JP6331637B2 - Driving support device - Google Patents

Description

  The present invention relates to a driving support device that supports driving of a vehicle.

  Japanese Patent Application Laid-Open No. 2004-228561 describes an apparatus that assists steering of a vehicle (hereinafter referred to as “lane change assistance”) when the vehicle changes lanes. This device stops steering assistance when, for example, the driver steers more than a predetermined amount. There is also a device that assists in steering the vehicle (hereinafter referred to as “lane keeping support”) so that the vehicle travels along a traveling lane.

JP 2009-78736 A

  Here, when the lane change support is canceled in the middle of the support by the driver's steering operation, and when the lane maintenance support is canceled in the middle of the support by the driver's steering operation, the driver's operation after the support is stopped The load is different. For this reason, in this technical field, there is a need for a travel support device that can appropriately stop steering support according to the content of steering support.

  A travel support apparatus according to an aspect of the present invention includes a lane maintaining unit that supports steering of the host vehicle so that the host vehicle travels along the travel lane, and the host vehicle changes lanes from the travel lane to another lane. The lane change unit for assisting the steering of the host vehicle, the suspension of the steering support performed by the lane maintaining unit based on the steering amount or the steering duration of the driver of the host vehicle, and the steering support performed by the lane changing unit A cancellation determination unit that determines cancellation, and the cancellation determination unit is configured to cancel the lane maintenance when the driver's steering amount exceeds a preset lane maintenance cancellation threshold or when the driver's steering continuation time is preset. When the time threshold is exceeded, the steering support of the lane keeping unit is determined to be canceled, and the cancellation determining unit determines that the driver's steering amount exceeds a preset lane change cancellation threshold or the driver continues steering. Car with preset time When the change stop time threshold is exceeded, it is determined that the steering assistance of the lane change unit is stopped, the lane change stop threshold is a threshold larger than the lane maintenance stop threshold, and the lane change stop time threshold is the lane maintenance stop time. The threshold value is larger than the threshold value.

  According to one aspect of the present invention, steering assistance can be appropriately stopped according to the steering assistance content.

It is a figure which shows schematic structure of the driving assistance apparatus of 1st and 2nd embodiment. It is a flowchart which shows the flow of the process which the override determination part of 1st embodiment performs. It is a flowchart which shows the flow of the process which the override determination part of 2nd embodiment performs. It is a figure which shows schematic structure of the driving assistance device of 3rd embodiment. It is a flowchart which shows the flow of the process which the override determination part of 3rd embodiment performs. It is a figure which shows schematic structure of the driving assistance apparatus of 4th embodiment. It is a flowchart which shows the flow of the process which the override determination part of 4th embodiment performs.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

(First embodiment)
A first embodiment will be described. A travel support device 1 shown in FIG. 1 is mounted on a vehicle (own vehicle) X and supports steering of the vehicle X performed by a driver. The travel support device 1 includes a lane keeping switch 2, a blinker switch 3, a steering torque sensor 4, a control unit 5, and a steering drive unit 6.

  The lane keeping switch 2 detects an instruction to execute lane keeping assistance. Execution of the lane keeping support is instructed by operating the lane keeping switch 2 by the driver of the vehicle X. Here, the lane keeping support is assistance for steering the vehicle X that is executed so that the vehicle X travels along the traveling lane. The lane keeping switch 2 is provided at a position where the driver can easily operate, for example, around the steering wheel of the vehicle X. The detection result by the lane keeping switch 2 is input to the control unit 5.

  The blinker switch 3 detects an instruction to turn on the blinker of the vehicle X. The winker switch 3 is a winker lever operated by the driver of the vehicle X. The blinker switch 3 is provided at a position where the driver can easily operate, for example, around the steering wheel of the vehicle X. The detection result by the blinker switch 3 is input to the control unit 5.

  The steering torque sensor 4 detects the steering torque input to the steering wheel by the driver of the vehicle X. The steering torque sensor 4 is attached, for example, around the steering shaft of the vehicle X. A detection result by the steering torque sensor 4 is input to the control unit 5.

  The control unit 5 supports the steering of the vehicle X. In the present embodiment, the control unit 5 performs lane keeping support and lane change support as steering support. Here, the lane change assistance is assistance for steering the vehicle X that is executed when the vehicle X changes lanes. More specifically, the control unit 5 assists steering so that the vehicle X travels from the lane in which the vehicle X is currently traveling toward another lane adjacent thereto. Moreover, the control part 5 can also perform neither a lane maintenance assistance nor a lane change assistance.

  The control unit 5 is functionally configured to include a control mode selection unit 11, an operation detection unit 12, a support unit 13, and an override determination unit (stop determination unit) 14. Based on the detection results of the lane keeping switch 2 and the blinker switch 3, the control mode selection unit 11 performs control as a control mode among the no support mode, the lane maintenance support mode, and the lane change support mode. Select. The no-assistance mode refers to a mode in which the vehicle is steered by the driver without performing steering assistance such as lane keeping assistance and lane change assistance.

  Specifically, the control mode selection unit 11 selects a lane keeping support mode when the lane keeping switch 2 is operated by the driver. The control mode selection unit 11 selects a lane change support mode when the blinker switch 3 is operated. The control mode selection unit 11 selects the no-support mode when the lane keeping switch 2 and the blinker switch 3 are not operated. The control mode selection unit 11 inputs the selection result to the support unit 13 and the override determination unit 14.

  The operation detection unit 12 detects the direction indicated by the winker based on the detection result of the winker switch 3. Further, the operation detection unit 12 detects the steering amount of the driver. Based on the detection result of the steering torque sensor 4, the operation detection unit 12 detects the steering torque value when the steering wheel is operated by the driver as the steering amount of the driver. Further, the operation detection unit 12 detects the operation direction of the steering wheel based on the detection result of the steering torque sensor 4. The operation detection unit 12 may detect the steering angle of the steering wheel as the driver's steering amount.

  The support unit 13 supports the steering of the vehicle X performed by the driver. Specifically, the support unit 13 includes a lane maintaining unit 13a and a lane changing unit 13b. The lane maintaining unit 13a calculates a control target value for steering when the vehicle X is steered so as to travel along the lane in which the vehicle X is traveling (traveling lane). The lane changing unit 13b calculates a steering control target value when the vehicle X is steered so that the lane is changed from the lane in which the vehicle X is traveling (traveling lane) to another adjacent lane. The lane maintaining unit 13a and the lane changing unit 13b can calculate the steering control target value by using various existing techniques.

  If it is determined by the override determination unit 14 that the lane keeping support is to be stopped, the lane keeping unit 13a stops the lane keeping support. Specifically, the lane keeping unit 13a stops the calculation of the steering control target value as an example. The lane change unit 13b stops the lane change support when the override determination unit 14 determines to stop the lane change support. Specifically, the lane changing unit 13b stops the calculation of the steering control target value as an example. The lane maintaining unit 13 a and the lane changing unit 13 b input the calculation result of the steering control target value to the steering driving unit 6.

  When the control mode selection unit 11 selects the lane maintenance support mode or the lane change support mode, the override determination unit 14 performs the lane maintenance support performed by the lane maintaining unit 13a or the lane change support performed by the lane change unit 13b. It is determined whether or not to cancel.

  First, the case where the override determination unit 14 determines to cancel the lane keeping support will be described. When the control mode selection unit 11 selects the lane maintenance support mode, the override determination unit 14 uses the lane maintenance stop threshold and the operation detection unit 12 which are preset override thresholds for determining the lane maintenance support stop. The detected steering torque value is compared. When the steering torque value detected by the operation detection unit 12 exceeds the lane maintenance stop threshold, the override determination unit 14 determines to stop the lane maintenance support.

  Next, a case where the override determination unit 14 determines to cancel the lane change support will be described. When the control mode selection unit 11 selects the lane change support mode, the override determination unit 14 sets a preset override threshold so that it is more difficult to determine the lane change support stop than the lane maintenance support stop. change. Specifically, the override determination unit 14 increases the preset override threshold in order to make it difficult to determine whether to cancel the lane change support. More specifically, the override determination unit 14 sets the lane maintenance stop threshold, which is an override threshold set in advance to determine whether to cancel the lane keeping support, with an override threshold set in advance to determine whether to stop the lane change support. Change to a certain lane change stop threshold. Note that the lane change stop threshold value set in advance for determining whether to cancel the lane change support is a threshold value larger than the lane maintenance stop threshold value set in advance for determining to cancel the lane keeping support.

  The override determination unit 14 compares the steering torque value detected by the operation detection unit 12 with the lane change stop threshold when the direction indicated by the winker detected by the operation detection unit 12 does not match the operation direction of the steering wheel. . When the steering torque value detected by the operation detection unit 12 exceeds the lane change stop threshold, the override determination unit 14 determines to stop the lane change support.

  When the non-support mode is selected by the control mode selection unit 11, the override determination unit 14 does not determine that the steering support is stopped because the support unit 13 does not support the steering. The override determination unit 14 inputs the determination result of cancellation of the lane change support and the lane maintenance support to the support unit 13.

  The steering drive unit 6 drives the steering of the vehicle X based on the steering control target value input from the lane keeping unit 13a. Thereby, lane maintenance support is implemented. Further, when it is determined by the override determination unit 14 that the lane keeping support is to be stopped, for example, the lane keeping unit 13a does not calculate the control target value, so the steering driving unit 6 does not drive the steering.

  Further, the steering driving unit 6 drives the steering of the vehicle X based on the steering control target value input from the lane changing unit 13b. Thereby, lane change support is implemented. Further, when it is determined that the lane change support is to be stopped by the override determination unit 14, the lane change unit 13b does not calculate the control target value as an example, and the steering drive unit 6 does not drive the steering.

  The control unit 5 and the steering drive unit 6 are physically configured by a computer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory).

  Next, a flow of determination processing for canceling lane keeping support and lane change support performed by the override determination unit 14 of the control unit 5 will be described. As illustrated in FIG. 2, the override determination unit 14 acquires a control mode selection result from the control mode selection unit 11 (step S <b> 101). The override determination unit 14 determines whether or not the lane keeping support mode is selected by the control mode selection unit 11 (step S102). When the lane keeping support mode is selected (step S102: YES), the override determining unit 14 sets the steering torque value detected by the operation detecting unit 12 in advance to determine whether to cancel the lane keeping support. It is determined whether or not a lane maintenance stop threshold that is an override threshold is exceeded (step S103). When the steering torque value exceeds the lane maintenance stop threshold (step S103: YES), the override determination unit 14 determines to stop the lane maintenance support (step S104). If it is determined by the override determination unit 14 that the lane keeping support is to be stopped, the lane keeping unit 13a stops the lane keeping support.

  When the steering torque value detected by the operation detection unit 12 does not exceed the lane maintenance stop threshold (step S103: NO), the override determination unit 14 does not determine to stop the lane maintenance support and the lane change support.

  On the other hand, when the lane keeping support mode is not selected (step S102: NO), the override determination unit 14 determines whether or not the lane change support mode is selected by the control mode selection unit 11 (step S105). ). When the lane change support mode is selected (step S105: YES), the override determination unit 14 sets the lane maintenance stop threshold, which is an override threshold set in advance for determination of canceling the lane maintenance support, to the lane change support. The threshold value is changed to a lane change cancellation threshold value that is a preset override threshold value for determining whether to cancel the vehicle (step S106). As described above, the lane change stop threshold is a threshold larger than the lane maintenance stop threshold. Accordingly, it is more difficult to determine to cancel the lane change support than to determine to cancel the lane maintenance support by the override determination unit 14.

  Next, the override determination unit 14 determines whether the direction indicated by the winker and the operation direction of the steering wheel are inconsistent based on the detection result of the operation detection unit 12 (step S107). The direction in which the direction indicated by the blinker does not match the direction in which the steering wheel is operated is, for example, when the driver stops driving to change to the original lane for some reason even though the driver is trying to move to the right lane. The case where it is going back can be considered.

  When the direction indicated by the winker and the steering wheel operation direction do not match (step S107: YES), the override determination unit 14 determines whether the steering torque value detected by the operation detection unit 12 exceeds the lane change stop threshold value. Is determined (step S108). When the steering torque value exceeds the lane change stop threshold (step S108: YES), the override determination unit 14 determines to stop the lane change support (step S109). If it is determined by the override determination unit 14 that the lane change support is to be stopped, the lane change unit 13b stops the lane change support.

  When the control mode is not the lane change support mode (step S105: NO), that is, when the control mode is the non-support mode, when the direction indicated by the winker and the operation direction of the steering wheel are not inconsistent (step S107: NO), Alternatively, when the steering torque value does not exceed the lane change stop threshold (step S108: NO), the override determination unit 14 does not determine that the lane keeping support and the lane change support are stopped. The process illustrated in FIG. 2 may be repeatedly executed at predetermined time intervals (for example, at unit time intervals).

  The present embodiment is configured as described above, and the override determination unit 14 determines to cancel the lane keeping support when the steering torque value exceeds the lane keeping stop threshold in a state where the lane keeping support mode is selected. To do. The override determination unit 14 determines to cancel the lane change support when the steering torque value exceeds the lane change stop threshold in a state where the lane change support mode is selected. The lane change stop threshold is a threshold value that is larger than the lane maintenance stop threshold. Therefore, it is difficult to determine that the override determination unit 14 cancels the lane change support performed by the lane change unit 13b rather than the lane maintenance support performed by the lane maintaining unit 13a. That is, it is difficult to determine that the lane change support with a large driver's operation load after the support stop is to stop the support more than the lane maintenance support. As a result, lane change support is less likely to be canceled than lane maintenance support, and the driver's operation load increases, discomfort, anxiety, etc., can be suppressed when the support is canceled, such as when the driver steers unintentionally. . Thus, the steering support can be appropriately stopped according to the steering support content (lane maintenance support mode or lane change support mode).

  Also, the direction indicated by the blinker when the lane change support is provided does not match the steering wheel operation direction, such as when the driver cancels the lane change support and returns to the original lane for some reason. There is a case. When the direction indicated by the winker and the operation direction of the steering wheel do not match, the override determination unit 14 compares the steering torque value with the lane change stop threshold to determine the lane change support stop. Thus, when the driver wants to intentionally cancel the lane change control, the override determination unit 14 can appropriately determine whether to cancel the lane change support.

(Second embodiment)
A second embodiment will be described. The driving support device 1 in the second embodiment has the same configuration as the driving support device 1 of the first embodiment described with reference to FIG. 1, and the description of the same components is omitted. Similar to the first embodiment, when the lane change support mode is selected, the override determination unit 14 cancels the lane keeping support so that it is less likely to be determined to stop the lane change support than the lane keeping support. The lane maintenance stop threshold value, which is an override threshold value set in advance for the determination, is changed to an override threshold value set in advance for determining the lane change support stop. Furthermore, in the present embodiment, a direction matching threshold and a direction mismatch threshold are used as override thresholds set in advance for determining whether to cancel the lane change support. The direction matching threshold is a threshold used when the direction indicated by the winker and the operation direction of the steering wheel match. The direction mismatch threshold is a threshold used when the direction indicated by the winker and the operation direction of the steering wheel do not match.

  The threshold value for direction matching and the threshold value for direction mismatch that are set in advance for determining whether to cancel the lane change support are threshold values that are larger than the threshold value that is set in advance to determine whether to cancel the lane keeping support. The direction matching threshold value used when the direction indicated by the winker and the steering wheel operation direction coincide with each other is larger than the direction mismatch threshold value used when the direction indicated by the winker and the steering wheel operation direction do not match. A large threshold.

  When determining the cancellation of the lane change support, if the direction indicated by the winker and the operation direction of the steering wheel do not match, the override determination unit 14 compares the steering torque value with the direction mismatch threshold. When the steering torque value exceeds the direction mismatch threshold, the override determination unit 14 determines to stop the lane change support.

  Further, when determining to cancel the lane change support, if the direction indicated by the winker and the operation direction of the steering wheel do not coincide with each other, the override determination unit 14 compares the steering torque value with the direction matching threshold value. When the steering torque value exceeds the direction matching threshold, the override determination unit 14 determines to stop the lane change support.

  When the lane change support mode is selected by the control mode selection unit 11, the override determination unit 14 determines a threshold value that is greater than the direction mismatch threshold value when the direction indicated by the winker and the steering wheel operation direction do not match. Since the direction matching threshold value is compared with the steering torque, it is easier to determine that the lane change support is to be stopped than the case of matching.

  In the second embodiment, the steering torque value is compared with the direction matching threshold value even when the direction indicated by the winker and the operation direction of the steering wheel are not inconsistent. Then, the override determination unit 14 determines to cancel the lane change support based on the comparison result. Thus, even if the direction indicated by the winker and the operation direction of the steering wheel are not inconsistent, it is possible to determine whether to cancel the lane change support based on the steering torque value.

  Next, a flow of determination processing for canceling lane keeping support and lane change support performed by the override determination unit 14 will be described. The processing in steps S201 to S205 shown in FIG. 3 is the same as the processing in steps S101 to S105 in FIG.

  When the lane change support mode is selected (step S205: YES), the override determination unit 14 sets the lane maintenance stop threshold, which is an override threshold set in advance for determination of canceling the lane maintenance support, to the lane change support. The threshold value for direction matching and the threshold value for direction mismatch are set in advance for determining whether or not to cancel (step S206). As described above, the direction matching threshold value and the direction mismatch threshold value are threshold values that are larger than the lane keeping stop threshold value that is set in advance for determining whether to stop the lane keeping assistance. Accordingly, it is more difficult to determine to cancel the lane change support than to determine to cancel the lane maintenance support by the override determination unit 14.

  Next, the override determination unit 14 determines whether the direction indicated by the winker and the operation direction of the steering wheel are inconsistent based on the determination result of the operation detection unit 12 (step S207). When the direction indicated by the winker and the operation direction of the steering wheel do not match (step S207: YES), the override determination unit 14 determines whether the steering torque value detected by the operation detection unit 12 has exceeded the direction mismatch threshold. Is determined (step S208).

  When the steering torque value exceeds the direction mismatch threshold (step S208: YES), the override determination unit 14 determines to stop the lane change support (step S209). If it is determined by the override determination unit 14 that the lane change support is to be stopped, the lane change unit 13b stops the lane change support. Thus, for example, when the vehicle X is receiving lane change support, if it is necessary to proceed in a direction different from the direction indicated by the blinker because the preceding vehicle has decelerated rapidly, the lane change support is canceled and the original You can easily return to the lane.

  On the other hand, if the direction indicated by the winker and the operation direction of the steering wheel are not inconsistent (step S207: NO), the override determination unit 14 determines that the steering torque value detected by the operation detection unit 12 has exceeded the direction matching threshold value. It is determined whether or not (step S210). When the steering torque value exceeds the direction matching threshold (step S210: YES), the override determination unit 14 determines to stop the lane change support (step S209). Thereby, for example, even when the direction indicated by the winker and the operation direction of the steering wheel coincide with each other, the driver can intentionally stop the lane change support.

  When the steering torque value does not exceed the direction mismatch threshold (step S208: NO) or when the steering torque value does not exceed the direction match threshold (step S210: NO), the override determination unit 14 It is not determined that change support will be canceled. The process shown in FIG. 3 may be repeatedly executed at predetermined time intervals (for example, at unit time intervals).

  The present embodiment is configured as described above, and the override determination unit 14 sets the steering torque value even when the direction indicated by the blinker coincides with the operation direction of the steering wheel when the lane change support is performed. Based on this, the cancellation of the lane change support is determined. Accordingly, even if the direction indicated by the winker and the operation direction of the steering wheel match, the driver can intentionally stop the lane change support. Further, since the direction matching threshold is larger than the direction mismatch threshold, if the direction indicated by the winker and the operation direction of the steering wheel coincide with each other, it is more likely that the lane change support will be stopped unintentionally. It can be further suppressed.

(Third embodiment)
A third embodiment will be described. A travel support device 1A shown in FIG. 4 is mounted on a vehicle (own vehicle) X and supports steering of the vehicle X performed by a driver. The travel support device 1A includes a lane keeping switch 2, a blinker switch 3, a steering torque sensor 4, a control unit 5A, and a steering drive unit 6. In addition, about the component similar to 1st embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  The control unit 5A includes a control mode selection unit 11, an operation detection unit 12A, a support unit 13, and an override determination unit 14A.

  Based on the detection result of the steering torque sensor 4, the operation detection unit 12A detects the steering torque value when the steering wheel is operated by the driver as the steering amount of the driver. Note that the operation detection unit 12A may detect the steering angle of the steering wheel as the driver's steering amount.

  The override determination unit 14 </ b> A includes a time measurement unit 141 and a determination unit (stop determination unit) 142.

  When the control mode selection unit 11 selects the lane maintenance support mode or the lane change support mode, the time measurement unit 141 determines the driver's steering continuation time based on the steering torque value detected by the operation detection unit 12A. measure. Specifically, the time measurement unit 141 compares a time measurement threshold set in advance for measuring the steering continuation time with the steering torque value detected by the operation detection unit 12A. Based on the comparison result, the time measurement unit 141 measures the duration when the steering torque value detected by the operation detection unit 12A exceeds the time measurement threshold as the steering duration. The time measuring unit 141 sets the steering continuation time to an initial value (for example, zero) when the steering torque value detected by the operation detecting unit 12A is equal to or less than the time measurement threshold value.

  In addition, the time measuring unit 141 is based on the detection result of the operation detection unit 12A and indicates the time during which the driver continues steering (the time during which the driver is turning the steering wheel or the time during which the driver is turning). It is good also as a steering continuation time. In this case, for example, the time measuring unit 141 may set the steering continuation time to the initial value every time the driver returns the steering wheel to the initial state (state where the steering torque value becomes zero).

  When the control mode selection unit 11 selects the lane maintenance support mode or the lane change support mode, the determination unit 142 performs the lane maintenance support performed by the lane maintenance unit 13a or the lane change support performed by the lane change unit 13b. It is determined whether or not to cancel.

  First, a case where the determination unit 142 determines to cancel the lane keeping support will be described. When the control mode selection unit 11 selects the lane maintenance support mode, the determination unit 142 uses the time threshold set in advance for determining the steering continuation time measured by the time measurement unit 141 and the cancellation of the lane maintenance support. Compare with a certain lane maintenance stop time threshold. When the steering measurement time measured by the time measurement unit 141 exceeds the lane maintenance stop time threshold, the determination unit 142 determines to cancel the lane maintenance support.

  Next, a case where the determination unit 142 determines to cancel the lane change support will be described. When the lane change support mode is selected by the control mode selection unit 11, the determination unit 142 changes the preset time threshold so that it is more difficult to determine the lane change support stop than the lane maintenance support stop. To do. Specifically, the determination unit 142 increases the preset lane maintenance stop time threshold value in order to make it difficult to determine whether to cancel the lane change support. More specifically, the determination unit 142 sets the lane maintenance stop time threshold, which is a time threshold set in advance for determining whether to cancel the lane keeping support, to a time threshold set in advance for determining to cancel the lane change support. Change to a certain lane change stop time threshold. Note that the lane change stop time threshold value that is set in advance for determining whether to cancel lane change support is a threshold that is longer in time than the lane maintenance stop time threshold value that is set in advance to determine whether to cancel lane maintenance support (a larger threshold value). ).

  The determination unit 142 determines to cancel the lane change support when the steering continuation time measured by the time measurement unit 141 exceeds the lane change stop time threshold.

  The lane change suspension time threshold is a threshold that is longer in time than the lane maintenance suspension time threshold. Thus, the determination unit 142 is less likely to determine to cancel the lane change support performed by the lane change unit 13b than to determine to cancel the lane maintenance support performed by the lane maintaining unit 13a.

  When the non-support mode is selected by the control mode selection unit 11, the determination unit 142 does not determine that the steering support is stopped because the support unit 13 does not support the steering. The determination unit 142 inputs the determination result of cancellation of the lane change support and the lane maintenance support to the support unit 13.

  Next, the flow of determination processing for canceling lane keeping support and lane change support performed by the override determination unit 14A will be described. The processes in steps S301 and S302 shown in FIG. 5 are the same as the processes in steps S101 and S102 in FIG.

  As shown in FIG. 5, when the lane keeping support mode is selected (step S302: YES), the determination unit 142 determines that the steering torque value detected by the operation detection unit 12A is previously measured for the steering duration time. It is determined whether or not the set time measurement threshold is exceeded (step S303).

  When the steering torque value exceeds the time measurement threshold (step S303: YES), the determination unit 142 sets the steering continuation time measured by the time measurement unit 141 in advance to determine whether to cancel the lane keeping support. It is determined whether or not the lane maintenance stop time threshold has been exceeded (step S304). When the steering continuation time measured by the time measurement unit 141 does not exceed the preset lane maintenance stop time threshold value (step S304: NO), the determination unit 142 performs the process of step S303 again.

  When the steering continuation time measured by the time measurement unit 141 exceeds a preset lane maintenance stop time threshold value (step S304: YES), the determination unit 142 determines to cancel the lane maintenance support (step S305). .

  When the steering torque value detected by the operation detection unit 12A does not exceed the time measurement threshold value (step S303: NO), the determination unit 142 does not determine to stop the lane keeping support and the lane change support.

  On the other hand, when the lane keeping support mode is not selected (step S302: NO), the determination unit 142 determines whether or not the lane change support mode is selected by the control mode selection unit 11 (step S306). . When the lane change support mode is selected (step S306: YES), the determination unit 142 sets the lane maintenance stop time threshold, which is a time threshold set in advance for determination of canceling the lane maintenance support, to the lane change support. Is changed to a lane change stop time threshold value which is a time threshold value set in advance for determining whether to stop the vehicle (step S307). As described above, the lane change suspension time threshold is longer in time than the lane maintenance suspension time threshold. Accordingly, it is more difficult to determine that the lane change support is to be canceled than the determination unit 142 determines to cancel the lane maintenance support.

  The determination unit 142 determines whether or not the steering torque value detected by the operation detection unit 12A exceeds a time measurement threshold set in advance for measuring the steering continuation time (step S308). The time measurement threshold value used here is the same as the time measurement threshold value (used in the process of step S303) used when determining stop of the lane change support.

  When the steering torque value exceeds the time measurement threshold (step S308: YES), the determination unit 142 sets the steering continuation time measured by the time measurement unit 141 in advance to determine whether to cancel the lane change support. It is determined whether or not a lane change stop time threshold has been exceeded (step S309). When the steering continuation time measured by the time measurement unit 141 does not exceed the lane change stop time threshold (step S309: NO), the determination unit 142 performs the process of step S308 again.

  When the steering continuation time measured by the time measurement unit 141 exceeds the lane change stop time threshold (step S309: YES), the determination unit 142 determines to stop the lane change support (step S310).

  When the lane change support mode is not selected by the control mode selection unit 11 (step S306: NO), or when the steering torque value does not exceed the time measurement threshold value (step S308: NO), the determination unit 142 Does not decide to cancel lane maintenance support and lane change support.

  The process shown in FIG. 5 may be repeatedly executed at predetermined time intervals (for example, at unit time intervals). In this case, as an example, a preset lane maintenance stop time threshold may be set as one cycle (for example, unit time) of the support stop determination process performed by the determination unit 142. Alternatively, the preset lane change stop time threshold may be set to a time (for example, 0.5 seconds) longer than one cycle of the support stop determination process performed by the determination unit 142.

  The present embodiment is configured as described above, and in this travel support device 1A, the determination unit 142 determines whether to stop the lane change support and the lane maintenance support based on the steering duration time. The lane change stop time threshold value used for the determination of the lane change support cancellation is longer in time than the lane maintenance stop time threshold value used for the determination of the lane maintenance support stop. That is, when the state where the steering torque value detected by the operation detection unit 12A exceeds the time measurement threshold value continues for a long time, it is determined that the lane keeping support is to be stopped. Thus, by changing the lane maintenance stop time threshold to the lane change stop time threshold, it is possible to make it more difficult to determine lane change support cancellation than to cancel lane maintenance support.

  Further, a threshold for time measurement to be compared with the steering torque value detected by the operation detection unit 12A when determining the cancellation of the lane change support, and the operation detection unit 12A detected when determining the cancellation of the lane keeping support. The time measurement threshold value to be compared with the steering torque value is the same. That is, it is not necessary to increase the time measurement threshold value in order to make it more difficult to determine cancellation of lane change support than lane maintenance support. For this reason, even when the driver operates the steering wheel to intentionally cancel the lane change support, the disturbance of the behavior of the vehicle X that may occur after the support is stopped is suppressed, and the driver's anxiety and steering Mistakes can be reduced.

  Also in the third embodiment, as in the first embodiment, the determination unit 142 determines whether to cancel the lane change support when the direction indicated by the winker and the operation direction of the steering wheel do not match. You may go. Specifically, the process in step S107 in FIG. 2 may be performed before the process in step S308 in FIG. Thus, the lane change support can be appropriately stopped according to the direction of operation of the steering wheel.

(Fourth embodiment)
A fourth embodiment will be described. A driving support device 1B shown in FIG. 6 is mounted on a vehicle (own vehicle) X and supports steering of the vehicle X performed by a driver. The travel support device 1B includes a lane keeping switch 2, a blinker switch 3, a steering torque sensor 4, a control unit 5B, a steering drive unit 6, and a millimeter wave radar 7. In addition, about the component similar to 1st-3rd embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  The millimeter wave radar 7 is used to detect other vehicles around the vehicle X (which may include people in addition to the vehicle). The millimeter wave radar 7 irradiates the periphery of the vehicle X with millimeter-wave radio waves and detects radio waves reflected by other vehicles. The detection result by the millimeter wave radar 7 is input to the control unit 5B.

  The control unit 5B includes a control mode selection unit 11, an operation detection unit 12A, a support unit 13, an override determination unit (stop determination unit) 14B, and an obstacle recognition unit 15. The obstacle recognition unit 15 detects another vehicle as an obstacle around the vehicle X based on the detection result of the millimeter wave radar 7. Further, the obstacle recognition unit 15 calculates a collision risk between the vehicle X around the vehicle X and the other vehicle. The collision risk can be calculated using various methods. For example, the collision risk may be calculated from the map information, the relative position and relative speed between the vehicle X and another vehicle, the traveling direction, and the like. The collision risk calculation result is input to the override determination unit 14B.

  When the control mode selection unit 11 selects the lane maintenance support mode or the lane change support mode, the override determination unit 14B performs the lane maintenance support performed by the lane maintaining unit 13a or the lane change support performed by the lane change unit 13b. It is determined whether or not to cancel.

  First, the case where the override determination unit 14B determines to cancel the lane keeping support will be described. When the lane maintenance support mode is selected by the control mode selection unit 11, the override determination unit 14B uses the lane maintenance stop threshold and the operation detection unit 12A, which are preset override thresholds for determining lane maintenance support cancellation. The detected steering torque value is compared. When the steering torque value detected by the operation detection unit 12A exceeds the lane maintenance stop threshold, the override determination unit 14B determines to stop the lane maintenance support.

  Next, a case where the override determination unit 14B determines to cancel the lane change support will be described. When the collision risk calculated by the obstacle recognizing unit 15 is greater than a preset risk determination threshold for collision risk determination and the collision avoidance direction matches the driver steering direction, the override determination unit 14B The lane maintenance stop threshold value that is a preset override threshold value for determining whether to cancel the lane keeping support is changed to a first risk stop threshold value that is a preset override threshold value for determining whether to cancel the lane change support. The first risk stop threshold value is a threshold value that is smaller than a lane maintenance stop threshold value that is set in advance for determining whether to stop the lane keeping support. The collision avoidance direction is a direction in which the vehicle X does not collide with another vehicle detected by the obstacle recognition unit 15.

  On the other hand, the override determination unit 14B determines that the collision risk calculated by the obstacle recognition unit 15 is not greater than a preset risk determination threshold for collision risk determination, and that the collision avoidance direction and the driver steering direction are equal. In at least one of the cases where the lane maintenance support is not performed, the lane maintenance stop threshold which is a preset override threshold for the determination of the lane maintenance support cancellation is set to a preset override threshold for the determination of the lane change support cancellation. Change to a certain second risk stop threshold (lane change stop threshold). The second risk stop threshold value is a threshold value that is larger than a lane maintenance stop threshold value that is set in advance for determining whether to stop the lane keeping support. That is, the first risk stop threshold is a threshold smaller than the second risk stop threshold.

  The override determination unit 14B compares the first risk stop threshold or the second risk stop threshold changed based on the collision risk and the steering torque value detected by the operation detection unit 12A. When the steering torque value detected by the operation detection unit 12A exceeds the first risk stop threshold or the second risk stop threshold, the override determination unit 14B determines to stop the lane change support.

  The first risk stop threshold is a threshold smaller than the second risk stop threshold. As a result, the override determination unit 14 determines that the collision risk is greater than a preset risk determination threshold for collision risk determination, and the collision avoidance direction and the steering direction of the driver coincide with each other when compared with the other case. It is easy to determine that the change support is canceled.

  Next, the flow of determination processing for canceling lane keeping support and lane change support performed by the override determination unit 14B of the control unit 5B will be described. The processing in steps S401 to S405 shown in FIG. 7 is the same as the processing in steps S101 to S105 in FIG.

  As shown in FIG. 7, when the lane change support mode is selected (step S405: YES), the override determination unit 14B acquires the collision risk calculated by the obstacle recognition unit 15 (step S406).

  The override determination unit 14B determines whether or not the collision risk calculated by the obstacle recognition unit 15 is greater than a preset risk determination threshold for collision risk determination and whether the collision avoidance direction matches the driver steering direction. Determination is made (step S407).

  When the collision risk calculated by the obstacle recognition unit 15 is larger than a preset risk determination threshold for collision risk determination and the collision avoidance direction matches the steering direction of the driver (step S407: YES), override The determination unit 14B sets in advance a lane maintenance stop threshold value that is set in advance for determining whether to cancel the lane keeping support so as to determine whether to cancel the lane change support. The threshold value is changed to the first risk stop threshold (step S408).

  On the other hand, at least when the collision risk calculated by the obstacle recognition unit 15 is not greater than a preset risk determination threshold for collision risk determination, and when the collision avoidance direction does not match the driver steering direction In any case (step S407: NO), the override determination unit 14B sets a lane maintenance stop threshold value that is set in advance for determination of lane maintenance support cancellation so that it is difficult to determine lane change support cancellation. The threshold value is changed to a preset second risk cancellation threshold value for determining whether to cancel the change support (step S409).

  After changing the lane maintenance stop threshold set in advance for the determination of the lane maintenance support stop to the first risk stop threshold or the second risk stop threshold set in advance for the determination of the lane change support stop (step S408 or After step S409), the override determination unit 14B determines whether or not the steering torque value detected by the operation detection unit 12A exceeds the changed first risk stop threshold or second risk stop threshold (step S410). ). If the steering torque value exceeds the changed first risk stop threshold or the second risk stop threshold (step S410: YES), the override determination unit 14B determines to stop the lane change support (step S411). On the other hand, if the steering torque value does not exceed the changed first risk stop threshold or the second risk stop threshold (step S410: NO), the override determination unit 14B does not determine to stop the lane keeping support and the lane change support. . The process shown in FIG. 7 may be repeatedly executed at predetermined time intervals (for example, at unit time intervals).

  The present embodiment is configured as described above, and the override determination unit 14B is configured such that the collision risk calculated by the obstacle recognition unit 15 is greater than a preset risk determination threshold for collision risk determination and the collision avoidance direction and the driver's If the steering direction matches, the lane maintenance stop threshold is changed to the first risk stop threshold (step S408). If not, the lane maintenance stop threshold is changed to the second risk stop threshold (step S409). ). As a result, when the collision risk is high and the collision avoidance direction matches the driver's steering direction, it is easier to determine that the lane change control is stopped when the driver operates the steering wheel than when the collision risk is not. .

  Thereby, for example, when the risk of collision is high and the driver is performing an appropriate avoidance action (operation of the steering wheel) in order to avoid a collision with another vehicle, the threshold is changed to the first risk stop threshold. In addition, lane change support is quickly stopped. That is, the driver can intentionally easily stop the lane change support intentionally. Thus, when the driver is performing an appropriate avoidance action, a collision with another vehicle can be suppressed by giving priority to the driver's operation.

  The override determination unit 14B sets the second lane keeping stop threshold value to the second value when the collision risk is not large and at least one of the case where the collision avoidance direction and the steering direction do not match (step S404: NO). Change to the risk stop threshold. In this case, it becomes more difficult to cancel the lane change support than when the lane maintenance support is canceled. Thereby, it can suppress that lane change assistance is stopped unintentionally.

  Also in the fourth embodiment, as in the first embodiment, the override determination unit 14B determines whether to cancel the lane change support when the direction indicated by the blinker does not match the operation direction of the steering wheel. May be performed. Specifically, the process in step S107 in FIG. 2 may be performed before the process in step S410 in FIG. Accordingly, the lane change support can be appropriately stopped according to the steering direction.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to said each embodiment. For example, the operation detection unit 12 is not limited to detecting the steering torque value based on the detection result of the steering torque sensor 4 as the steering amount of the driver. For example, the operation detection unit 12 may detect the steering angle based on the detection result of the steering angle sensor that detects the steering angle of the steering wheel as the driver's steering amount.

  In the fourth embodiment, the obstacle recognizing unit 15 may detect other vehicles from the image picked up by the camera, in addition to the detection result by the millimeter wave radar 7, and receive the laser irradiated around the vehicle. Other vehicles may be detected based on the result.

  DESCRIPTION OF SYMBOLS 1,1A, 1B ... Travel assistance apparatus, 13a ... Lane maintenance part, 13b ... Lane change part, 14, 14B ... Override determination part (stop determination part), 142 ... Determination part (stop determination part), X ... Vehicle (self vehicle).

Claims (1)

A lane maintaining unit that supports steering of the host vehicle so that the host vehicle travels along the driving lane;
A lane change unit that assists in steering the host vehicle so that the host vehicle changes lanes from a driving lane to another lane;
Based on the steering amount or steering duration time of the driver of the host vehicle, a stop determination unit that determines stop of steering support performed by the lane maintaining unit, and stop of steering support performed by the lane change unit,
With
When the steering amount of the driver exceeds a preset lane maintenance stop threshold, or when the driver's steering duration exceeds a preset lane maintenance stop time threshold, It is determined that the steering support of the lane keeping section is canceled,
When the steering amount of the driver exceeds a preset lane change stop threshold, or when the driver's steering duration exceeds a preset lane change stop time threshold, the stop determination unit It is determined that the steering support of the lane changing unit is canceled,
The lane change stop threshold is a threshold greater than the lane maintenance stop threshold,
The driving support device, wherein the lane change stop time threshold is larger than the lane maintenance stop time threshold.

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