JP6440795B1 - Vehicle steering apparatus and steering control method - Google Patents

Abstract

A vehicle steering apparatus capable of appropriately setting a lateral position of a host vehicle according to a place where the host vehicle travels is provided.
In a steering device, a lane shape detection unit 11 detects a shape of a traveling lane of the host vehicle, and a current lateral position detection unit 12 detects a current lateral position of the host vehicle in the traveling lane, The current position detection unit 14 detects the current position of the host vehicle. The target lateral position setting unit 15 sets the target lateral position of the own vehicle in the travel lane based on at least the current position of the own vehicle. The lateral position control amount calculation unit 16 calculates the lateral position control amount of the host vehicle from the current lateral position and the target lateral position. The target steering angle calculation unit 17 calculates the target steering angle of the host vehicle from the shape of the traveling lane and the lateral position control amount.
[Selection] Figure 1

Description

  The present invention relates to a vehicle steering apparatus that causes a vehicle to travel along a lane.

  A vehicle steering apparatus that assists steering so that a vehicle travels along a lane is called, for example, a “lane keep assist system” and the development thereof is being promoted (for example, Patent Documents 1 and 2 below). In general, such a vehicle steering system is basically based on maintaining the lateral position of the vehicle (hereinafter referred to as “lateral position”) at the center of the lane. In addition, the lateral position is corrected to prevent the driver from interfering with the steering and to realize a steering assist without any sense of incongruity.

JP 2005-59643 A JP 2017-74838 A

  As described above, since the vehicle steering device corrects the lateral position of the vehicle in accordance with the driver's preference and driving tendency, the lateral position of the vehicle is often set at a position shifted from the center of the lane. . However, for example, in a tunnel or a toll collection point, there are side walls and facilities near the lane, so it is preferable to drive the vehicle in the center of the lane from the viewpoint of safety. Since conventional vehicle steering devices always maintain the corrected lateral position, the lateral position of the vehicle is shifted to the right or left of the lane even when the vehicle travels in a tunnel or a toll collection point. The driver may feel uncomfortable.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle steering apparatus that can appropriately set the lateral position of the host vehicle in accordance with the location where the host vehicle travels. To do.

A vehicle steering apparatus according to the present invention includes a lane shape detection unit that detects a shape of a traveling lane of the host vehicle, a current lateral position detection unit that detects a current lateral position of the host vehicle in the traveling lane, A current position detector for detecting a current position of the host vehicle, a target lateral position setting unit for setting a target lateral position of the host vehicle in the travel lane based on at least the current position of the host vehicle, and the current A lateral position control amount calculation unit for calculating a lateral position control amount of the host vehicle from a lateral position and the target lateral position, and a target steering angle of the host vehicle is calculated from the shape of the traveling lane and the lateral position control amount. A target steering angle calculation unit, and the target lateral position setting unit is configured such that the target lateral position in a normal state is closer to an obstacle outside the traveling lane than the center of the traveling lane, and If the current position of the car meets a predetermined condition, Than when it is intended to gather the target lateral position in the center of the traffic lane.

  According to the vehicle steering device of the present invention, the setting of the lateral position of the host vehicle can be changed according to the place where the host vehicle travels. Therefore, for example, the vehicle's horizontal position is usually adjusted to the driver's preference and driving tendency, and the vehicle's horizontal position is set to the center of the lane at tunnels and toll collection points. Steering assistance without any discomfort can be realized.

It is a block diagram which shows the structure of the steering apparatus for vehicles which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the steering apparatus for vehicles which concerns on embodiment of this invention. It is a figure which shows the example of the target horizontal position (driver corresponding horizontal position) at the normal time. It is a figure which shows the example of the target horizontal position (driver corresponding horizontal position) at the normal time. It is a figure which shows the example of the hardware constitutions of the steering apparatus for vehicles. It is a figure which shows the example of the hardware constitutions of the steering apparatus for vehicles.

  FIG. 1 is a block diagram showing a configuration of a vehicle steering apparatus 10 according to an embodiment of the present invention. As shown in FIG. 1, a front camera 21, a satellite positioning system 22, a map data storage device 23, and a travel control system 30 are connected to the vehicle steering device 10. Hereinafter, the vehicle steering device 10 is simply referred to as “steering device 10”, and a vehicle equipped with the steering device 10 is referred to as “own vehicle”.

  The front camera 21 is an imaging device mounted on the own vehicle, and shoots a front image (front image) viewed from the own vehicle. The satellite positioning system 22 measures the position (latitude, longitude) of the vehicle based on a signal received from a GNSS (Global Navigation Satellite System) satellite such as a GPS (Global Positioning System) satellite. The map data storage device 23 is a storage medium that stores map data.

  The traveling control system 30 is a system that controls traveling of the host vehicle by controlling an acceleration mechanism, a braking mechanism, a steering mechanism, and the like of the host vehicle. In particular, the steering device 10 calculates a target steering angle for controlling the steering mechanism of the host vehicle and inputs the target steering angle to the traveling control system 30.

  As shown in FIG. 1, the vehicle steering apparatus 10 includes a lane shape detection unit 11, a current lateral position detection unit 12, a driver-compatible lateral position setting unit 13, a current position detection unit 14, a target lateral position setting unit 15, a lateral position. A control amount calculation unit 16 and a target steering angle calculation unit 17 are provided.

  The lane shape detection unit 11 detects the shape (curvature) of the traveling lane ahead of the host vehicle by analyzing the front image of the host vehicle captured by the front camera 21. The current lateral position detection unit 12 detects the current lateral position of the host vehicle in the traveling lane (hereinafter referred to as “current lateral position”) by analyzing the front image of the host vehicle captured by the front camera 21. Since the method of detecting the curvature of the traveling lane and the current lateral position from the front image of the host vehicle is a well-known technique, a description thereof is omitted here.

  The driver-corresponding lateral position setting unit 13 sets a driver-corresponding lateral position that is a lateral position according to the driver's preference or driving tendency. The driver corresponding lateral position setting unit 13 can be configured as, for example, a rotary switch that allows the driver to adjust the driver corresponding lateral position according to his / her preference. In this case, the user can shift the driver-corresponding lateral position to the left side by turning the rotary switch to the left, and can shift the driver-corresponding lateral position to the right side by turning to the right.

  Further, the driver corresponding lateral position setting unit 13 monitors the lateral position of the vehicle when the driver is manually steering, learns the tendency of the lateral position in the driving of the driver, and responds to the driver based on the learning result. You may comprise as a calculating device which calculates a horizontal position. For example, it is conceivable that the driver corresponding lateral position setting unit 13 sets an average value of the lateral positions when the driver manually steers as the driver corresponding lateral position.

  The current position detection unit 14 detects the current position of the host vehicle from data (positioning data) indicating the positioning result of the host vehicle by the satellite positioning system 22 and map data acquired from the map data storage device 23. A method for detecting the current position from the positioning data and the map data may be the same as a method generally performed in a car navigation system, for example.

  The target lateral position setting unit 15 sets the target lateral position of the host vehicle in the travel lane based on at least the current position of the host vehicle detected by the current position detection unit 14. That is, the target lateral position setting unit 15 changes the setting of the target lateral position of the own vehicle depending on whether the current position of the own vehicle satisfies a predetermined condition or not. In the present embodiment, when the current position of the host vehicle satisfies a predetermined condition, the target lateral position setting unit 15 brings the target lateral position of the host vehicle closer to the center of the travel lane than during normal times. Here, the target lateral position setting unit 15 normally sets the driver-corresponding lateral position set by the driver-corresponding lateral position setting unit 13 as the target lateral position of the host vehicle, and the current position of the host vehicle is determined in advance. When the condition is satisfied, the target lateral position of the own vehicle is set at the center of the traveling lane. Specifically, the target lateral position setting unit 15 sets the target lateral position at the center of the traveling lane when the current position of the host vehicle is in the vicinity of the tunnel, that is, within a certain range from the tunnel.

The lateral position control amount calculation unit 16 determines the lateral position of the host vehicle based on the current lateral position of the host vehicle detected by the current lateral position detection unit 12 and the target lateral position of the host vehicle set by the target lateral position setting unit 15. Calculate the position control amount. The lateral position control amount can be calculated using the following equation (1).
[Lateral position control amount] = [target lateral position] − [current lateral position] (1)
That is, the lateral position control amount of the host vehicle is obtained as a deviation between the target lateral position of the host vehicle and the current lateral position.

The target steering angle calculation unit 17 is based on the traveling lane shape (curvature) detected by the lane shape detection unit 11 and the lateral position control amount calculated by the lateral position control amount calculation unit 16. Is calculated. In the present embodiment, the target steering angle calculation unit 17 calculates the target steering angle using the following equation (2).
[Target steering angle] = K1 × [curvature of driving lane] + K2 × [lateral position control amount] (2)
In Equation (2), K1 and K2 are parameters, which are values set in advance according to the running characteristics of the host vehicle. The calculation formula for the target steering angle is not limited to the formula (2), and other calculation formulas may be used.

  The target steering angle calculated by the target steering angle calculation unit 17 is input to the traveling control system 30, and the traveling control system 30 controls the steering mechanism of the host vehicle so as to realize the target steering angle. Thereby, the own vehicle is steered so that the lateral position approaches the target lateral position, and finally the lateral position of the own vehicle amount becomes the target lateral position.

  FIG. 2 is a flowchart showing the operation of the steering apparatus 10 according to the present embodiment. Hereinafter, the operation of the steering device 10 will be described with reference to FIG. 2 is started when the driver turns on an execution switch (not shown) for automatic steering by the steering device 10, and is repeatedly executed while the execution switch is on.

  First, the lane shape detection unit 11 and the current lateral position detection unit 12 based on the front image captured by the front camera 21, the shape (curvature) of the traveling lane ahead of the host vehicle and the current lateral position of the host vehicle in the traveling lane. The position is detected (step S1). Next, the target lateral position setting unit 15 acquires the driver-corresponding lateral position set by the driver-corresponding lateral position setting unit 13 (step S2). Further, the current position detection unit 14 detects the current position of the own vehicle from the data (positioning data) indicating the positioning result of the own vehicle by the satellite positioning system 22 and the map data acquired from the map data storage device 23 ( Step S3).

  Then, the target lateral position setting unit 15 refers to the map data and confirms whether or not the current position of the vehicle is near the tunnel (within a certain range from the tunnel) (step S4). If the current position of the host vehicle is not near the tunnel (NO in step S4), the target lateral position setting unit 15 sets the target lateral position to the driver-corresponding lateral position (step S5). If the current position of the host vehicle is near the tunnel, the target lateral position setting unit 15 sets the target lateral position at the center of the traveling lane (step S6).

  Next, the lateral position control amount calculation unit 16 uses the equation (1) to calculate the current lateral position of the host vehicle detected in step S1 and the target lateral position of the host vehicle set in step S5 or S6. The lateral position control amount is calculated (step S7). Then, the target steering angle calculation unit 17 calculates the target steering angle from the shape (curvature) of the traveling lane detected in step S1 and the lateral position control amount calculated in step S7 using equation (2). Calculation is performed (step S8).

  The target steering angle calculated in step S8 is input to the travel control system 30 (step S9). The traveling control system 30 controls the steering mechanism of the host vehicle so as to realize the target steering angle, and thereby the lateral position of the host vehicle becomes the target lateral position.

  In the steering apparatus 10 of the present embodiment, the target lateral position setting unit 15 sets the target lateral position to the driver-corresponding lateral position during normal times (when the current position of the host vehicle is not near the tunnel). When the current position is near the tunnel, the target lateral position is set at the center of the driving lane. Therefore, the host vehicle travels while maintaining the driver-corresponding lateral position before approaching the tunnel, and travels in the center of the traveling lane near the tunnel. For example, even if the driver-corresponding lateral position is outside the driving lane (to the left in the case of left-hand traffic), when the vehicle approaches the tunnel, it will travel in the center of the driving lane, and steering by the steering device 10 will be performed. The uncomfortable feeling given to the driver is suppressed.

  In the present embodiment, when the current position of the host vehicle satisfies a predetermined condition, the target lateral position setting unit 15 determines the target lateral position as a pinpointed position (in the above example, traveling) Although it is set at the center of the lane), it may have a certain width. That is, when the current position of the host vehicle satisfies a predetermined condition, the target lateral position setting unit 15 sets the target lateral position within a predetermined range (for example, a range of ± 10 cm from the center of the traveling lane). May be. As a result, the target steering angle is prevented from changing abruptly and smooth steering is performed.

  Further, in the present embodiment, an example is shown in which the target lateral position is set at the center of the traveling lane when the current position of the host vehicle is near the tunnel. However, the place where the own vehicle preferably travels in the center of the lane is not limited to the vicinity of the tunnel. For example, it is preferable that the own vehicle travels in the center of the lane because the side wall and equipment exist at a position near the outside of the lane even at the toll collection point. Therefore, the target lateral position may be set at the center of the traveling lane even when the current position of the own vehicle falls within a certain range from the toll collection point.

  In the present embodiment, an example has been shown in which the current position detection unit 14 detects the current position of the host vehicle from the positioning data of the satellite positioning system 22 and the map data acquired from the map data storage device 23. However, the method for detecting the current position of the host vehicle is not limited to this. For example, the current position detection unit 14 acquires the front image of the host vehicle captured by the front camera 21 or communication with the outside of the host vehicle. The current position of the host vehicle may be detected from the information that is generated.

  Moreover, in this Embodiment, the lane shape detection part 11 showed the example which detects the shape (curvature) of the traveling lane ahead of the own vehicle from the front image of the own vehicle which the front camera 21 image | photographed. However, the lane shape detection unit 11 may detect the shape of the traveling lane ahead of the host vehicle from the positioning data of the satellite positioning system 22 and the map data acquired from the map data storage device 23. For example, Japanese Patent No. 6080998 discloses a method for detecting the shape of a traveling lane from positioning data and map data.

  Further, in the present embodiment, an example is shown in which the current lateral position detection unit 12 detects the current lateral position of the host vehicle from the front image of the host vehicle captured by the front camera 21. However, the current lateral position detection unit 12 may detect the shape of the traveling lane ahead of the host vehicle from the positioning data of the satellite positioning system 22 and the map data acquired from the map data storage device 23. A method for detecting the current lateral position of the vehicle from the positioning data and the map data is also disclosed in Japanese Patent No. 6080998.

  Further, in the present embodiment, the target lateral position setting unit 15 refers to the map data to determine whether or not the current position of the vehicle is near the tunnel, and sets the target lateral position based on the determination result. However, you may employ | adopt the method which does not use map data. For example, a data map indicating the relationship between the position (latitude and longitude) of the own vehicle output from the satellite positioning system 22 and the target lateral position corresponding to each position is prepared, and the target lateral position setting unit 15 provides the data map. The target lateral position of the own vehicle may be set with reference to FIG.

  Alternatively, for example, a data map showing the relationship between the identification number of each road (number assigned to each section of the road in the map data) and the target lateral position corresponding to each road is prepared, and the target lateral position setting unit 15 may set the target lateral position of the own vehicle with reference to the data map.

  The flow of FIG. 2 shows an example in which the target lateral position setting unit 15 always sets the target lateral position at the center of the traveling lane when the current position of the host vehicle is near the tunnel. However, when the normal target lateral position (driver-friendly lateral position) is farther from the obstacle (side wall or facility) outside the traveling lane than the center of the traveling lane (in the case of FIG. 3), There is no need to set the target lateral position at the center of the driving lane to bring the vehicle closer to the obstacle. Therefore, the target lateral position setting unit 15 sets the target lateral position only when the target lateral position in the normal time is closer to the obstacle outside the traveling lane than the center of the traveling lane (in the case of FIG. 4). You may make it set to the center of a driving lane. Thereby, the uncomfortable feeling given to the driver can be further suppressed.

  In addition, when the target lateral position setting unit 15 changes the target lateral position according to the current position of the host vehicle, a display or a speaker (not shown) mounted on the host vehicle is used to notify the driver of the host vehicle. You may make it perform notification of. When the target lateral position changes, the vehicle moves in the horizontal direction, but by notifying the driver of the change in the target lateral position, the driver can predict that the vehicle will move in the lateral direction, giving the driver a sense of security. Can be given.

  5 and 6 are diagrams illustrating an example of a hardware configuration of the steering device 10, respectively. Each element of the steering apparatus 10 shown in FIG. 1 is realized by, for example, a processing circuit 50 shown in FIG. That is, the processing circuit 50 includes a lane shape detection unit 11 that detects the shape of the traveling lane of the host vehicle, a current lateral position detection unit 12 that detects the current lateral position of the host vehicle in the traveling lane, and the current vehicle position. Based on at least the current position of the vehicle, the current position detection unit 14 that detects the position, the driver-compatible lateral position setting unit 13 that sets the driver-corresponding lateral position that is the lateral position of the vehicle at the normal time, A target lateral position setting unit 15 for setting the target lateral position of the vehicle at the vehicle, a lateral position control amount calculating unit 16 for calculating the lateral position control amount of the host vehicle from the current lateral position and the target lateral position, And a target steering angle calculation unit 17 that calculates the target steering angle of the host vehicle from the shape and the lateral position control amount. Dedicated hardware may be applied to the processing circuit 50, or a processor (a central processing unit (CPU), a processing device, an arithmetic device, a microprocessor, a micro processor) that executes a program stored in a memory A computer or a DSP (Digital Signal Processor) may also be applied.

  When the processing circuit 50 is dedicated hardware, the processing circuit 50 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination of these. Each function of each element of the steering device 10 may be realized by a plurality of processing circuits, or these functions may be realized by a single processing circuit.

  FIG. 6 shows a hardware configuration of the steering apparatus 10 when the processing circuit 50 is configured using a processor. In this case, the function of each element of the steering device 10 is realized by a combination of software and the like (software, firmware, or software and firmware). Software or the like is described as a program and stored in the memory 52. The processor 51 as the processing circuit 50 implements the functions of the respective units by reading out and executing the program stored in the memory 52. That is, the steering device 10, when executed by the processing circuit 50, detects the shape of the traveling lane of the own vehicle, detects the current lateral position of the own vehicle in the traveling lane, A process for detecting the current position, a process for setting the target lateral position of the vehicle in the traveling lane based on at least the current position of the host vehicle, and a lateral position control of the vehicle from the current lateral position and the target lateral position. A memory 52 is provided for storing a program to be executed as a result of processing for calculating the amount and processing for calculating the target steering angle of the host vehicle from the shape of the traveling lane and the lateral position control amount. . In other words, it can be said that this program causes the computer to execute the procedure and method of the operation of each element of the steering device 10.

  Here, the memory 52 is nonvolatile or non-volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, etc., or any storage media used in the future May be.

  The configuration in which the function of each element of the steering device 10 is realized by either hardware or software has been described above. However, the present invention is not limited to this, and a configuration in which a part of the steering device 10 is realized by dedicated hardware and another part is realized by software or the like may be used. For example, the functions of some elements are realized by the processing circuit 50 as dedicated hardware, and the processing circuit 50 as the processor 51 reads a program stored in the memory 52 for the other some elements. The function can be realized by executing.

  As described above, the steering device 10 can realize the functions described above by hardware, software, or the like, or a combination thereof.

  In the present invention, the embodiments can be appropriately modified and omitted within the scope of the invention.

  DESCRIPTION OF SYMBOLS 10 Steering device, 11 Lane shape detection part, 12 Current lateral position detection part, 13 Driver corresponding lateral position setting part, 14 Current position detection part, 15 Target lateral position setting part, 16 Lateral position control amount calculation part, 17 Target steering angle Arithmetic unit, 21 front camera, 22 satellite positioning system, 23 map data storage device, 30 travel control system, 50 processing circuit, 51 processor, 52 memory.

Claims (12)

A lane shape detection unit for detecting the shape of the traveling lane of the vehicle;
A current lateral position detection unit for detecting a current lateral position of the host vehicle in the traveling lane;
A current position detector for detecting a current position of the vehicle;
A target lateral position setting unit for setting a target lateral position of the host vehicle in the travel lane based on at least the current position of the host vehicle;
From the current lateral position and the target lateral position, a lateral position control amount calculation unit that calculates a lateral position control amount of the vehicle,
A target steering angle calculation unit for calculating a target steering angle of the host vehicle from the shape of the travel lane and the lateral position control amount;
Equipped with a,
The target lateral position setting unit has a condition in which the target lateral position in a normal state is closer to an obstacle outside the traveling lane than the center of the traveling lane, and the current position of the host vehicle is determined in advance. When satisfied, the target lateral position is brought closer to the center of the traveling lane than usual.
Vehicle steering system. The target lateral position setting unit is configured such that the target lateral position in a normal state is closer to an obstacle outside the traveling lane than the center of the traveling lane, and the current position of the host vehicle is within a certain range from the tunnel. When will weigh in the target lateral position in the center of the travel lane than normal,
The vehicle steering apparatus according to claim 1 . The target lateral position setting unit is configured such that the target lateral position in a normal state is closer to an obstacle outside the traveling lane than the center of the traveling lane, and the current position of the host vehicle is constant from the toll collection point becomes in the range of, gather the target lateral position in the center of the travel lane than normal,
The vehicle steering apparatus according to claim 1 . The current position detection unit detects the current position of the host vehicle based on an image captured by a camera mounted on the host vehicle.
The vehicle steering device according to any one of claims 1 to 3 . The current position detection unit detects the current position of the vehicle based on positioning data and map data acquired by a satellite positioning system mounted on the vehicle;
The vehicle steering device according to any one of claims 1 to 3 . The current position detection unit detects the current position of the host vehicle based on information acquired by communication with the outside of the host vehicle.
The vehicle steering device according to any one of claims 1 to 3 . The lane shape detection unit detects the shape of the traveling lane based on an image captured by a camera mounted on the host vehicle.
The vehicle steering device according to any one of claims 1 to 6 . The lane shape detection unit detects the shape of the traveling lane based on positioning data and map data acquired by a satellite positioning system mounted on the host vehicle.
The vehicle steering device according to any one of claims 1 to 6 . The current lateral position detection unit detects the current lateral position based on an image captured by a camera mounted on the vehicle;
The vehicle steering apparatus according to any one of claims 1 to 8 . The current lateral position detection unit detects the current lateral position based on positioning data and map data acquired by a satellite positioning system mounted on the host vehicle.
The vehicle steering apparatus according to any one of claims 1 to 8 . The target lateral position setting unit, when changing the target lateral position according to the current position of the host vehicle, notifies the driver of the host vehicle,
The vehicle steering device according to any one of claims 1 to 10 . A steering control method in a vehicle steering apparatus,
The lane shape detection unit of the vehicle steering device detects the shape of the traveling lane of the own vehicle,
A current lateral position detection unit of the vehicle steering device detects a current lateral position of the host vehicle in the traveling lane;
A current position detector of the vehicle steering device detects a current position of the host vehicle;
A target lateral position setting unit of the vehicle steering apparatus sets a target lateral position of the host vehicle in the travel lane based on at least a current position of the host vehicle;
A lateral position control amount calculation unit of the vehicle steering device calculates a lateral position control amount of the host vehicle from the current lateral position and the target lateral position,
The target steering angle calculation unit of the vehicle steering device calculates the target steering angle of the host vehicle from the shape of the traveling lane and the lateral position control amount ,
The target lateral position setting unit has a condition in which the target lateral position in a normal state is closer to an obstacle outside the traveling lane than the center of the traveling lane, and the current position of the host vehicle is determined in advance. When satisfied, the target lateral position is brought closer to the center of the traveling lane than usual.
Steering control method.

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