JP6222432B2 - Vehicle travel control device - Google Patents

Description

  The present invention relates to a vehicular travel control device, and more particularly to a vehicular travel control device that controls a vehicle so as not to deviate from a traveling lane.

  2. Description of the Related Art Conventionally, a lane departure prevention device that controls a vehicle so as not to deviate from a traveling lane is known.

  For example, Patent Literature 1 discloses a vehicle travel control device that includes a lane departure prevention device and a vehicle speed control device that controls the vehicle speed so as to keep the inter-vehicle distance from a preceding vehicle at a predetermined set inter-vehicle distance. This traveling control device prevents the own vehicle from deviating from the traveling lane by applying a yaw moment to the own vehicle when the own vehicle tends to deviate from the traveling lane.

JP 2007-30849 A

  By the way, when the inter-vehicle distance between the host vehicle and the preceding vehicle becomes small, it is conceivable that the driver tries to change the lane in order to overtake the preceding vehicle even during the operation of the lane departure prevention device.

  However, in the above-described travel control device of Patent Document 1, if the lane departure prevention device tries to change the lane during the operation of the lane departure prevention device, the lane departure prevention device applies a yaw moment to the host vehicle to prevent the lane departure. There is a problem that the driver feels bothered because a force against the steering operation of the driver who is changing the lane is applied to the steering wheel.

  The present invention has been made to solve the above-described problems of the prior art, and deviates from a running lane without causing the driver to change the lane to overtake the preceding vehicle. It is an object of the present invention to provide a vehicular travel control device that can control a vehicle so as not to occur.

In order to achieve the above object, a vehicular travel control apparatus of the present invention is a vehicular travel control apparatus that controls a vehicle so as not to deviate from the traveling lane, and is a travel lane in which the host vehicle is traveling. A lane detection means for detecting the vehicle, a lane departure prevention control means for preventing the own vehicle from deviating from the traveling lane detected by the lane detection means, and a predetermined lane distance between the own vehicle and the preceding vehicle becomes smaller as the lane becomes smaller. possess a suppressing control suppressing means controlled by departure prevention control means, the lane departure prevention control means, the distance between the partition lines and the vehicle of the detected traffic lane by lane detection means a predetermined lateral distance following In this case, a steering force is applied to the steering wheel so that the own vehicle does not deviate from the traveling lane, and the control restraining means sets a predetermined lateral distance regardless of a predetermined inter-vehicle distance between the own vehicle and the preceding vehicle. And then, as the predetermined inter-vehicle distance between the host vehicle and the preceding vehicle is small, the lane departure prevention control means, characterized in that to reduce the steering force applied to the steering wheel.
In the present invention configured as described above, the control suppression means suppresses the control by the own lane departure prevention control means as the predetermined inter-vehicle distance between the own vehicle and the preceding vehicle becomes smaller. The smaller the predetermined inter-vehicle distance becomes and the more likely the driver is to change lanes, the more the control of the lane departure prevention control means can be suppressed, thereby trying to change lanes to overtake the preceding vehicle The vehicle can be controlled so as not to deviate from the traveling lane without causing the driver to feel bothered.
In addition, since the control suppression means reduces the steering force applied to the steering wheel by the lane departure prevention control means as the inter-vehicle distance between the host vehicle and the preceding vehicle decreases, the predetermined inter-vehicle distance between the host vehicle and the preceding vehicle becomes smaller. The smaller the driver's chance of changing lanes, the smaller the steering force applied against the driver's steering operation trying to change lanes, thereby allowing the lane to pass the preceding vehicle. The vehicle can be controlled so as not to deviate from the traveling lane without causing the driver trying to change to feel bothered.

In the present invention, it is preferable that the vehicular travel control device includes an inter-vehicle distance detection unit that detects an inter-vehicle distance between the host vehicle and a preceding vehicle, and the predetermined inter-vehicle distance is detected by the inter-vehicle distance detection unit. This is the inter-vehicle distance from the preceding vehicle.
In the present invention configured as described above, the control suppression unit suppresses the control of the lane departure prevention control unit as the inter-vehicle distance detected by the inter-vehicle distance detection unit decreases. The closer the vehicle is to the driver and the more likely the driver is to change lanes, the more the control of the lane departure prevention control means can be suppressed, which makes the driver trying to change lanes to overtake the preceding vehicle. The vehicle can be controlled so as not to deviate from the running lane without making the vehicle feel.

In the present invention, it is preferable that the vehicular travel control device includes vehicle speed control means for controlling the vehicle speed so as to keep the inter-vehicle distance between the host vehicle and the preceding vehicle at a preset inter-vehicle distance. The inter-vehicle distance is a set inter-vehicle distance.
In the present invention configured as described above, the control suppression means suppresses the control of the lane departure prevention control means as the set inter-vehicle distance in the vehicle speed control means becomes smaller. For drivers who allow access to the preceding vehicle, the control of the lane departure prevention control means can be suppressed, so that the lane can be changed to overtake the preceding vehicle after approaching the preceding vehicle. The vehicle can be controlled so as not to deviate from the traveling lane without causing annoying driver to feel annoyance.

  According to the vehicle travel control device of the present invention, it is possible to control the vehicle so as not to depart from the traveling lane without causing the driver trying to change the lane to overtake the preceding vehicle. .

1 is a diagram illustrating a schematic configuration of a vehicle including a vehicle travel control device according to an embodiment of the present invention. It is a block diagram which shows the system configuration | structure of the vehicle travel control apparatus by embodiment of this invention. It is a flowchart which shows the control content of the traveling control apparatus for vehicles by embodiment of this invention. It is a diagram which shows the relationship between the intensity | strength of lane departure prevention control of the vehicle travel control apparatus by embodiment of this invention, and the predetermined | prescribed inter-vehicle distance from a preceding vehicle. It is a diagram for demonstrating the example of the intensity | strength setting of the lane departure prevention control by the vehicle travel control apparatus by embodiment of this invention. It is a flowchart which shows the control content of the vehicle travel control apparatus by the modification of embodiment of this invention.

Hereinafter, a vehicle travel control apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, the configuration of a vehicle travel control apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram illustrating a schematic configuration of a vehicle including a vehicle travel control device according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating a system configuration of the vehicle travel control device according to the embodiment of the present invention. It is.

First, as shown in FIG. 1, reference numeral 1 denotes a vehicular travel control apparatus according to an embodiment of the present invention. The vehicular travel control apparatus 1 applies steering assist force to a steering wheel 2 and a steering shaft 4. A steering actuator 6 and a steering torque controller 8 for giving an instruction of the magnitude of the assist force to the steering actuator 6 are provided. A rack and pinion type steering gear device 10 is connected to the steering shaft 4 and the left and right steering wheels 12 are steered.
In this embodiment, the steering torque controller 8 provides a predetermined torque signal to the steering actuator 6 so that a necessary torque (steering force) is applied to the steering wheel 2 and the steering shaft 4.

Next, as shown in FIG. 2, the vehicle travel control apparatus 1 according to the embodiment of the present invention includes a steering angle sensor 14 that detects the steering angle of the steering wheel 2, a yaw rate sensor 16 that detects the yaw rate of the vehicle, The host vehicle is traveling, a lateral acceleration sensor 18 that detects the acceleration in the vehicle width direction of the vehicle, a vehicle speed sensor 20 that detects the vehicle speed, an inter-vehicle distance sensor 22 that detects an inter-vehicle distance between the host vehicle and a preceding vehicle. And a lane sensor 24 for detecting a traveling lane.
The inter-vehicle distance sensor 22 includes a millimeter wave radar that detects an object in front of the vehicle, and detects the presence of a preceding vehicle and the inter-vehicle distance between the preceding vehicle and the host vehicle.
The lane sensor 24 includes a camera that images a road surface in front of the vehicle, and detects a travel lane by identifying a lane marking of the travel lane from the captured road surface image.

  In addition, the vehicle travel control device 1 performs automatic vehicle control (ACC) that controls the vehicle speed so as to keep the inter-vehicle distance between the host vehicle and the preceding vehicle at a preset inter-vehicle distance according to the driver's intention. The driver's intention is to turn on or off the ACC switch 26 that switches on or off and sets the inter-vehicle distance and the lane departure prevention control (LKA) that controls the vehicle so as not to deviate from the running lane. And an SBS switch 30 for switching ON / OFF of collision damage mitigation control (SBS: Smart Break Support) for reducing damage caused by a collision with an obstacle ahead of the vehicle according to the driver's intention.

  Furthermore, the vehicular travel control device 1 has a travel control unit 32 including a steering torque controller 8, and signals from the sensors 14 to 24 and the switches 26 to 30 are input thereto. The travel control unit 32 calculates a control signal to be given to the steering actuator 6, the engine 34, the brake 36, or the alarm device 38 based on the signals input from the sensors 14 to 24 and the switches 26 to 30, and the inter-vehicle automatic control and the lane Perform departure prevention control or collision damage reduction control. The travel control unit 32 includes a CPU, various programs that are interpreted and executed on the CPU (including basic control programs such as an OS and application programs that are activated on the OS to realize specific functions), programs, and various types of programs. It is constituted by a computer having an internal memory such as a ROM or RAM for storing data.

  Next, the control contents of the vehicle travel control apparatus 1 according to the embodiment of the present invention will be described with reference to FIGS. 3 and 4. FIG. 3 is a flowchart showing the control contents of the vehicle travel control apparatus 1 according to the embodiment of the present invention. FIG. 4 shows the strength of the lane departure prevention control of the vehicle travel control apparatus 1 according to the embodiment of the present invention. It is a diagram which shows the relationship with the predetermined | prescribed inter-vehicle distance from a preceding vehicle. The travel control process by the vehicle travel control device 1 is a process for setting the strength of the lane departure prevention control, and when the vehicle ignition control is turned on and the vehicle travel control device 1 is turned on. It is started and executed repeatedly.

  When the vehicle ignition is turned on, by default, the inter-vehicle automatic control and the lane departure prevention control are turned off, and the collision damage reduction control is turned on, and the ACC switch 26, LKA switch 28 or By operating the SBS switch 30, these vehicle-to-vehicle automatic control, lane departure prevention control, and collision damage reduction control are turned on or off. It is assumed that the traveling control unit 32 appropriately executes each processing of the inter-vehicle automatic control, the lane departure prevention control and / or the collision damage reduction control which are turned on in parallel with the traveling control processing shown in FIG. .

Specifically, when the ACC switch 26 is on, the traveling control unit 32 sets the inter-vehicle distance between the host vehicle and the preceding vehicle to a set inter-vehicle distance preset by the ACC switch 26 (for example, 100 m, 70 m, 50 m). Alternatively, the vehicle speed is adjusted by controlling the engine 34 and the brake 36 so as to maintain 40 m).
When the LKA switch 28 is on, the traveling control unit 32 determines that the lateral distance between the lane marking of the traveling lane detected by the lane sensor 24 and the own vehicle is a predetermined lateral distance (hereinafter, “deviation prevention control”). In the following cases (referred to as “distance”), a departure prevention torque is applied to the steering wheel 2 and the steering shaft 4 by the steering actuator 6 so that the host vehicle does not depart from the travel lane.
When the SBS switch 30 is on, the travel control unit 32 causes the warning device 38 to output an approach warning when the inter-vehicle distance from the preceding vehicle detected by the inter-vehicle distance sensor 22 is equal to or less than a predetermined value. When the host vehicle approaches the preceding vehicle, the vehicle is decelerated by controlling the engine 34 and the brake 36.

  First, as shown in FIG. 3, when the vehicle travel control process is started, in step S1, the travel control unit 32 determines whether the ACC switch 26 or the SBS switch 30 is on. As a result, when the ACC switch 26 or the SBS switch 30 is not on (both are off), the inter-vehicle distance from the preceding vehicle, which is a premise for setting the strength of the lane departure prevention control, is not detected. Does not perform the subsequent processing and returns to step S1.

  On the other hand, when the ACC switch 26 or the SBS switch 30 is on, the process proceeds to step S2, and the traveling control unit 32 determines whether or not the LKA switch 28 is on. As a result, when the LKA switch 28 is not on (is off), there is no need to set the strength of the lane departure prevention control, so the traveling control unit 32 does not perform the subsequent processing and returns to step S1.

  On the other hand, when the LKA switch 28 is on, the process proceeds to step S3, and the traveling control unit 32 detects the inter-vehicle distance between the host vehicle and the preceding vehicle based on the signal input from the inter-vehicle distance sensor 22.

Next, it progresses to step S4 and the traveling control unit 32 sets the intensity | strength of lane departure prevention control based on the inter-vehicle distance with the preceding vehicle detected in step S3.
In this step S4, as shown in FIG. 4, the lane departure prevention control is suppressed (the strength of the control is weakened) as the inter-vehicle distance from the preceding vehicle becomes smaller. At this time, as shown in FIG. 4A, the lane departure prevention control may be continuously suppressed as the inter-vehicle distance from the preceding vehicle becomes smaller. As shown in FIG. The lane departure prevention control may be suppressed in stages as the inter-vehicle distance from the vehicle decreases.
After step S4, the traveling control unit 32 returns to step S1.

  Next, an example of setting the strength of lane departure prevention control by the vehicle travel control device 1 according to the embodiment of the invention will be described with reference to FIG. FIG. 5 is a diagram for explaining an example of the strength setting of the lane departure prevention control by the vehicle travel control apparatus 1 according to the embodiment of the present invention. In FIG. 5, the horizontal axis indicates the lateral distance between the vehicle and the left and right lane markings in the travel lane, and the vertical axis indicates that the steering actuator 6 controls the steering wheel 2 and the steering wheel based on the torque signal from the travel control unit 32. The magnitude | size of the deviation prevention torque provided to the shaft 4 is shown. Also, the alternate long and short dash line in FIG. 5 indicates the departure prevention torque when the distance between the host vehicle and the preceding vehicle is relatively large, and the solid line indicates the case where the distance between the host vehicle and the preceding vehicle is relatively small. The deviation prevention torque is shown.

  As described above, the travel control unit 32, when the LKA switch 28 is on, when the lateral distance between the lane marking of the travel lane detected by the lane sensor 24 and the host vehicle is equal to or less than the departure prevention control distance, A departure prevention torque is applied to the steering wheel 2 and the steering shaft 4 by the steering actuator 6 so that the host vehicle does not depart from the traveling lane. The traveling control unit 32 prevents the deviation that the steering actuator 6 applies to the steering wheel 2 and the steering shaft 4 as the lateral distance between the lane marking of the traveling lane and the host vehicle decreases, that is, as the vehicle approaches the lane marking. Increase the torque.

In the example shown in FIG. 5 (a), control for preventing deviation from the distance d ₁ in the case inter-vehicle distance between the own vehicle and the preceding vehicle is relatively small, when the inter-vehicle distance between the host vehicle and the preceding vehicle is relatively large less than control for preventing deviation from the distance d _2. That is, the travel control unit 32 reduces the lane departure prevention control distance by which the steering actuator 6 applies the lane departure prevention torque to the steering wheel 2 and the steering shaft 4 as the distance between the host vehicle and the preceding vehicle decreases. Suppress deviation control.

In the example shown in FIG. 5B, the maximum value T ₁ of the departure prevention torque when the inter-vehicle distance between the host vehicle and the preceding vehicle is relatively small is the relative distance between the host vehicle and the preceding vehicle. Is smaller than the maximum value T ₂ of the deviation prevention torque. That is, the travel control unit 32 suppresses the lane departure prevention control by reducing the departure prevention torque applied to the steering wheel 2 and the steering shaft 4 by the steering actuator 6 as the distance between the host vehicle and the preceding vehicle decreases. To do.

Further, FIG. 5 in the example (c), the maximum value T ₁ of the control for preventing deviation from the distance d ₁ and departure prevention torque when the inter-vehicle distance between the own vehicle and the preceding vehicle is relatively small, the vehicle and the preceding vehicle Is smaller than the deviation prevention control distance d ₂ and the deviation prevention torque maximum value T ₂ when the inter-vehicle distance is relatively large. In other words, the traveling control unit 32 decreases the deviation prevention control distance and the deviation prevention torque for applying the deviation prevention torque to the steering wheel 2 and the steering shaft 4 by the steering actuator 6 as the distance between the host vehicle and the preceding vehicle becomes smaller. Thus, lane departure prevention control is suppressed.

Next, further modifications of the embodiment of the present invention will be described.
In the above-described embodiment of the present invention, it has been described that the traveling control unit 32 suppresses the lane departure prevention control as the inter-vehicle distance detected by the inter-vehicle distance sensor 22 decreases, but is set in advance by the ACC switch 26. The lane departure prevention control may be suppressed as the set inter-vehicle distance decreases.

Here, FIG. 6 demonstrates the control content of the vehicle travel control apparatus 1 by the modification of embodiment of this invention. FIG. 6 is a flowchart showing the control content of the vehicle travel control apparatus 1 according to a modification of the embodiment of the present invention.
As shown in FIG. 6, when the vehicle travel control process according to this modification is started, the travel control unit 32 determines whether or not the ACC switch 26 is on in step S11. As a result, when the ACC switch 26 is not on (is off), the set inter-vehicle distance, which is a premise for setting the strength of the lane departure prevention control, is not set, so the traveling control unit 32 performs the following processing. Return to step S11.

  On the other hand, when the ACC switch 26 is on, the process proceeds to step S12, and the traveling control unit 32 acquires the set inter-vehicle distance set by the ACC switch 26.

  Next, it progresses to step S13 and the traveling control unit 32 determines whether the LKA switch 28 is ON. As a result, when the LKA switch 28 is not on (is off), there is no need to set the strength of the lane departure prevention control, so the traveling control unit 32 does not perform the subsequent processing and returns to step S11.

On the other hand, when the LKA switch 28 is on, the process proceeds to step S14, and the traveling control unit 32 sets the strength of the lane departure prevention control based on the set inter-vehicle distance acquired in step S12.
In step S14, the lane departure prevention control is suppressed as the set inter-vehicle distance decreases. At this time, the lane departure prevention control may be continuously suppressed as the set inter-vehicle distance becomes smaller, or the lane departure prevention control may be suppressed in stages as the set inter-vehicle distance becomes smaller.
After step S14, the traveling control unit 32 returns to step S11.

  Further, when the condition for executing the collision damage reduction control is satisfied when the SBS switch 30 is on (when the distance from the preceding vehicle is less than a predetermined value and the warning device 38 outputs an approach warning, or When the host vehicle approaches the preceding vehicle and decelerates the vehicle by controlling the engine 34 and the brake 36), the traveling control unit 32 forcibly turns off the lane departure prevention control, and the steering wheel 6 controls the steering wheel. 2 and the steering shaft 4 may be prevented from being provided with a deviation prevention torque.

  Next, functions and effects of the above-described embodiment of the present invention and the vehicle travel control apparatus 1 according to the modification of the embodiment of the present invention will be described.

  First, the traveling control unit 32 suppresses the lane departure prevention control as the predetermined inter-vehicle distance between the host vehicle and the preceding vehicle becomes smaller. Therefore, the predetermined inter-vehicle distance between the host vehicle and the preceding vehicle decreases, and the driver moves to the lane. The higher the possibility of making a change, the more lane departure prevention control can be suppressed, so that the driver trying to change the lane in order to overtake the preceding vehicle does not feel bothered by the driving lane. The vehicle can be controlled so as not to deviate.

  In particular, the travel control unit 32 suppresses the lane departure prevention control as the inter-vehicle distance detected by the inter-vehicle distance sensor 22 decreases, so that the host vehicle approaches the preceding vehicle and the driver changes the lane. The higher the possibility, the more the lane departure prevention control can be suppressed, so that the driver trying to change lanes to overtake the preceding vehicle does not feel annoyed and does not deviate from the driving lane. The vehicle can be controlled.

  Alternatively, the travel control unit 32 suppresses the lane departure prevention control for the behavior of the host vehicle as the set inter-vehicle distance in the inter-vehicle automatic control becomes smaller, so that the host vehicle approaches the preceding vehicle by reducing the set inter-vehicle distance. Lane departure prevention control can be suppressed for drivers who allow the vehicle, which makes the driver more likely to change lanes in order to pass the preceding vehicle after approaching the preceding vehicle. Without making it happen, the vehicle can be controlled so as not to deviate from the traveling lane.

  In addition, the traveling control unit 32 reduces the deviation prevention torque applied to the steering wheel 2 and the steering shaft 4 by the Stirling actuator as the predetermined inter-vehicle distance between the own vehicle and the preceding vehicle decreases. As the predetermined inter-vehicle distance becomes smaller and the driver is more likely to change lanes, the departure prevention torque against the steering operation of the driver trying to change lanes can be reduced. The vehicle can be controlled so as not to deviate from the traveling lane without causing the driver trying to change the lane to overtake the vehicle.

  Further, the traveling control unit 32 decreases the deviation prevention control distance at which the steering actuator 6 applies the deviation prevention torque to the steering wheel 2 and the steering shaft 4 as the predetermined distance between the host vehicle and the preceding vehicle decreases. The steering actuator 6 deviates from the steering wheel 2 and the steering shaft 4 so that the own vehicle does not depart from the traveling lane as the predetermined inter-vehicle distance between the own vehicle and the preceding vehicle decreases and the possibility that the driver changes the lane increases. The range in the driving lane where the prevention torque is applied can be narrowed, so that the driver trying to change the lane to overtake the preceding vehicle does not feel bothered and does not deviate from the driving lane The vehicle can be controlled.

DESCRIPTION OF SYMBOLS 1 Vehicle travel control apparatus 2 Steering wheel 4 Steering shaft 6 Steering actuator 8 Steering torque controller 22 Inter-vehicle distance sensor 24 Lane sensor 32 Travel control unit

Claims (3)

A vehicle travel control device for controlling a vehicle so as not to deviate from a traveling lane,
Lane detection means for detecting a traveling lane in which the host vehicle is traveling;
Lane departure prevention control means for preventing the own vehicle from departing from the traveling lane detected by the lane detection means;
Control suppression means for suppressing control by the lane departure prevention control means as the predetermined inter-vehicle distance between the host vehicle and the preceding vehicle decreases;
I have a,
The lane departure prevention control means performs steering so that the own vehicle does not depart from the traveling lane when the distance between the lane marking of the traveling lane detected by the lane detecting means and the own vehicle is equal to or less than a predetermined lateral distance. Give steering power to the wheel,
The control suppression means makes the predetermined lateral distance constant regardless of the predetermined inter-vehicle distance between the host vehicle and the preceding vehicle, and the lane becomes smaller as the predetermined inter-vehicle distance between the host vehicle and the preceding vehicle becomes smaller. A vehicle travel control device characterized in that a steering force applied to a steering wheel by a departure prevention control means is reduced . Having inter-vehicle distance detection means for detecting the inter-vehicle distance between the host vehicle and the preceding vehicle,
The vehicular travel control apparatus according to claim 1, wherein the predetermined inter-vehicle distance is an inter-vehicle distance from a preceding vehicle detected by the inter-vehicle distance detection means. Vehicle speed control means for controlling the vehicle speed so as to keep the inter-vehicle distance between the host vehicle and the preceding vehicle at a preset inter-vehicle distance;
The vehicle travel control apparatus according to claim 1, wherein the predetermined inter-vehicle distance is the set inter-vehicle distance.

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