JP7143650B2 - vehicle controller - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device , and more particularly to steering assist technology.

Some vehicles, such as automobiles, are applied with steering assist technology for avoiding lane deviation as a kind of accident prevention technology. For example, Japanese Patent Laid-Open No. 2002-200000 discloses a technique for preventing a vehicle from departing from its lane by applying a steering force when the vehicle is about to depart from its lane.

In the technology disclosed in Patent Literature 1, the edge of the lane in which the vehicle is traveling is defined by lane markings and road edges detected by an in-vehicle camera, and a steering force is applied so that the vehicle does not deviate from the edge of the lane. I am planning to

In the technique disclosed in Patent Document 1, even when there is no marking line on the outside of the road, steering control is performed by defining the road edge as the lane edge, thereby suppressing the vehicle from deviating from the road. and

Japanese Patent Publication No. 2017-510491

However, in the technique disclosed in Patent Document 1, steering assistance is performed even when there are no lane markings on the outside of the road, which may cause the driver to feel annoyed. In other words, when there are no lane markings on the outside of the road, the driver may dare to drive on the edge of the road. For example, when the width of the road is narrow and there are no demarcation lines on the outside of the road, there may be cases where the vehicle tries to run on the very edge of the road in consideration of oncoming vehicles.

Therefore, the technique disclosed in Patent Document 1, in which the steering assist is intervened even in the above-described state, causes the driver to feel discomfort and annoyance, and stress.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control apparatus that can suppress the feeling of discomfort, annoyance, and stress on the driver. and

A vehicle control device according to an aspect of the present invention is a vehicle control device capable of imparting a steering force to the vehicle for suppressing the vehicle from deviating from a road according to a driving situation, a steering force generation unit that generates the steering force of the vehicle; a lane marking detection unit that detects lane markings extending along the running direction of the vehicle on the side of the vehicle; A road edge detection unit that detects a road edge extending along the traveling direction outside the lane marking in the vehicle width direction, and detection results from the lane marking detection unit and the road edge detection unit are sequentially acquired. and a vehicle control unit that selectively instructs the steering force generation unit to permit or prohibit application of the steering force to the vehicle based on the acquired detection result, wherein the vehicle control unit , when it is determined that the lane marking is not detected on both sides of the vehicle and the road edge is detected on both sides of the vehicle, the steering force generation unit is issued to the steering force generation unit to prohibit the application of the steering force, and when it is determined that the marking line is detected on the one side, the steering force generation unit When it is determined that the vehicle has deviated from the lane marking on the one side, the steering force is applied to the steering force generation unit allow to give

In the vehicle control device according to the above aspect, the vehicle control unit prohibits application of steering force when lane markings are not detected on both sides of the vehicle and road edges are detected on both sides of the vehicle. I am going to issue an order. For this reason, steering assist intervention is prohibited on roads where only the road edges on both sides are detected, for example, when the vehicle is trying to drive on the very edge of the road in consideration of oncoming vehicles on a narrow road. It is possible to prevent the driver from feeling annoyed or uncomfortable, and furthermore, from feeling stress.
Further, in the vehicle control device according to the above aspect, when a lane marking on one side of the vehicle is detected, preparations are made to apply a steering force with reference to the lane marking, and the vehicle actually moves in the lane. Since the steering force is applied when the vehicle deviates from the line, the vehicle is controlled to quickly return to the lane. Therefore, the vehicle control device employing the above configuration can ensure higher safety.
In the vehicle control device according to the above aspect, the steering force is applied only after the vehicle deviates from the lane marking, instead of applying the steering force before the vehicle deviates from the lane marking. No steering force is applied in the range where the vehicle is running, which prevents unnecessary control intervention, suppresses the driver from feeling discomfort and annoyance, and makes it difficult to give stress during driving.

In the vehicle control device according to the above aspect, the vehicle control unit detects the lane marking on one side of the vehicle and detects the road edge, and detects the road edge on the other side of the vehicle. When it is determined that the lane marking has been detected, preparation is made to apply the steering force to the steering force generation unit with reference to the road edge on the one side, and the vehicle moves to the one side. permitting the steering force generation unit to apply the steering force when it is determined that the vehicle has deviated from a predetermined location in the vehicle width direction with reference to the road edge on the side of the vehicle; can also be

In the vehicle control device employing the above configuration, when a lane marking on the other side of the vehicle is detected, preparations are made to apply a steering force with reference to the road edge on the one side, and the vehicle is operated. Since the steering force is applied when the vehicle actually deviates from a predetermined point based on the road edge (a point inside the road edge by a predetermined width), the vehicle is prevented from deviating outward from the road edge. be done. Therefore, the vehicle control device employing the above configuration can ensure higher safety.

In the vehicle control device according to the aspect described above, when the vehicle control unit determines that the road edge is also detected on the side of the one side in the determination related to the preparation for application of the steering force, the one side In addition to the application of the steering force with reference to the lane marking on the side of the vehicle, the application of the steering force with reference to the road edge on the side of the one side is also included in the command. When it is determined that the vehicle has deviated from a predetermined position in the vehicle width direction with reference to the road edge on the one side, the steering force generating unit performs the steering operation with the lane marking as a reference. It is also possible to permit application of the steering force greater than the force.

In the vehicle control device adopting the above configuration, when both a lane marking and a road edge are detected on one side, a steering force is applied when the vehicle deviates from the lane marking, and when the vehicle deviates from the predetermined location. A relatively large steering force (steering force greater than the steering force applied when deviating from the lane marking) is applied to the vehicle. Therefore, in the vehicle control device adopting the above configuration, even if the vehicle deviates from the lane marking, the vehicle can be more reliably returned to the lane by applying the steering force up to the edge of the road. High safety can be ensured.

In the vehicle control device according to the above aspect, the vehicle control unit detects the lane markings on both one side and the other side of the vehicle and detects the road edge on the other side of the vehicle. If it is determined that the steering force has not been applied, a command to prohibit application of the steering force may be issued to the steering force generation unit.

In the vehicle control device employing the above configuration, when neither a lane marking nor a road edge is detected on the other side, no steering force is applied regardless of whether or not the road edge on one side is detected. Therefore, when driving on a road where neither the lane marking nor the edge of the road on the other side can be detected, for example, when the road width is narrow and the oncoming vehicle is taken into consideration, the vehicle is trying to drive at the very edge of the road. By prohibiting intervention of the steering assist, it is possible to prevent the driver from feeling annoyed or uncomfortable, and furthermore, from feeling stress.

In the vehicle control device according to the aspect described above, when the vehicle control unit determines that neither the lane marking nor the road edge is detected on one side of the vehicle, the steering force generation unit It is also possible to issue a command to prohibit the application of the steering force.

In the vehicle control device adopting the above configuration, when neither a lane marking nor a road edge is detected on one side, no steering force is applied. Unnecessary control intervention can be suppressed in situations in which neither the road edge nor the road edge can be detected.

In each of the above aspects, it is possible to prevent the driver from feeling discomfort, annoyance, and stress.

1 is a schematic diagram showing a schematic configuration of a vehicle according to an embodiment; FIG. FIG. 2 is a block diagram showing the control configuration of the vehicle; FIG. FIG. 4 is a schematic diagram for explaining the detection of lane markings and road edges by an exterior camera; FIG. 2 is a schematic diagram showing the positions of vehicles, lane markings, and roadsides; 4 is a flowchart showing a steering control method executed by a control unit; (a) is a schematic diagram showing a steering control method in a first steering control mode, and (b) is a schematic diagram showing a steering control method in a second steering control mode. FIG. 9 is a schematic diagram showing a steering control method in a third steering control mode; FIG. 4 is a schematic diagram showing a first state in which the control unit prohibits application of steering torque; FIG. 5 is a schematic diagram showing a second state in which the control unit prohibits application of steering torque; (a) is a schematic diagram showing another state in which the first steering control mode is selected, and (b) is a schematic diagram showing another state in which the second steering control mode is selected.

EMBODIMENT OF THE INVENTION Below, embodiment of this invention is described, considering drawing into consideration. In addition, the form described below is an example of the present invention, and the present invention is not limited to the following forms except for its essential configuration.

[Embodiment]
1. Schematic Configuration of Vehicle 1 A schematic configuration of a vehicle 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG.

As shown in FIG. 1, a vehicle 1 has an engine 2 as a power source. In the vehicle 1 according to this embodiment, a multi-cylinder gasoline engine is used as an example of the engine 2 .

A transmission 3 is connected to the engine 2 , and a differential gear 4 is connected to the transmission 3 . A drive shaft 5 extends laterally from the differential gear 4 . Left and right front wheels 6 l and 6 r are attached to the ends of the drive shaft 5 .

The drive shaft 5 is provided with a left front brake 7l at a portion near the left front wheel 6l and a right front brake 7r at a portion near the right front wheel 6r.

Left and right rear wheels 8 l and 8 r are arranged behind the vehicle 1 . The left and right rear wheels 8l and 8r are attached to rear arms (not shown). A shaft (not shown) that supports the left rear wheel 8l is provided with a left rear brake 9l, and a shaft (not shown) that supports the right rear wheel 8r is provided with a right rear brake 9r. there is

As shown in FIG. 1 , a steering handle 10 is arranged in front of the driver's seat in the passenger compartment of the vehicle 1 . The steering handle 10 is attached to the tip portion of the steering shaft 11 . The other end of steering shaft 11 is connected to steering gear 12 . A steering actuator 14 is connected to the steering shaft 11 so that steering torque (steering force) can be applied to the steering shaft 11 . That is, in the vehicle 1, the steering actuator 14 functions as a steering force generator that generates steering force.

A tie rod 13 is connected to the steering gear 12 . As the tie rod 13 moves left and right, the directions of the front wheels 6l and 6r are changed.

As shown in FIG. 1 , the vehicle 1 is provided with three radars 15 , 16 , 17 and an exterior camera (imaging device) 18 . Of the three radars 15 , 16 , 17 , the radar 15 is arranged on the front part of the vehicle 1 and the remaining two radars 16 , 17 are arranged on the sides of the vehicle 1 . These radars 15, 16, and 17 have functions of detecting vehicles around the own vehicle (vehicle 1), and detecting relative speeds and relative distances between the vehicle 1 and the surrounding vehicles.

The vehicle exterior camera 18 detects lane markings and road edges in front of the vehicle 1 . That is, in the vehicle 1 according to the present embodiment, the lane marking detection unit detects the lane markings on both sides of the lane in which the vehicle is traveling (roadway outer line, roadway center line, etc.), and is positioned outside the lane markings. It is a road edge detection unit that detects an edge.

The vehicle 1 is also provided with a map information storage unit 19 . The map information storage unit 19 stores information about roads on which the vehicle 1 travels. The map information stored in the map information storage unit 19 also includes lane information on roads.

In addition, the vehicle 1 is provided with an alarm device 20 capable of issuing an alarm to a passenger on board. Furthermore, the vehicle 1 is also provided with a control unit (vehicle control section) 21 . The control unit 21 includes a microprocessor composed of CPU, ROM, RAM, etc., and as shown in FIGS. It is connected to the map information storage unit 19 and the like, and configured to receive various types of information.

Based on the received information, the control unit 21 can issue commands to the engine 2, the steering actuator 14, the alarm device 20, and the brakes 7l, 7r, 9l, 9r.

Furthermore, as shown in FIG. 2 , the control unit 21 has a first steering torque applying section (first steering force applying section) 211 and a second steering torque applying section (second steering force applying section) 212 . These will be described later.

2. Detection of lane markings DL _L , DLR and road edges E _RL , E _RR by exterior camera 18 Detection of _lane markings DL _L , _DLR and road edges E _RL , E _RR by exterior camera 18 is shown in FIGS. 4 will be used for explanation. FIG. 3 is a schematic diagram for explaining the detection of the _lane markings DL _L and DLR and the road edges E _RL and E _RR by the vehicle exterior camera 18. FIG. FIG. 2 is a schematic diagram showing positions of a vehicle 1, lane markings DL _L and DLR, and road edges E _RL and E _{RR ;}

As shown in FIG. 3 , the vehicle exterior camera 18 provided on the interior side of the front windshield of the vehicle 1 can detect a range θ ₁₈ on the front side of the vehicle 1 .

Here, in the present embodiment, as an example, the vehicle 1 is traveling in the left lane LN1. A left lane marking (roadway outer line) DL _L is provided on the left side of the lane LN1, and a right lane marking (roadway center line) DL _R is provided on the right side of the lane LN1. A roadside _ERL exists on the further left side of the roadway outside line _DLL .

On the other hand, a lane LN2 is provided on the right side of the lane _LN1 across the road center line DLR. A road edge _ERR exists on the right side of lane LN2.

The vehicle exterior camera 18 can detect four identification lines, the roadway outer line DL _L , the roadway center line DL _R , and the road edge E _RL and road edge E _RR . That is, the vehicle exterior camera 18 according to the present embodiment has both a function as a lane marking detection unit and a function as a roadside detection unit.

Next, as shown in FIG. 4, the lane LN1 in which the vehicle 1 is traveling is defined on both sides by the roadway outer line DL _L and the roadway center line DL _R. As shown in FIG. The vehicle exterior camera 18 can detect the left lane line outer edge E _DLL of the roadway outside line E _DL and the right lane line outer edge E _DLR of the roadway center line _DLR .

In this embodiment, as an example, the off-road OR _L on the outside of the road edge E _RL and the off-road OR _R on the outside of the road edge E _RR are one step higher than the lanes LN1 and LN2 and the side strip due to curbs. It's becoming

The width between the vehicle left edge _EVCL , which is the left side edge of the vehicle 1 (the side edge of the vehicle 1), and the left lane outer edge _EDLL of the roadway outside line _DLL is W1L. Further, the width between the vehicle left edge _EVCL and the road edge _ERL in the vehicle 1 is W2L. Then, in the situation shown in FIG. 4, the width of the side strip is (W2L-W1L).

Similarly, there is a predetermined width between the vehicle right edge EVCR, which is the right outer edge of the vehicle ₁ , and the right lane marking edge _EDLR of the roadway center line _DLR .

3. Steering Control Method Executed by Control Unit 21 A steering control method executed by the control unit 21 will be described with reference to FIGS. 5 to 9 . FIG. 5 is a flow chart showing the steering control method executed by the control unit 21, FIG. 6(a) is a schematic diagram showing the steering control method in the first steering control mode, and FIG. FIG. 7 is a schematic diagram showing a steering control method in a steering control mode, and FIG. 7 is a schematic diagram showing a steering control method in a third steering control mode; 8 is a schematic diagram showing a first state in which the control unit 21 prohibits application of steering torque, and FIG. 9 is a schematic diagram showing a second state in which the control unit 21 prohibits application of steering torque. It is a diagram.

As shown in FIG. 5, the control unit 21 acquires detection results from the vehicle exterior camera 18 (detection results of the roadway outer line DL _L , the roadway center line DL _R , and the road edges E _RL and E _RR ) (step S1). The control unit 21 determines whether or not the left lane marking (roadway outside line) _DLL is detected from the acquired detection result (step S2).

When the control unit 21 determines that the roadway outside line _DLL is detected (step S2: Yes), it next determines whether or not the road edge _DLL on the left side Le is detected ( step S3). When the control unit 21 determines in step S3 that the road edge _ERL has been detected, it sets the steering actuator 14 to the first steering control mode (step S4).

As shown in FIG. 6A, the first steering control mode set for the steering actuator 14 is the first steering control mode in the area (roadside strip) between the left lane marking line outer edge E _DLL and the road edge E _RL . A steering torque (steering force) based on a combination of the steering characteristic CH1 and the second steering characteristic CH2 is prepared to be applied to the vehicle 1, and the vehicle 1 moves the left lane line outer edge E _DLL of the roadway outer line _DLL . In this mode, the steering actuator 14 is instructed to apply steering torque when the vehicle starts to deviate.

The first steering characteristic CH1 is a characteristic in which the steering torque is set corresponding to the position in the direction toward the road edge _EDL with the left lane marking line outer end _EDLL of the roadway outer line _DLL as a base point. Specifically, the first steering characteristic CH1 includes a torque increase portion (steering force increase portion) L1 that gradually increases to a first torque value TO1 in the range from the left side marking line outer end E _DLL to the point P2, and a torque increase portion (steering force increase portion) L1 that gradually increases from the point P2 to the point ( and a torque maintaining portion L2 in which the first torque value TO1 is maintained in the range up to the characteristic switching point P1. A first steering torque applying section 211 in the control unit 21 executes a command to apply a steering torque to the steering actuator 14 based on the first steering characteristic CH1.

As shown in FIG. 6(a), the second steering characteristic CH2 is a characteristic in which the steering torque is set corresponding to the position in the direction toward the road edge _ERL with the point P3 as the base point. Specifically, the second steering characteristic CH2 includes a torque increase portion (steering force increase portion) L3 that gradually increases to a second torque value _TO2 in the range from the point P3 to the road edge ERL, and a torque maintaining portion L4 in which the second torque value TO2 is maintained in the range of (outer OR). A second steering torque applying section 212 in the control unit 21 executes a command to apply the steering torque to the steering actuator 14 based on the second steering characteristic CH2.

As shown in FIG. 6(a), the first steering characteristic CH1 and the second steering characteristic CH2 overlap in the range from the point P3 to the characteristic switching point P1, so the steering torque based on the second steering characteristic CH2 is applied to the range from the characteristic switching point P1 to the road edge _ERL .

Here, when the control unit 21 determines that the vehicle left edge E _VCL of the vehicle 1 has started to deviate from the left lane marking line outer edge E _DLL , the control unit 21 adjusts the steering torque based on the characteristics CH1 and CH2 shown in FIG. A command is issued to the steering actuator 14 to apply to the vehicle 1 .

Returning to FIG. 5, when the control unit 21 determines in step S3 that the roadside _ERL is not detected (step S3: No), it sets the steering actuator 14 to the second steering control mode. (Step S5).

As shown in FIG. _6B , in the second steering control mode set for the steering actuator 14, the steering torque (steering torque force) to be applied to the vehicle 1, and commands the steering actuator 14 to apply steering torque when the vehicle 1 begins to deviate from the left lane marking line outer edge E _DLL of the roadway outside line _DLL . is. The first steering characteristic CH1 is as described above.

When the control unit 21 sets the second steering control mode and determines that the vehicle left edge E _VCL of the vehicle 1 has started to deviate from the left lane marking line outer edge E _DLL , the vehicle 1 is on the left side of the point P2. , the constant steering torque TO1 continues to be applied.

Returning to FIG. 5, if the control unit 21 determines in step S2 that the roadway outside line _DLL was not detected (step S2: No), then the road edge _ERL on the left side Le is detected. It is determined whether or not it is set (step S6). If the control unit 21 determines in step S6 that the road edge _ERL on the left side Le has been detected (step S6: Yes), then the right lane marking (roadway center line DL _R has been detected). It is determined whether or not (step S7).

When the control unit 21 determines in step S7 that the roadway center line DL _R has been detected (step S7: Yes), it sets the steering actuator 14 to the third steering control mode (step S8).

As shown in FIG. 7, in the third _steering control mode set for the steering actuator 14, the steering torque ( In this mode, the vehicle 1 is prepared to apply a steering force) to the vehicle 1, and the steering actuator 14 is instructed to apply a steering torque when the vehicle 1 begins to deviate from the point P3. The first steering characteristic CH2 is as described above.

The point P3 is set based on the detected road edge _ERL on the left side Le.

Returning to FIG. 5, when the control unit 21 determines in step S6 that the road edge _ERL has not been detected (step S6: No), or in step S7 it determines that the road center line DL _R has not been detected. If so (step S7: No), a command is issued to the steering actuator 14 to prohibit application of steering torque (step S9).

One state (first state) in which the control unit 21 issues the command in step S9 is the state shown in FIG. That is, as shown in FIG. 8, the lane markings (roadway outer line, roadway center line) cannot be detected on the left and right Le and Ri of the lane LN1 on which the vehicle 1 is traveling, and only the road edges E _RL and E _RR are detected. I am in a position to do so. In such a situation, it is preferable not to perform the steering assist in consideration of the vehicle approaching from the opposite direction, and the application of the steering torque is also prohibited in this embodiment.

By performing control in this way, it is possible to prevent the steering control from intervening unnecessarily, suppressing the driver from feeling annoyed or uncomfortable, and stressing the driver even when driving for a long time. can be suppressed.

Another state (second state) in which the control unit 21 issues the command in step S9 is the state shown in FIG. That is, as shown in FIG. 9, the roadway outside line cannot be detected on the left side Le of the lane LN1 on which the vehicle 1 is traveling, whereas the roadway center line DL _R and the road edge E _RR are detected on the right side Ri. I am in a position to do so. In such a situation, neither the roadway line nor the road edge on the left side Le cannot be detected, so the reference point for applying the steering torque cannot be defined, and the vehicle 1 is returned to the right side Ri. It is not appropriate to apply steering torque. Therefore, even in the situation shown in FIG. 9, the control unit 21 prohibits application of steering torque.

4. Other states in which the first steering control mode is set Another state in which the first steering control mode is set will be described with reference to FIG. 10(a). FIG. 10(a) is a schematic diagram showing another state in which the first steering control mode is set.

As shown in FIG. 10(a), the vehicle 1 is traveling in a lane LN1 defined by lane markings DL _L and DL _R on both left side Le and right side Ri. Further to the left of the left lane marking line _DLL is the road edge _ERL , and further to the right of the right lane marking line _DLR is the road edge _ERR .

In this case, the vehicle exterior camera 18 of the vehicle 1 can detect two lane markings DL _L and DL _R and two road edges E _RL and E _RR . In the state shown in FIG. 10(a), the control unit 21 determines that both steps S2 and S3 of the flowchart shown in FIG. Set (step S4). The setting of the first steering control mode is as described above.

In the road condition as shown in FIG. 10(a), the lane marking DLL and the road edge _ERL can be detected on the left side Le, and when the vehicle _{1 deviates from the lane marking DL L ,} FIG. 6(a) Even if the steering torque shown in 1 is applied, there is little need for the driver to correct the steering assist, and the driver is less likely to feel annoyed and uncomfortable.

5. Other states in which the second steering control mode is set Another state in which the second steering control mode is set will be described with reference to FIG. 10(b). FIG. 10(b) is a schematic diagram showing another state in which the second steering control mode is set.

As shown in FIG. 10(b), the vehicle 1 is traveling in a lane LN1 defined by lane markings DL _L and DL _R on both left side Le and right side Ri. Lane LN3 is adjacent to and to the left of left lane marking DL _L , and further to the left is lane marking DL _LL .

On the other hand, there is a lane LN2 adjacent to the right side of the right lane marking DLR, and there is a lane marking DL _RR on the right side. In the situation shown in FIG. 10(b), the exterior camera 18 of the vehicle 1 detects only the four lane markings DL _L , DL _R , DL _LL , and DL _RR , and the left Le and right Ri roads are detected. Edge not detected.

In the state shown in FIG. 10(b), the control unit 21 determines "Yes" in step S2 and "No" in step S3 of the flowchart shown in FIG. to set the second steering control mode (step S5). The setting of the second steering control mode is as described above.

In the road condition as shown in FIG. 10(b), the lanes LN3 and LN2 are adjacent on both sides of the lane LN1, and the road edges are not detected. Steering torque as shown is applied, and steering assistance is performed so as not to deviate from the lane LN1 (lane keep).

By performing such steering control, the vehicle 1 is maintained in the lane LN1, and high safety can be ensured.

[Modification]
In the above embodiment, the operation of the warning device 20 and the brakes 7l, 7r, 9l, 9r in relation to the detected lane markings DL _L , DL _R , DL _LL , DL _RR and the road edges E _RL , E _RR , although not specifically mentioned, to operate the warning device 20 and the brakes 7l, 7r, 9l, 9r in relation to the lane markings DL _L , DL _R , DL _LL , DL _RR and the road edges E _RL , E _RR may be For example, when the vehicle deviates from the lane marking or approaches the edge of the road, the control unit may issue a command to the alarm or brake to issue an alarm or decelerate the vehicle. This makes it possible to ensure higher safety.

Further, in the above embodiment, no particular reference was made to the definition of the characteristic switching point P1 in FIG. 6(a). It is also possible to change it according to the speed of the vehicle.

Further, in the above embodiment, the second steering characteristic CH2 also has the torque maintaining portion L4, but this is not essential. For example, when the vehicle left end of the vehicle reaches a position where it contacts the roadside, or when it exceeds the position, the vehicle may be stopped without applying the steering torque.

Further, in the above embodiment, the exterior camera 18 functions as both a lane marking detector and a road edge detector, but the present invention is not limited to this. For example, the functions of the lane marking detection section and the roadside detection section may be performed by separate devices. In this case, it is also possible to adopt a radar, an infrared laser, a map information storage unit, etc., in addition to the camera.

Further, in the above embodiment, the engine 2 is used as the power source of the vehicle 1, but the present invention is not limited to this. For example, it is also applicable when an electric motor is used as a drive source.

Further, in the above embodiment, it is assumed that the vehicle 1 is traveling in the left lane LN1, but the present invention is not limited to this. For example, it can also be applied to the case of right-hand traffic. In this case, it is possible to select whether to permit or prohibit the application of steering torque based on the presence or absence of detection of the right lane marking, the further right side of the road edge, and the left side lane marking. It is possible.

1 Vehicle 14 Steering Actuator (Steering Force Generation Unit)
18 Vehicle exterior camera (partition line detection unit, road edge detection unit)
21 control unit (vehicle control unit)
211 first steering torque applying section (first steering force applying section)
212 second steering torque applying section (second steering force applying section)
DL _L , DLR lane _marking E _RL , E _RR road edge LN1, LN2 lane OR _L , OR _R outside

Claims (5)

A vehicle control device capable of applying a steering force to the vehicle for suppressing the vehicle from deviating from the road according to the driving situation,
a steering force generator that generates the steering force to the vehicle;
a lane marking detection unit that detects lane markings extending along the running direction of the vehicle on the side of the vehicle;
a road edge detection unit that detects a road edge that extends along the traveling direction on the side of the vehicle and outside the lane marking in the vehicle width direction of the vehicle;
Sequentially acquiring detection results from the lane marking detection unit and the roadside detection unit, and based on the acquired detection results, permitting or prohibiting application of the steering force to the vehicle is sent to the steering force generation unit. a vehicle control unit that selectively commands the
with
The vehicle control unit
When it is determined that the lane markings are not detected on both sides of the vehicle and the road edge is detected on both sides of the vehicle, the steering force generation unit issue a command to prohibit the application of the steering force to the
preparing to apply the steering force based on the marking line on the one side to the steering force generator when it is determined that the marking line is detected on the one side;
permitting the steering force generator to apply the steering force when it is determined that the vehicle has deviated from the lane marking on the one side;
Vehicle controller. In the vehicle control device according to claim 1,
The vehicle control unit
When it is determined that the lane marking is not detected on one side of the vehicle, the road edge is detected, and the lane marking is detected on the other side of the vehicle, preparing to apply the steering force to the steering force generation unit with reference to the road edge on the one side;
applying the steering force to the steering force generating unit when it is determined that the vehicle has deviated from a predetermined position in the vehicle width direction of the vehicle with reference to the road edge on the one side; allow the
Vehicle controller. In the vehicle control device according to claim 1 or claim 2,
The vehicle control unit
In the determination relating to the preparation for application of the steering force, when it is determined that the road edge has also been detected on the one side, the steering force is determined based on the lane marking on the one side. In addition to the application, the application of the steering force with reference to the road edge on the one side is also included in the command,
When it is determined that the vehicle has deviated from a predetermined point in the vehicle width direction of the vehicle with the road edge on the one side as a reference, the steering force generator is instructed to take the lane marking as a reference. permitting application of the steering force greater than the steering force of
Vehicle controller. In the vehicle control device according to any one of claims 1 to 3,
When the vehicle control unit determines that the lane markings are not detected on both the one side and the other side of the vehicle and that the road edge is not detected on the other side of the vehicle, , issuing a command to the steering force generator to prohibit application of the steering force;
Vehicle controller. In the vehicle control device according to any one of claims 1 to 4,
The vehicle control unit prohibits application of the steering force to the steering force generation unit when it is determined that neither the lane marking nor the road edge is detected on one side of the vehicle. issue an order to
Vehicle controller.

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