aspect of the present invention, the travel condition detection means includes vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed, and the target steering force setting means is determined by the following travel determination means. When the follow-up traveling is determined and the vehicle speed maintenance support means is operating, the driver determines whether the following travel is determined by the following travel determination means and the vehicle speed maintenance support means is inactive. 6. The lane departure prevention control device according to claim 5 , wherein the target steering force is set so as to increase the ratio of the first steering force by determining that a higher support level is required. .

According to a seventh aspect of the present invention, there is provided a lane departure prevention control apparatus that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, a traveling state detection unit that detects a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle. Second steering force setting means for setting the present second steering force by feedforward control of the steering force based on the target steer angle and the vehicle state quantity; and the first steering force in accordance with the travel situation And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling condition detecting means includes light / dark determining means for determining the light / dark of the traveling environment of the host vehicle, and the target steering force setting means is configured to determine the predetermined darkness when the predetermined darkness is determined by the light / dark determining means. When the darkness of the vehicle is not determined, it is determined that the driver is in a situation of seeking a higher assistance level, and the target steering force is set so as to increase the ratio of the first steering force. car line departure prevention that A control device.

The invention according to claim 8 is a lane departure prevention control device for applying a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, a traveling state detection means for detecting a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle. Second steering force setting means for setting the present second steering force by feedforward control of the steering force based on the target steer angle and the vehicle state quantity; and the first steering force in accordance with the travel situation And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling state detecting means includes tunnel detecting means for detecting traveling of the host vehicle in a tunnel, and the target steering force setting means is configured to detect a tunnel when the traveling of the host vehicle is detected by the tunnel detecting means. It is determined that the driver is in a situation where a higher support level is required for the case where no internal travel is detected, and the target steering force is set so as to increase the ratio of the first steering force. A car line departure prevention control device shall be the.
According to the ninth aspect of the present invention, the target steering force setting means is configured such that the driver seeks a higher support level when the host vehicle is traveling in a normal tunnel when the vehicle is within a predetermined period after entering the tunnel. 9. The lane departure prevention control device according to claim 8 , wherein the target steering force is set so as to further increase the ratio of the first steering force.
The invention according to claim 10 is such that the target steering force setting means determines a higher assistance level for the driver when the host vehicle is traveling outside the normal tunnel when the vehicle is within a predetermined period after leaving the tunnel. determined to be a lane departure prevention control device according to claim 8 or claim 9, characterized in that for setting the target steering force so as to increase the proportion of the first steering force.

According to an eleventh aspect of the present invention, in the lane departure prevention control device for applying a steering force to the steering mechanism so as to prevent the departure of the own vehicle from the lane, a traveling state detection means for detecting a traveling state of the own vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle A second steering force setting means for setting a second steering force to be realized by feedforward control of a steering force based on the target steering angle and the vehicle state quantity; and the first steering force according to the traveling state. And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling condition detection means includes rainy weather detection means for detecting rainy weather traveling of the host vehicle, and the target steering force setting means detects rainy weather travel when rainy weather traveling is detected by the rainy weather detection means. respect If not, the driver determines that the situation where obtaining a higher level of assistance, the first steering force car line deviation preventing you and sets the target steering force so as to increase the proportion of control It is the location.

According to a twelfth aspect of the present invention, there is provided a lane departure prevention control apparatus that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, and a traveling state detection unit that detects a traveling state of the host vehicle; Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle A second steering force setting means for setting a second steering force to be realized by feedforward control of a steering force based on the target steering angle and the vehicle state quantity; and the first steering force according to the traveling state. And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling state detecting means includes oncoming vehicle traveling lane detecting means for detecting an oncoming vehicle traveling lane adjacent to the traveling lane of the host vehicle, and the target steering force setting means is detected by the oncoming vehicle traveling lane detecting means. When a vehicle lane is detected, it is determined that the driver seeks a higher assistance level than when the oncoming vehicle lane is not detected, and the ratio of the first steering force is increased. A car line deviation prevention controller you and sets the serial target steering force.

According to a thirteenth aspect of the present invention, there is provided a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle. Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle A second steering force setting means for setting a second steering force to be realized by feedforward control of a steering force based on the target steering angle and the vehicle state quantity; and the first steering force according to the traveling state. And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling condition detecting means includes an oncoming vehicle light detecting means for detecting a high brightness light of an oncoming vehicle, and the target steering force setting means is configured to detect when the high brightness light is detected by the oncoming vehicle light detecting means. When the high-intensity lamp is not detected, it is determined that the driver seeks a higher assistance level, and the target steering force is set to increase the ratio of the first steering force. to the Is a car line deviation prevention control apparatus.

According to a fourteenth aspect of the present invention, there is provided a lane departure prevention control apparatus that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle. Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle A second steering force setting means for setting a second steering force to be realized by feedforward control of a steering force based on the target steering angle and the vehicle state quantity; and the first steering force according to the traveling state. And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling condition detecting means includes solar facing determination means for determining whether the host vehicle is substantially facing the sun, and the target steering force setting means is configured so that the solar facing determination means is substantially facing the sun. When it is determined, the target steering is determined to increase the ratio of the first steering force by determining that the driver is in a situation of seeking a higher assistance level than when the sun is not directly facing. Force setting A car line departure prevention control device you characterized.

According to a fifteenth aspect of the present invention, there is provided a lane departure prevention control apparatus that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, a traveling state detection unit that detects a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle A second steering force setting means for setting a second steering force to be realized by feedforward control of a steering force based on the target steering angle and the vehicle state quantity; and the first steering force according to the traveling state. And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling state detecting means includes imaging means for acquiring an image ahead of the host vehicle, and the target steering force setting means is in a low contrast state when the image taken by the imaging means is in a predetermined low contrast state. for the case not, the driver determines that the situation where obtaining a higher level of assistance, the first to increase the ratio of the steering force you and sets the target steering force drive lines departing proof A control device.

According to a sixteenth aspect of the present invention, there is provided a lane departure prevention control apparatus that applies a steering force to a steering mechanism so as to prevent a departure from the lane of the host vehicle, a traveling state detection unit that detects a traveling state of the host vehicle, Lane recognition means for recognizing the traveling lane; target lateral position setting means for setting a target lateral position at a predetermined position of the lane; and own vehicle lateral position recognition means for recognizing the lateral position of the vehicle relative to the lane; Actual steer angle detecting means for detecting an actual steer angle of the steering mechanism; target steer angle calculating means for calculating a target steer angle of the steering mechanism so that a lateral position of the host vehicle approaches the target lateral position; and the target A first steering force setting means for setting a first steering force for realizing a steering angle by feedback control of a steering angle based on a deviation between the target steering angle and the actual steering angle; and the target steering angle A second steering force setting means for setting a second steering force to be realized by feedforward control of a steering force based on the target steering angle and the vehicle state quantity; and the first steering force according to the traveling state. And a target steering force setting means for setting a target steering force by changing a ratio between the second steering force and a steering force control means for applying a steering force to the steering mechanism based on the target steering force. The traveling condition detecting means includes a downward gradient detecting means for detecting the downward gradient of the road on which the host vehicle is traveling, and the target steering force setting means is configured to detect when the downward gradient is detected by the downward gradient detecting means. In the case where no downward slope is detected, it is determined that the driver is in a situation of seeking a higher assistance level, and the target steering force is set so as to increase the ratio of the first steering force. that car A departure prevention control device.
The invention according to claim 17 is characterized in that the second steering force setting means sets an estimated self-aligning torque obtained according to the target steering angle and the vehicle state quantity as the second steering force. The lane departure prevention control device according to any one of claims 1 to 16.

According to the present invention, the following effects can be obtained.
(1) Changing the ratio of the first steering force with a relatively high support level for driving the vehicle along the target travel position and the second steering force with a relatively low support level according to the driving situation. Thus, an appropriate support level according to the driving situation can be obtained.
(2) By setting the estimated self-aligning torque obtained according to the target steering angle and the vehicle state quantity as the second steering force, the target steering force is appropriately set even when the actual steering angle is not fed back. It is also possible to prevent the driver from feeling uncomfortable when the steering force is applied.

(3) At the time of operation of the vehicle speed maintenance support means, the driver has a strong tendency to depend on the driving support device on the vehicle side, and there is a tendency to demand a higher support level for the lane departure prevention control. When the high-standard road is determined and the vehicle speed maintenance support means is operating, the high-standard road determination means determines the high-standard road and the vehicle speed maintenance support means is inactive. By setting the target steering force so as to increase the ratio of the first steering force, a high assistance level that meets the driver's expectation can be obtained.

(4) Even if the vehicle is traveling on a general road (non-standard road), if the vehicle speed maintenance support device is operating, the vehicle speed maintenance support on the general road is not as high as the driver is traveling on the high-standard road. Since there is a tendency to require a higher support level than when the device is not in operation, the high standard road discrimination means when the high standard road discrimination means discriminates the high standard road and the vehicle speed maintenance support means is operating. By setting the target steering force so as to increase the ratio of the first steering force when the means does not discriminate the high standard road and the vehicle speed maintenance support means is operating, the driver's expectation is met. A high level of support can be obtained.

(5) When the vehicle is running at a high speed and the vehicle speed maintenance support means is operating, the driver tends to seek a higher assistance level than when the vehicle speed maintenance support means is inactive. When the vehicle speed maintenance support means is operating above the threshold and the vehicle speed maintenance support means is operating, the ratio of the first steering force is increased with respect to the case where the vehicle speed is above the predetermined threshold and the vehicle speed maintenance support means is not operating. By setting the target steering force in such a manner, a high support level that meets the driver's expectations can be obtained.

(6) When driving at high speed and the vehicle speed maintenance support means is operating, the driver tends to seek a higher support level than when driving at low speed and the vehicle speed maintenance support means is operating. Therefore, when the vehicle speed is equal to or higher than a predetermined threshold and the vehicle speed maintenance support means is operating, the first speed is compared with the case where the vehicle speed is less than the predetermined threshold and the vehicle speed maintenance support means is operating. By setting the target steering force so as to increase the ratio of the steering force, a high assistance level that meets the driver's expectation can be obtained.

(7) When traveling following the preceding vehicle, the driver tends to seek a high assistance level, so when the following travel is determined by the following travel determining means, the following travel is not determined. By setting the target steering force so as to increase the ratio of the first steering force, a high support level that meets the driver's expectations can be obtained.
(8) When the preceding vehicle is following and the vehicle speed maintenance support means is operating, the driver tends to seek a higher assistance level than when the vehicle is not operating. When the support means is operating, the target steering force is increased so as to increase the ratio of the first steering force when the following travel is determined by the following travel determination means and the vehicle speed maintenance support means is inactive. By setting, it is possible to obtain a high support level that meets the driver's expectations.

(9) When the surroundings are dark and the visibility is low, the driver tends to seek a higher support level. Therefore, when the predetermined darkness is determined by the light / dark determination means, the predetermined darkness When the target steering force is set so as to increase the ratio of the first steering force, the high support level that meets the driver's expectation can be obtained.

(10) Since the driver tends to seek a higher assistance level when traveling in the tunnel, when the tunnel detection means detects that the vehicle is traveling in the tunnel, By setting the target steering force so as to increase the ratio of the steering force of 1, a high assistance level that meets the driver's expectation can be obtained.
(11) Immediately after entering the tunnel, the driver's eyes are not used to darkness and the driver tends to seek a higher support level. By setting the target steering force so as to further increase the ratio of the first steering force when the vehicle is traveling in the tunnel, a high assistance level that meets the driver's expectation can be obtained.
(12) Immediately after leaving the tunnel, the driver is dazzled and the driver tends to seek a higher level of support. Therefore, when the host vehicle is traveling outside the tunnel when the vehicle is within a predetermined period after leaving the tunnel. On the other hand, by setting the target steering force so as to increase the ratio of the first steering force, a high support level that meets the driver's expectation can be obtained.

(13) In the case of rainy weather, the visibility of the lane is reduced and the driver tends to seek a higher assistance level. Therefore, when rainy weather traveling is detected by the rainy weather traveling detection means, the rainy weather traveling is not detected. By setting the target steering force so as to increase the ratio of the first steering force, a high support level that meets the driver's expectations can be obtained.

(14) When traveling adjacent to the oncoming vehicle lane (face-to-face traffic), the driver tends to expect a higher level of assistance. Is detected, the target steering force is set to increase the ratio of the first steering force with respect to the case where the oncoming vehicle lane is not detected, thereby obtaining a high assistance level that meets the driver's expectation. be able to.

(15) When there is a high-intensity lamp in the oncoming vehicle, the driver tends to be dazzled and the driver tends to expect a higher support level. By setting the target steering force so as to increase the ratio of the first steering force when no high-intensity lamp is detected, a high assistance level that meets the driver's expectation can be obtained.

(16) When the vehicle travels almost directly to the sun, the driver is likely to be dazzled and the driver tends to expect a higher support level. In this case, by setting the target steering force so as to increase the ratio of the first steering force with respect to the case where the direct facing to the sun is not determined, a high support level that meets the driver's expectation can be obtained. Can be obtained.

(17) Since the driver tends to expect a higher support level when the contrast of the field of view ahead of the host vehicle is low, such as when the surroundings are dark or when fog is appearing, the imaging means Satisfying the driver's expectation by setting the target steering force to increase the ratio of the first steering force when the captured image is in a predetermined low contrast state and not in the low contrast state High support level can be obtained.

(18) When the vehicle is traveling on a downward slope where the vehicle speed tends to increase, the driver tends to expect a higher assistance level in order to reliably prevent lane departure. In such a case, by setting the target steering force so as to increase the ratio of the first steering force with respect to the case where no downward gradient is detected, a high assistance level that meets the driver's expectation can be obtained.

  The present invention provides a steering angle control that feeds back an actual steering angle and matches a target steering angle with a problem of providing a lane departure prevention control device capable of obtaining a steering force of an appropriate support level according to a traveling state of a vehicle, Solved by changing the control sharing ratio with the torque control that uses the self-aligning torque estimated from the target steer angle as the target steering torque, depending on the road conditions, cruise control on / off, visibility conditions, etc. did.

Embodiments of a lane departure prevention control apparatus to which the present invention is applied will be described below.
The lane departure prevention control device according to the embodiment is provided in, for example, a four-wheeled vehicle such as a passenger car that steers the two front wheels.
FIG. 1 is a diagram illustrating a system configuration of a vehicle including a lane departure prevention control device according to an embodiment. This lane departure prevention control device applies a steering torque (steering force) to the steering mechanism 10.
The steering mechanism 10 performs steering by rotating the housing H that supports the front wheel FW about a predetermined steering axis (king pin).

The steering mechanism 10 includes a steering wheel 11, a steering shaft 12, a steering gear box 13, a tie rod 14, and the like.
The steering wheel 11 is an annular operation member through which a driver inputs a steering operation.
The steering shaft 12 is a rotating shaft that transmits the rotation of the steering wheel 11 to the steering gear box 13.
The steering gear box 13 includes a rack and pinion mechanism that converts the rotational movement of the steering shaft 12 into a straight movement in the vehicle width direction.
The tie rod 14 is a shaft-like member having one end connected to the rack of the steering gear box 13 and the other end connected to the knuckle arm of the housing H. The tie rod 14 steers by rotating the housing H by pushing and pulling the knuckle arm of the housing H.

  The vehicle also includes an electric power steering (EPS) control unit 20, a safety control unit 30, an engine control unit 40, a transmission control unit 50, a cruise control control unit 60, a vehicle integration unit 70, and the like.

The EPS control unit 20 comprehensively controls an electric power steering device that generates a steering assist force in accordance with a driver's steering operation. The EPS control unit 20 is connected to an electric actuator 21, a steering angle sensor 22, a torque sensor 23, and the like.
The electric actuator 21 is, for example, an electric motor that is provided in the middle of the steering shaft 12 and applies a steering torque (steering force) to the steering mechanism 10 via a speed reduction mechanism.
The steering angle sensor 22 includes an encoder that detects the angular position of the steering shaft 12 (substantially equal to the angular position of the staying wheel 11). The rudder angle sensor 22 functions as an actual steer angle detection means in the present invention.
The torque sensor 23 is inserted into the steering shaft 12 between the electric actuator 21 and the steering wheel 11 and detects torque acting on the steering shaft 12. Normally, the torque detected by the torque sensor 23 is substantially equal to the steering torque input to the steering wheel 11 by the driver.

The steering control unit 30 performs vehicle steering control and ABS control for individually controlling the braking force of each wheel brake. In vehicle stability control, when understeer or oversteer occurs, the braking force on the turning inner wheel side and the outer wheel side is made different to generate a yaw moment in the restoring direction. ABS control (anti-lock brake control) is for reducing and recovering the braking force of a wheel when the tendency of the wheel to lock is detected.
The steering control unit 30 is connected to a hydraulic control unit (HCU) 31, a vehicle speed sensor 32, a yaw rate sensor 33, a lateral acceleration (lateral G) sensor 34, and the like.

The HCU 31 is a device that individually controls the brake fluid hydraulic pressure applied to the hydraulic service brake of each wheel. The HCU 31 includes a motor pump that pressurizes the brake fluid, a solenoid valve that adjusts the pressure applied to the caliper cylinder of each wheel, and the like.
The vehicle speed sensor 32 is provided in a housing that holds the hub bearing of each wheel, and outputs a vehicle speed pulse signal corresponding to the wheel speed. The vehicle speed pulse signal is subjected to predetermined processing, whereby the traveling speed of the vehicle can be obtained.
The yaw rate sensor 33 and the lateral G sensor 34 include a MEMS sensor that detects a rotational speed around the vertical axis of the vehicle body and a lateral acceleration, respectively.

The engine control unit 40 controls the engine, which is a driving power source for the vehicle, and its auxiliary equipment.
The transmission control unit 50 controls the automatic transmission that shifts the output of the engine and transmits it to the front and rear differentials.
The cruise control control unit 60 is vehicle speed maintenance support means for controlling the vehicle speed by controlling the engine output, brake braking force, etc. so as to maintain the vehicle speed set by the driver or follow the preceding vehicle.
The vehicle integration unit 70 controls the electrical components of the vehicle other than those related to each unit.

The lane departure prevention control apparatus of the embodiment includes a lane departure prevention control unit 100 described below.
The lane departure prevention control unit 100 includes the above-described EPS control unit 20, the operation control unit 30, the engine control unit 40, the transmission control unit 50, the cruise control control unit 60, the vehicle integration unit 70, and an in-vehicle such as a CAN communication system. It is connected via a LAN and can acquire various information and signals.

  The lane departure prevention control unit 100 includes an environment recognition unit 110, a target travel position setting unit 120, a host vehicle traveling path estimation unit 130, a travel state detection unit 140, a target steering force setting unit 150, a steering force control unit 160, and the like. I have. Each of these means may be configured as independent hardware, or a part or all of them may be configured as common hardware.

The environment recognition unit 110 recognizes the shape of the traveling lane of the host vehicle, the preceding vehicle, and the like based on image information obtained by imaging the front of the host vehicle.
FIG. 2 is a diagram illustrating an example of a planar arrangement of the host vehicle and the lane in the embodiment.
The environment recognition unit 110 is connected to a stereo camera 111, an image processing unit 112, and the like.
The stereo camera 111 includes, for example, a pair of main cameras and sub-cameras provided near the room mirror base at the upper end of the front window of the vehicle. Each of the main camera and the sub camera has a CCD camera. The main camera and the sub camera are installed apart from each other in the vehicle width direction. The main camera and the sub camera capture a reference image and a comparative image, respectively, and output image data related to these images to the image processing unit 112.
The image processing unit 112 performs A / D conversion on the image data of the reference image and the comparison image output from the stereo camera 111, performs predetermined image processing, and outputs the result to the environment recognition unit 110. This image processing includes, for example, correction of an attachment position error of each camera, noise removal, gradation optimization, and the like. The digitized image has, for example, a plurality of pixels arranged in a matrix in the vertical direction and the horizontal direction. Each of these pixels has a luminance value corresponding to the brightness of the subject.

  The environment recognition unit 110 detects the parallax of a pixel group that is a block composed of an arbitrary pixel or a plurality of pixels on the reference image based on the data of the reference image and the comparison image. This parallax is the amount of deviation between the position on the reference image and the position on the comparison image of a certain pixel or pixel group. Using this parallax, the distance from the vehicle to the subject corresponding to the pixel can be calculated based on the principle of triangulation.

Moreover, the environment recognition means 110 recognizes the shape of the white line etc. which are arrange | positioned at the lane both ends ahead of the own vehicle. In this specification, claims, etc., a white line means a continuous line or a broken line drawn at the end in the width direction of the lane, and the actual color is other than white (for example, amber) Includes lines.
The environment recognition unit 110 detects a pixel group in the white line WL portion based on the luminance data of the pixel from the reference image data. The orientation of the pixel group of the white line WL portion with respect to the host vehicle is detected based on the pixel position on the image data. Specifically, an area corresponding to a pixel position in the vertical direction on the road surface is scanned in the horizontal direction, and a portion where the luminance value changes suddenly is recognized as a lane outline. Then, the position of the white line is detected by calculating the distance of the pixel group in the white line portion.
The environment recognition means 110 can continuously detect the position of the white line to set a plurality of lane candidate points in the traveling direction of the vehicle, ignore the lane candidate points that cannot be matched, and set the lane candidate points. The area that does not exist is subjected to a predetermined complement process to recognize the lane shape ahead of the host vehicle.
The environment recognition unit 110 also detects information related to the relative speed that is the distance of the preceding vehicle (inter-vehicle distance) and the history of the inter-vehicle distance, and provides the information to the traveling state detection unit 140.

  The target travel position setting unit 120 sets the target travel position Xc at the center in the width direction of the travel lane of the host vehicle set by the environment recognition unit 110. The target travel position setting means 120 functions as the target lateral position setting means referred to in the present invention.

The own vehicle traveling path estimation means 130 is based on information from the environment recognition means 110, the running state of the vehicle detected by the steering angle sensor 22, the vehicle speed sensor 32, the yaw rate sensor 33, etc., and known vehicle specifications. The vehicle traveling path is estimated. The own vehicle traveling path estimating means 130 functions as the own vehicle lateral position recognizing means according to the present invention.
The own vehicle traveling path is estimated by, for example, calculating the lateral position Xe of the own vehicle OV at the gaze distance Z in front of the vehicle.
This will be described below using a coordinate system having an X-axis extending in the vehicle width direction and a Z-axis extending forward of the vehicle body with the center of gravity of the host vehicle OV as the origin.
The estimated lateral position Xe of the host vehicle's center of gravity at the gaze distance Z is obtained by the following equation 1 using the handle angle α.

In addition, the vehicle traveling path estimation unit 130 may estimate the lateral position using the yaw rate detected by the yaw rate sensor 33 as shown in the following equation 2, instead of estimating the lateral position using the steering wheel angle. it can.

Xe = Z ² γ / 2V (Formula 2)
Z: Gaze distance [m]
γ: vehicle yaw rate [rad / sec]

Further, the host vehicle traveling path estimation unit 130 has a function of detecting the yaw angle θ _yaw with respect to the traveling lane of the host vehicle OV using the environment recognition unit 110.

  The traveling state detection unit 140 detects a traveling environment of the host vehicle and acquires information necessary for environment correction of a target steering torque described later. The driving condition detection means 140 includes a highway detection means (not shown), a following traveling determination means, a light / dark determination means, a tunnel detection means, a rainy weather detection means, an oncoming vehicle lane detection means, an oncoming vehicle light detection means, and a solar facing determination means. , Low contrast detection means, down slope detection means and the like.

  The highway detection means detects whether the host vehicle is traveling on a high-standard road such as an expressway or an automobile-only road or is traveling on a general road other than that. The highway detection means detects, for example, highway (high standard road) traveling based on the vehicle speed being equal to or higher than a predetermined value over a predetermined period, but is not limited to this, for example, a navigation device or road-to-vehicle communication not shown. The system may be used to detect highway driving. In addition to the vehicle speed being equal to or higher than a predetermined value, the condition for detecting the highway may be that the actual rudder angle is not higher than a predetermined value for a predetermined period or longer. Furthermore, the traveling lane width (lane width) of the host vehicle recognized by the environment recognition unit 110 may be a condition that is equal to or greater than a predetermined value.

The follow-up traveling determination unit determines whether or not the host vehicle is following the preceding vehicle in cooperation with the environment recognition unit 110.
FIG. 3 is a graph showing an example of the history of the vehicle speed of the host vehicle, the relative speed with respect to the preceding vehicle, and the inter-vehicle distance.
The follow-up traveling determination unit determines that the host vehicle is following the preceding vehicle when the following conditions are satisfied over a predetermined period.
(1) The vehicle speed of the host vehicle is greater than or equal to a predetermined threshold (2) The relative speed between the host vehicle and the preceding vehicle is less than or equal to a predetermined threshold (3) The distance between the host vehicle and the preceding vehicle is less than or equal to a predetermined upper limit value and lower limit value Within the above range Here, the threshold value, the upper limit value, and the lower limit value may be changed in accordance with a change in a traveling state such as a change in vehicle speed.

  The light / dark discrimination means discriminates the light / dark (illuminance) of the environment around the host vehicle. The light / dark discrimination means communicates with the vehicle integrated unit 60 to detect on / off of the headlight switch of the vehicle, and when the headlight switch is on, the surroundings are determined to be a dark environment. The light / dark discrimination means may be configured to discriminate the dark environment when the road surface luminance is higher than the upper luminance in the image data ahead of the host vehicle. Further, the light / dark discrimination means may include an illuminance sensor and determine the dark environment based on the output thereof.

  The tunnel detecting means detects traveling of the host vehicle in a tunnel, tunnel approach, and tunnel exit. A tunnel detection means detects these based on the tunnel information contained in the map data of the navigation apparatus which is not illustrated, and the positioning data of the own vehicle position, for example. Further, the tunnel detection means may be configured to detect traveling of the host vehicle in the tunnel based on image data ahead of the host vehicle. In this case, for example, the tunnel detection means tunnels when the brightness of the road surface is higher than the brightness of the upper part of the image, when the brightness of the upper part of the image suddenly changes from a high state to a low state, or when a three-dimensional object is detected on the upper and left and right sides. It can be set as the structure which detects internal running. Further, the tunnel detection means may detect traveling in the tunnel based on turning on the headlamp switch. Further, the tunnel detection means can detect the exit of the tunnel based on the fact that there is no event that detected traveling in the tunnel. Further, it is determined that the tunnel is entering the tunnel for a predetermined period after the tunnel detection means starts detecting the traveling in the tunnel.

  The rainy run detection means detects that the host vehicle is running in the rain. The rainy run detection means communicates with the vehicle integrated unit 60 and detects the on / off state of the wiper switch. The rain travel detection means detects the rain travel of the host vehicle when the wiper switch is on. Also, the rainy run detection means may be configured to detect rainy run using rainy weather information from the navigation device or a raindrop sensor. Furthermore, the rain travel detection means may be configured to detect rain travel when a predetermined road surface reflection image is detected from image data in front of the host vehicle imaged by the stereo camera 111.

  The oncoming vehicle lane detecting means detects whether the oncoming vehicle lane exists adjacent to the traveling lane of the host vehicle. The oncoming vehicle travel lane detection means detects the oncoming vehicle travel lane when recognizing an oncoming vehicle approaching from the front in an area adjacent to the travel lane of the host vehicle set by the environment recognition means 110.

  The oncoming vehicle light detection means detects high beam lighting of the headlamp of the oncoming vehicle. The oncoming vehicle light detection means extracts a predetermined area on the oncoming vehicle lane as a light source corresponding area in the image data ahead of the host vehicle imaged by the stereo camera 111, and a predetermined high luminance pixel group exists in this area When it does, the high beam lighting of the oncoming vehicle is detected.

  The solar facing determination means determines whether the host vehicle is traveling in a state of facing the sun. The sun determination means determines whether the sun is facing from the image in front of the host vehicle captured by the stereo camera 111 when there is a high-luminance pixel group that is equal to or greater than a predetermined value in an empty area that is nearly facing the host vehicle. To do. Further, the solar facing determination means calculates the position of the sun based on, for example, the latitude, longitude, traveling direction of the host vehicle provided from the navigation device, and the current time, and the calculated sun position is the vehicle. It is good also as a structure which determines a solar confrontation when it is ahead.

  The low contrast detection means detects whether the contrast (luminance distribution) of the image data ahead of the host vehicle imaged by the stereo camera 111 satisfies a predetermined low contrast state. Such a low contrast state often occurs, for example, before sunrise or after sunset.

The down slope detecting means detects the down slope of the road on which the host vehicle is traveling. For example, the downward gradient can be detected by comparing the reference acceleration calculated from the vehicle speed history of the host vehicle with the actual acceleration detected by the acceleration sensor. Further, the downward gradient detecting means may be configured to detect the downward gradient based on gradient information included in map data of a navigation device (not shown). Further, the downward gradient detecting means may be configured to detect the downward gradient when the accelerator opening is equal to or smaller than a predetermined value and the increase in the vehicle speed is equal to or larger than the predetermined value.
The traveling state detection means 140 has a function of communicating with the cruise control control unit 60 and detecting whether the cruise control is operating or not.

The target steering force setting unit 150 sets a target steering force that the electric actuator 21 should apply to the steering mechanism 10 using the target travel position setting unit 120 and the own vehicle traveling path estimation unit 130.
The target steering force is set using a deviation of the host vehicle lateral position Xe with respect to the target travel position Xc and an anti-lane yaw angle θ _yaw with respect to the travel lane OL of the _host vehicle OV.

The target steering force setting unit 150 includes a target steer angle calculation unit 151, a steering angle control steering force setting unit 152, a torque control steering force setting unit 153, and the like. The target steering force setting means 150 is a predetermined weighting (setting of control sharing ratio) to the first steering force and the second steering force set by the steering angle control steering force setting means 152 and the torque control steering force setting means 153, respectively. Are combined and set as the target steering torque.
The target steering torque is obtained by adding a value obtained by multiplying the first steering force by the control sharing ratio a (0 ≦ a ≦ 1) and a value obtained by multiplying the second steering force by the control sharing ratio (1-a). By doing.

The target steer angle calculation means 151 calculates the target steer angle (steering angle) of the steering mechanism 10 so that the lateral position of the host vehicle OV approaches the target travel position Xc. The target steer angle calculation means 151 calculates the target steer angle using the following formula 3.

上述した舵角制御は、自車両を目標走行位置に沿って走らせる支援レベルがトルク制御に対して高く、また、ドライバに対して操舵すべき方向を教える効果も高いが、その反面、ドライバ操作との干渉が生じやすく、ドライバが拘束感、違和感を感じやすい傾向がある。 The steering angle control steering force setting means 152 sets the first steering force (steering torque) that realizes the target steering angle by feedback control of the steering angle based on the deviation between the target steering angle and the actual steering angle. Steering force setting means. Hereinafter, this control will be described as steering angle control.
FIG. 4 is a diagram illustrating a control block based on the steering angle control. In steering angle control, steer angle control based on model estimation and actual steer angle feedback using the target steer angle (course following steer angle) obtained based on the lateral position (lateral deviation) of the host vehicle and the yaw angle. To set the target steering torque and apply the steering torque to the steering mechanism 10. The vehicle side-to-lane lateral deviation and yaw angle associated with the application of the steering torque are fed back to calculate the target steer angle.
The steering angle control steering force setting means 152 calculates the target steering torque by PID control in which the actual steer angle is fed back using the target steer angle obtained by Expression 3 and the following Expression 4.

The steering angle control described above has a high support level for driving the vehicle along the target travel position with respect to the torque control, and has a high effect of teaching the driver the direction to be steered. There is a tendency for the driver to feel restrained and uncomfortable.

The torque control steering force setting means 153 sets the second steering force (steering torque) for realizing the target steering angle by the feedforward control of the steering force based on the target steering force and the vehicle state quantity. It is a setting means. Hereinafter, this control will be described as torque control.
FIG. 5 is a diagram illustrating a control block based on torque control. In torque control, target steering is performed by estimating self-aligning torque by model estimation using the target steering angle (course following steering angle) obtained based on the lateral position (lateral deviation) of the host vehicle and the yaw angle. Torque is set, but actual steering angle feedback is not performed at this time. The vehicle side-to-lane lateral deviation and yaw angle associated with the application of the steering torque are fed back to calculate the target steer angle.

The torque control steering force setting means 153 calculates the target yaw rate using Equation 5 based on the target steer angle obtained by Equation 3.

Further, the torque control steering force setting means 153 calculates the target steering torque from the target steering angle using an inverse model of the self-aligning torque of the steering mechanism 10.
First, the slip angle of the vehicle is estimated using the following equation (6).

上述したトルク制御は、自車両を目標走行位置に沿って走らせる支援レベルが舵角制御に対して低く、また、ドライバに対して操舵すべき方向を教える効果も低いが、その反面、ドライバ操作との干渉が生じにくく、ドライバの介入が容易であり、違和感等を与えにくい傾向がある。 Next, the torque control steering force setting means 153 sets the estimated value of the self-aligning torque obtained by the following formula 7 as the target steering torque.

In the torque control described above, the support level for driving the host vehicle along the target travel position is low compared to the steering angle control, and the effect of teaching the driver the direction to be steered is low. There is a tendency that interference with the driver does not occur easily, driver intervention is easy, and it is difficult to give an uncomfortable feeling.

Based on the target steering torque set by the target steering force setting means 150, the steering force control means 160 calculates the target instruction current i _ind using the following equation (8). The steering force control means 160 controls the electric actuator 21 via the EPS control unit 20 to apply a steering torque to the steering mechanism 10.

Next, the operation | movement at the time of lane departure prevention control in the lane departure prevention control apparatus of an Example is demonstrated.
FIG. 6 is a flowchart showing an operation at the time of lane departure prevention control in the lane departure prevention control device of the embodiment. Hereinafter, the steps will be described step by step.
<Step S01: Calculation of lateral position in lane, yaw angle>
The own vehicle traveling path estimation unit 130 cooperates with the environment recognition unit 110 to calculate the lateral position in the lane and the anti-lane yaw angle of the own vehicle.
Thereafter, the process proceeds to step S02.
<Step S02: Target steer angle calculation>
The target steer angle calculation unit 151 of the target steering force setting unit 150 calculates a target steer angle that causes the host vehicle to travel along the target travel position using the above-described Expression 3.
Thereafter, the process proceeds to step S03.

<Step S03: Cruise control operation determination>
The traveling state detection unit 140 determines whether the cruise control is operating. If the cruise control is operating, the process proceeds to step S04, and if not, the process proceeds to step S12.
<Step S04: Judgment during highway driving>
The traveling state detection means 140 determines whether the host vehicle is traveling on the expressway, and proceeds to step S06 if traveling on the expressway, and proceeds to step S05 otherwise.
<Step S05: Presence or absence of following vehicle follow-up>
The traveling state detection unit 140 determines whether the host vehicle is following the preceding vehicle, and proceeds to step S06 if the vehicle is following, and proceeds to step S09 otherwise.

<Step S06: Target steering force setting with rudder angle control superiority>
The target steering force setting means 150 weights and combines each steering force such that the ratio of the first steering force (steering angle control) to the target steering torque is greater than the second steering force (torque control). Then, the target steering torque is set.
Thereafter, the process proceeds to step S07.

ここで、複数の事象に該当する場合には、各事象単独の場合に対して、第１の操舵力比率をさらに増加する環境補正を行う。
＜ステップＳ０８：舵角制御割合増加＞
目標操舵力設定手段１５０は、目標操舵トルクに占める舵角制御に基づいた第１の操舵力の比率を増加させる環境補正を行う。
その後、一連の処理を終了する。 <Step S07: Determination of Environmental Correction>
The target steering force setting unit 150 determines whether or not environmental correction is necessary based on information from the traveling state detection unit 140. Specifically, when the events listed below are detected, it is determined that environmental correction is necessary, and the process proceeds to step S08. In other cases, it is determined that environmental correction is not necessary, and a series of processing ends (returns).

Here, when a plurality of events are applicable, environmental correction is performed to further increase the first steering force ratio for each event alone.
<Step S08: Increase in steering angle control ratio>
The target steering force setting means 150 performs environment correction for increasing the ratio of the first steering force based on the steering angle control occupying the target steering torque.
Thereafter, the series of processing is terminated.

<Step S09: Target Steering Force Setting with Torque Control Advantage>
The target steering force setting means 150 weights and combines each steering force so that the ratio of the second steering force (torque control) to the target steering torque is greater than the first steering force (steering angle control). Then, the target steering torque is set.
Then, it progresses to step S10.

<Step S10: Judgment on presence / absence of environmental correction>
The target steering force setting means 150 determines whether or not environmental correction is necessary based on the information from the traveling state detection means 140, and proceeds to step S11 if it is determined that environmental correction is necessary, as in step S07. In the case of, the series of processing ends (returns).
<Step S11: Increase rudder angle control ratio>
The target steering force setting means 150 performs environment correction for increasing the ratio of the first steering force based on the steering angle control occupying the target steering torque.
Thereafter, the series of processing is terminated (returned).

<Step S12: Judging Presence / Absence of Leading Vehicle>
The traveling state detection means 140 determines whether the host vehicle is following the preceding vehicle, and proceeds to step S13 if the vehicle is traveling following, and proceeds to step S16 otherwise.

<Step S13: Target steering force setting with rudder angle control superiority>
The target steering force setting means 150 weights and combines each steering force such that the ratio of the first steering force (steering angle control) to the target steering torque is greater than the second steering force (torque control). Then, the target steering torque is set. Note that the ratio of the first steering force in step S13 (cruise control non-operation) is set smaller than the ratio of the first steering force in step S06 (cruise control operation).
Thereafter, the process proceeds to step S14.

<Step S14: Judgment of presence / absence of environmental correction>
The target steering force setting means 150 determines whether or not the environment correction is necessary based on the information from the traveling state detection means 140, and proceeds to step S15 if it is determined that the environment correction is necessary. In the case of, the series of processing ends (returns).
<Step S15: Increase rudder angle control ratio>
The target steering force setting means 150 performs environment correction for increasing the ratio of the first steering force based on the steering angle control occupying the target steering torque.
Thereafter, the series of processing is terminated (returned).

<Step S16: Target Steering Force Setting with Torque Control Advantage>
The target steering force setting means 150 weights and combines each steering force so that the ratio of the second steering force (torque control) to the target steering torque is greater than the first steering force (steering angle control). Then, the target steering torque is set. Note that the ratio of the first steering force in step S16 (cruise control non-operation) is set to be smaller than the ratio of the first steering force in step S09 (cruise control operation).
Thereafter, the process proceeds to step S17.

<Step S17: Judgment of presence / absence of environmental correction>
The target steering force setting unit 150 determines whether or not environmental correction is necessary based on the information from the traveling state detection unit 140, and proceeds to step S18 if it is determined that environmental correction is necessary. In the case of, the series of processing ends (returns).
<Step S18: Increase rudder angle control ratio>
The target steering force setting means 150 performs environment correction for increasing the ratio of the first steering force based on the steering angle control occupying the target steering torque.
Thereafter, the series of processing is terminated (returned).

Here, the control sharing ratio between the steering angle control and the torque control at the target steering torque of the lane departure prevention control apparatus according to the present embodiment will be further described.
FIG. 7 is a diagram illustrating a control sharing ratio between the steering angle control and the torque control at the target steering torque.
FIG. 7A is a diagram showing the control sharing ratio when the cruise control is operating on a general road and when the cruise control is operating on a highway. In this case, the control sharing ratio of torque control is substantially 100% on ordinary roads, but the control sharing ratio of rudder angle control and torque control is slightly more dominant than equivalent on highways. Is set.
FIG. 7B shows a case where the cruise control is not operated on a general road and the vehicle is following the preceding vehicle, and the cruise control is not operated on a highway and the vehicle is following the preceding vehicle. It is a figure which shows the control sharing ratio in the case. In this case, the control sharing ratio of torque control is substantially 100% on ordinary roads, but the control sharing ratio of rudder angle control and torque control is slightly more dominant than equivalent on highways. Is set.
FIG.7 (c) is a figure which shows an example of the steering angle control share ratio increase in the environmental correction | amendment on a general road and a highway. 7A and 7B, in FIG. 7C, the control sharing ratio of the steering angle control is increased by a predetermined amount on both the general road and the highway.

  According to the embodiment described above, the target steering force setting means 150 sets the target steering torque by combining the first steering force based on the steering angle control and the second steering force based on the torque control after predetermined weighting. In addition, when a situation in which the driver seeks a higher assistance level is detected by the driving situation detection unit 140, a higher assistance level that meets the driver's expectation can be obtained by increasing the ratio of the first steering force. it can.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
(1) The conditions used for changing the ratio between the first steering force and the second steering force at the target steering torque are not limited to those in the above-described embodiments, and can be changed as appropriate.
(2) In the embodiment, the second steering force is set based on the estimated self-aligning torque obtained according to the target steer angle and the vehicle state quantity, but this is the method for setting the second steering force. It is not limited to.
(3) In the embodiment, the environment recognition means detects the lane shape using a stereo camera. However, the present invention is not limited to this. For example, the map data prepared for the navigation device etc. The lane shape may be detected based on the positioning information. Further, the method for detecting the lateral position of the own vehicle and the yaw angle is not particularly limited.
(4) The configuration of the actuator that applies the steering torque to the steering mechanism is not limited to the column assist type as in the embodiment. For example, the pinion assist type that drives the pinion shaft connected to the steering shaft, the steering shaft A double pinion type that drives a pinion that is independent of the connected pinion, a rack direct-acting type that drives the steering rack itself in a straight direction, or the like may be used.

It is a figure which shows the system configuration | structure of the vehicle provided with the Example of the lane departure prevention control apparatus to which this invention is applied. It is a figure which shows an example of the planar arrangement | positioning of the own vehicle and lane in an Example. It is a graph which shows an example of the log | history of the vehicle speed of the own vehicle in an Example, the relative speed with respect to a preceding vehicle, and the distance between vehicles. It is a figure which shows the control block by steering angle control in the lane departure prevention control apparatus of an Example. It is a figure which shows the control block by torque control in the lane departure prevention control apparatus of an Example. It is a flowchart which shows the operation | movement at the time of lane departure prevention control in the lane departure prevention control apparatus of an Example. It is a figure which shows the control share ratio of steering angle control and torque control in the target steering torque of the lane departure prevention control apparatus of an Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Steering mechanism 11 Steering wheel 12 Steering shaft 13 Steering gear box 14 Tie rod FW Front wheel H Housing 20 Electric power steering (EPS) control unit 21 Electric actuator 22 Steering angle sensor 23 Torque sensor 30 Steering control unit 31 Hydraulic control unit (HCU) )
32 Vehicle speed sensor 33 Yaw rate sensor 34 Lateral acceleration (lateral G) sensor 40 Engine control unit 50 Transmission control unit 60 Cruise control control unit 70 Vehicle integration unit 100 Lane departure prevention control unit 110 Environment recognition unit 111 Stereo camera 112 Image processing unit 120 Target Traveling position setting means 130 Vehicle traveling path estimation means 140 Traveling condition detection means 150 Target steering force setting means 151 Target steer angle calculation means 152 Steering angle control steering force setting means 153 Torque control steering force setting means 160 Steering force control means OV Self Vehicle OL Own vehicle lane WL White line

Claims (17)

In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
A traveling state detecting means for detecting the traveling state of the host vehicle;
Lane recognition means for recognizing the lane in which the host vehicle travels;
Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
Steering force control means for applying a steering force to the steering mechanism based on the target steering force,
The traveling state detecting means includes
High standard road discriminating means for discriminating whether the road on which the vehicle is traveling is a high standard road;
Vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed;
Including
The target steering force setting means determines whether the high standard road discriminating means determines the high standard road when the high standard road discriminating means discriminates the high standard road and the vehicle speed maintenance support means is operating. The target steering is determined so as to increase the ratio of the first steering force when it is determined and the driver determines that the driver is seeking a higher support level when the vehicle speed maintenance support means is inactive. A lane departure prevention control device characterized by setting force .   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detecting means includes
  High standard road discriminating means for discriminating whether the road on which the vehicle is traveling is a high standard road;
  Vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed;
  Including
  The target steering force setting means determines whether the high standard road discriminating means determines the high standard road when the high standard road discriminating means discriminates the high standard road and the vehicle speed maintenance support means is operating. If the vehicle speed maintenance support means is not operating, it is determined that the driver is seeking a higher support level, and the target steering ratio is increased so as to increase the ratio of the first steering force. Setting steering force
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detecting means includes
  Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
  Vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed;
  Including
  The target steering force setting means is configured such that when the vehicle speed is equal to or higher than a predetermined threshold and the vehicle speed maintenance support means is operating, the vehicle speed is equal to or higher than a predetermined threshold and the vehicle speed maintenance support means is inactive. It is determined that the driver is seeking a higher assistance level for a certain case, and the target steering force is set to increase the ratio of the first steering force.
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detecting means includes
  Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
  Vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed;
  Including
  The target steering force setting means is configured such that when the vehicle speed is equal to or higher than a predetermined threshold and the vehicle speed maintenance support means is operating, the vehicle speed is less than a predetermined threshold and the vehicle speed maintenance support means is operated. The target steering force is set so as to increase the ratio of the first steering force by determining that the driver is in a situation of seeking a higher support level.
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The travel state detection means includes follow-up travel determination means for determining follow-up travel to the preceding vehicle,
  The target steering force setting means determines that the driver seeks a higher support level when the following travel is determined by the following travel determination means when the following travel is not determined; Setting the target steering force to increase the ratio of the first steering force;
  A lane departure prevention control device characterized by the above.   The travel state detection means includes vehicle speed maintenance support means for controlling the vehicle speed of the host vehicle to be a predetermined set speed,
  The target steering force setting means determines whether the following traveling is determined by the following traveling determining means and the vehicle speed maintaining is performed when the following traveling is determined by the following traveling determining means and the vehicle speed maintenance supporting means is operating. The target steering force is set to increase the ratio of the first steering force by determining that the driver is in a situation of seeking a higher support level when the support means is inactive.
  The lane departure prevention control device according to claim 5.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The travel state detection means includes light / dark determination means for determining the light / dark of the driving environment of the host vehicle,
  The target steering force setting means determines that the driver seeks a higher support level when the predetermined darkness is determined by the light / dark determination means and the predetermined darkness is not determined. And setting the target steering force to increase the ratio of the first steering force
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detecting means includes a tunnel detecting means for detecting the traveling of the host vehicle in the tunnel,
  The target steering force setting means determines that the driver seeks a higher support level when the tunnel detection means detects that the vehicle is traveling in the tunnel, but does not detect the travel in the tunnel. And setting the target steering force to increase the ratio of the first steering force
  A lane departure prevention control device characterized by the above. The target steering force setting means determines that the driver seeks a higher support level when the vehicle is within a predetermined period after entering the tunnel and is traveling in a normal tunnel, The lane departure prevention control device according to claim 8 , wherein the target steering force is set so as to further increase the ratio of the first steering force. The target steering force setting means determines that the driver seeks a higher support level when the host vehicle is traveling outside the tunnel when the vehicle is within a predetermined period of time after exiting the tunnel, The lane departure prevention control device according to claim 8 or 9 , wherein the target steering force is set so as to increase a ratio of the first steering force.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The travel condition detection means includes rain travel detection means for detecting the rain travel of the host vehicle,
  The target steering force setting means determines that the driver seeks a higher assistance level when the rainy weather detection is detected by the rainy weather detection means when the rainy weather driving is not detected. Setting the target steering force to increase the ratio of the steering force of 1
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detecting means includes an oncoming vehicle traveling lane detecting means for detecting an oncoming vehicle traveling lane adjacent to the traveling lane of the host vehicle,
  A situation in which the target steering force setting means obtains a higher assistance level when the oncoming vehicle lane is not detected when the oncoming vehicle lane is detected by the oncoming vehicle lane detecting means. And setting the target steering force so as to increase the ratio of the first steering force.
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detection means includes an oncoming vehicle light detection means for detecting a high-intensity lamp of an oncoming vehicle,
  The target steering force setting means is a situation where the driver seeks a higher assistance level when the high-intensity light is not detected when the high-intensity light is detected by the oncoming vehicle light detection means. Determining and setting the target steering force to increase the ratio of the first steering force
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detection means includes solar facing determination means for determining whether the host vehicle is facing the sun.
  The target steering force setting means obtains a higher assistance level from the driver when the near-right facing to the sun is not judged when the almost-right facing to the sun is judged by the sun-facing judgment means. Determining that the situation is present, and setting the target steering force to increase the ratio of the first steering force
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detection means includes an imaging means for acquiring an image ahead of the host vehicle,
  The target steering force setting means determines that the driver seeks a higher assistance level when the image captured by the imaging means is in a predetermined low contrast state and is not in a low contrast state, Setting the target steering force to increase the ratio of the first steering force;
  A lane departure prevention control device characterized by the above.   In a lane departure prevention control device that applies a steering force to a steering mechanism so as to prevent departure from the lane of the host vehicle,
  A traveling state detecting means for detecting the traveling state of the host vehicle;
  Lane recognition means for recognizing the lane in which the host vehicle travels;
  Target lateral position setting means for setting a target lateral position at a predetermined position in the lane;
  Own vehicle lateral position recognition means for recognizing the lateral position of the host vehicle relative to the lane;
  An actual steer angle detecting means for detecting an actual steer angle of the steering mechanism;
  Target steer angle calculation means for calculating a target steer angle of the steering mechanism so that the lateral position of the host vehicle approaches the target lateral position;
  First steering force setting means for setting a first steering force for realizing the target steer angle by feedback control of the steer angle based on a deviation between the target steer angle and the actual steer angle;
  A second steering force setting means for setting a second steering force for realizing the target steer angle by feedforward control of a steering force based on the target steer angle and a vehicle state quantity;
  Target steering force setting means for setting a target steering force by changing a ratio of the first steering force and the second steering force in accordance with the traveling state;
  Steering force control means for applying a steering force to the steering mechanism based on the target steering force;
  With
  The traveling state detecting means includes a downward slope detecting means for detecting a downward slope of a road on which the host vehicle is traveling,
  The target steering force setting means determines that the driver seeks a higher assistance level when a downward slope is detected by the downward slope detection means, compared to a case where the downward slope is not detected, Setting the target steering force to increase the ratio of the steering force of 1
  A lane departure prevention control device characterized by the above.   The second steering force setting means sets an estimated self-aligning torque obtained according to the target steering angle and the vehicle state quantity as the second steering force.
  The lane departure prevention control device according to any one of claims 1 to 16, characterized in that:

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