JPH1134898A - Traveling controller for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To match a target position to a general driving characteristic and prevent the steering control from giving a feeling of incompatibilities to a driver by displacing the target position in the turning direction or its inverse direction in the turning path and a linear path of its right before and behind. SOLUTION: In a traveling controller for a vehicle having a traveling lane recognition means M1 which recognizes a traveling lane on a path and the position of the own vehicle on the traveling lane, a target position setting means M2 which sets a target position in the traveling lane based on the recognized traveling lane, a steering control means M3 which controls the steering based on the deviation between the own vehicle position and the target position, a path condition detecting means M4 which detects the turning states of the turning path or before and behind the turning, and a first displacement means M5 which displaces the target position in the linear path right before the turning path to the inverse direction to the turning direction of the turning path. This constitution can match the traveling line by the steering control with the general driving characteristics and control the steering in such a state as not giving wrong feeling to the driver.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a vehicle, and more particularly to a traveling control device for a vehicle that recognizes a traveling lane ahead of the vehicle and performs steering control.

[0002]

2. Description of the Related Art Hitherto, there has been proposed an apparatus which recognizes a driving lane from an image of a video camera or the like and controls the vehicle to a target driving position when the vehicle is likely to deviate from the driving lane. For example, Japanese Unexamined Patent Publication No. Hei 5-341839 discloses that, when a vehicle deviates from or is about to deviate from a traveling road on which the vehicle is currently traveling, a departure suppressing means for suppressing the departure is controlled by a control means. A travel control device for an actuated vehicle, comprising: travel path position detection means for detecting a position on a road of a travel path on which the vehicle is traveling; and departure direction detection means for detecting a departure direction of the vehicle from the travel path. The above-mentioned control means, according to the position on the road of the travel path on which the vehicle is traveling detected by the travel path position detection means, and the departure direction from the travel path detected by the departure direction detection means, A traveling control device for a vehicle that changes the operation timing of the departure suppression means is described.

[0003]

In the conventional apparatus, the side of the vehicle according to the direction (right side or left side) in which the vehicle is going to deviate from the driving lane is set in advance so as to match the guideline of the side going out of the lane. The travel position is set, and steering control is performed so that the vehicle passes through the target travel position.
For this reason, there is a problem that the travel line taken when the driver actually drives and the target travel position differ depending on the road alignment, and in this case, the steering control for preventing departure gives the driver an uncomfortable feeling.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and displaces a target position in a turning direction or in a direction opposite to the turning direction on a straight road immediately before and after the circuit, thereby enabling the general operation of the target position. It is an object of the present invention to provide a vehicle travel control device that prevents a driver from feeling uncomfortable with steering control according to characteristics.

[0005]

According to the first aspect of the present invention, as shown in FIG. 1, a traveling lane recognizing means M1 for recognizing a traveling lane on a road and a position of the own vehicle on the traveling lane.
And target position setting means M2 for setting a target position in the traveling lane based on the recognized traveling lane, and steering control means M3 for performing steering control based on a deviation between the own vehicle position and the target position. In a vehicle travel control device,
Road condition detecting means M4 for detecting a turning condition of a road during and before and after a turn, and a first position for displacing a target position on a straight road immediately before the turning circuit in a direction opposite to the turning direction of the turning circuit.
Of the displacement means M5.

As a general driving characteristic, the vehicle tends to approach the turning direction in a direction opposite to the turning direction at the entrance of the turning circuit. In such a situation, the target position is displaced in the direction opposite to the turning direction. Can be matched with general driving characteristics, and steering control for preventing the departure of the driving lane without giving the driver an uncomfortable feeling can be performed. The invention according to claim 2 is a driving lane recognizing means for recognizing a driving lane on a road and a position of the own vehicle on the driving lane, and a target position for setting a target position in the driving lane based on the recognized driving lane. In a vehicle traveling control device having a setting means and a steering control means for performing a steering control based on a deviation between the own vehicle position and a target position, a road condition detection for detecting a turning condition of a road during and before and after a turn. Means,
There is provided second displacement means for displacing a target position on a straight road immediately after the turning circuit in a direction opposite to a turning direction of the turning circuit.

[0007] As a general driving characteristic, the vehicle tends to approach the turning direction at the exit of the turning circuit, and in such a situation, the target position is displaced in the direction opposite to the turning direction. Can be matched with general driving characteristics, and steering control for preventing the departure of the driving lane without giving the driver an uncomfortable feeling can be performed. The invention according to claim 3 is a driving lane recognizing means for recognizing a driving lane on a road and a position of the own vehicle on the driving lane, and a target position for setting a target position in the driving lane based on the recognized driving lane. In a vehicle traveling control device having a setting means and a steering control means for performing a steering control based on a deviation between the own vehicle position and a target position, a road condition detection for detecting a turning condition of a road during and before and after a turn. Means,
There is provided first displacement means for displacing a target position in the turning circuit in a turning direction of the turning circuit.

In a turning circuit, the vehicle body is often shifted in the turning direction as a general driving characteristic. In such a situation, the target position is displaced in the turning direction. It is possible to perform the steering control for preventing the departure from the traveling lane without giving the driver an uncomfortable feeling. According to a fourth aspect of the present invention, in the vehicle traveling control device according to any one of the first to third aspects, the displacement means changes a displacement amount according to a radius of curvature of the circuit.

As described above, since the amount of displacement is changed according to the radius of curvature of the circuit, a target position suitable for general driving characteristics can be set. According to a fifth aspect of the present invention, in the vehicle travel control device according to any one of the first to third aspects,
The displacement means changes the displacement amount according to the turning depth of the circuit.

As described above, since the amount of displacement is changed according to the turning depth, a target position suitable for general driving characteristics can be set. According to a sixth aspect of the present invention, in the vehicle traveling control device according to any one of the first to fifth aspects, the displacement means changes a displacement amount according to a vehicle speed.

As described above, since the displacement amount is changed according to the vehicle speed, a target position suitable for general driving characteristics can be set. According to a seventh aspect of the present invention, in the vehicle traveling control device according to any one of the first to sixth aspects, there is provided a continuous state detecting means for detecting a continuous state of the circuit, and the continuous state detecting means detects the continuous state. When the turning directions of the successive turning circuits differ, the straight path immediately before the preceding turning circuit has a fourth displacement means for displacing the target position as a straight path immediately after the preceding turning circuit.

For this reason, when the vehicle travels on a complex corner having a different turning direction, the target position on the straight road immediately after the front corner is displaced in a direction opposite to the turning direction of the preceding corner, and the general driving characteristics and Steering control can be achieved.

[0013]

FIG. 2 is a schematic diagram showing the system of the apparatus according to the present invention. In the figure, an image sensor 10 captures an image of a road ahead in the traveling direction of a vehicle, and supplies this road image to an image processing recognition device 14. Further, the image sensors 11 and 12 capture images of roads on the left and right rear sides of the vehicle, and supply the road images to the image processing recognition device 14.

The image processing recognizing device 14 as the driving lane recognizing means M1 performs image processing of a road image ahead and recognizes a guide line such as a white line or a yellow overtaking prohibition line on the center of the road or on the road side together with the line type. Based on these guidelines, the travel route (travel lane) is recognized, the vehicle offset amount from the travel route center line of the own vehicle, the position in the lane which is the distance from the left and right guide lines, and the lane yaw angle which is the inclination angle with respect to the guide lines. , And the road alignment such as the radius of curvature R of the curve of the running path (circuit), the presence or absence of a running vehicle, and the like.

The image processing recognizing device 14 performs image processing on the left and right rear side road images to recognize the following vehicle in the own vehicle lane and the adjacent lane. The above recognition result is supplied to a steering system ECU (electronic control device) 16. GP
S (global positioning system) device 18
Receives navigation information transmitted from a plurality of GPS satellites, recognizes the traveling position of the vehicle, and supplies the traveling position to the navigation device 20 and the steering system ECU 16.
The navigation device 20 superimposes and corrects the traveling position from the GPS device 18 with the map information, and supplies the traveling position information to the steering system ECU 16 as traveling position information. The above map information is also used as road alignment information.

The road infrastructure system communication device 22 is, for example, a VICS (Vehicle Information and
Communication system), traffic congestion, required time
FM multiplex broadcasting, radio beacons, and road infrastructure information such as information on regulations, accident / construction and obstacle information, and weather information
The information is received from the optical beacon and supplied to the navigation device 20 and the steering system ECU 16.

The sensor group 24 includes a steering angle sensor for detecting a steering angle of a steering wheel of the vehicle, a steering torque sensor for detecting steering torque, a sensor of a turn signal switch for detecting operation of a direction indicator, and the like. There are a type that detects a state of the vehicle, a type that detects a vehicle motion state such as a vehicle speed sensor that detects a vehicle speed, a type of a yaw rate sensor that detects a yaw rate of the vehicle, and an acceleration sensor that detects a longitudinal acceleration, a lateral acceleration, and a vertical acceleration of the vehicle. . The detection signals of these sensors are supplied to the warning system ECU16. Further, a drive circuit 28 is connected to the steering system ECU 16. The navigation device 20 and the road infrastructure system communication device 22 correspond to the road condition detecting means M2 and the continuous state detecting means.

As shown in FIG. 3, the steering system ECU 16 is composed of a microcomputer, and includes a central processing unit (CPU) 30 and a read only memory (ROM) 3.
2, a random access memory (RAM) 34, an input port circuit 36, an output port circuit 38, and a communication circuit 4
0, which are connected to each other by a bidirectional common bus 42.

The input port circuit 36 is supplied with a detection signal of each sensor of the sensor group 24. The communication circuit 40 is supplied with output information of each of the image processing recognition device 14, the GPS device 18, the navigation device 20, and the road infrastructure system communication device 22. The control program is stored in the ROM 32. The CPU 30 performs various operations to be described later based on the control program.
Is used as a work area. A control signal generated by the CPU 30 executing the control program is supplied from the output port circuit 38 to the drive circuit 28.

FIG. 4 shows a configuration diagram of a steering mechanism 50 as a steering means. In the figure, a steering handle 51 is connected to a pinion gear in a steering gear box 53 via a steering shaft 52. This pinion gear is a rack bar 54
With the rack bar 5
4 for reciprocating motion. Left and right front wheels FW are connected to both ends of the rack bar 54 via left and right tie rods 55a and 55b and left and right knuckle arms 56a and 56b.
1, FW2 are steerably connected. The steering mechanism 50 includes an electric motor 58 such as a brushless motor as an actuator for steering control of the front wheels, and the electric motor 58 is driven by the drive circuit 28 described above. The rotating shaft of the electric motor 58 is connected to a rack bar 54 in the steering gear box 53.

FIG. 5 shows a flowchart of the main processing executed by the steering system ECU 16. This process is repeated at predetermined time intervals. In the figure, in step S2, the image processing recognition device 14, the GPS device 1 via the communication circuit 40
8, the information supplied from each of the navigation device 20, the road infrastructure system communication device 22 is read,
The detection signal supplied from the sensor group 24 via the input port circuit 36 is read.

Next, in step S4, a target position is set based on the read information such as the road alignment, the radius of curvature of the curve, and detection signals such as the steering angle and the vehicle speed. Thereafter, in step S6, a steering control amount D is calculated from the following equation based on the vehicle offset amount (deviation amount from the center of the traveling lane) of the own vehicle and the target position. D = k ₁ × E + k ₂ × ΔE where E is the deviation between the vehicle offset amount and the target position S, Δ
E is a differential value of the deviation, and k ₁ and k ₂ are predetermined coefficients (constants). In the present embodiment, the vehicle offset amount E and the target position S are represented by defining the center position of the traveling lane as 0, the right side as negative, and the left side as positive. Thereafter, step S8
Then, a control signal based on the calculated steering control amount D is output to the drive circuit 28. As a result, the electric motor 58 is driven to rotate, and the front wheels FW1 and FW2 are steered. Steps S6 and S8 correspond to the steering control means M3.

FIGS. 6 and 7 show a flowchart of one embodiment of the target position setting process in step S4. In the figure, in step S10, the center position of the own vehicle traveling lane, that is, zero is set as the target position S. This step S10 corresponds to the target position setting means M2. Next, step S12
Then, for example, it is determined whether or not the vehicle is turning left from the steering angle obtained as a detection signal of the sensor group 24. If the vehicle is not turning left, it is determined in step S14 whether or not the vehicle is turning right. Is determined. If it is determined in step S12 that the vehicle is turning left, the process proceeds to step S16, where + L is set as shown in FIG.
1 is set as the target position S. That is, the target position S in the turning circuit is corrected in the turning direction.

If it is determined in step S14 that the vehicle is turning right, the process proceeds to step S20, where -L is selected as shown in FIG.
1 is set as the target position S. That is, the target position S in the circuit is corrected to the inside of the turn. After the execution of steps S16 and S20, the process proceeds to step S42 in FIG. If the vehicle is not turning right in step S14, the process proceeds to step S24. Steps S12 to S20 described above correspond to a third displacement unit.

In step S24, the navigation device 2
0 or based on information from the road infrastructure system communication device 22, it is determined whether or not the vehicle is traveling on a straight section immediately before the left corner (for example, several tens of meters). It is determined whether the vehicle is traveling on a straight line portion immediately before the corner (for example, several tens of meters). Then, step S24
If it is determined that the vehicle is traveling on the straight line just before the left corner,
Proceeding to step S28, -L1 is set as the target position S.

If it is determined in step S26 that the vehicle is traveling on the straight line portion immediately before the right corner, the flow advances to step S30 to set + L1 as the target position S. That is, the target position S is corrected in the direction opposite to the turning direction in the straight line portion immediately before the turning circuit. When the above step S28 or S30 is executed, the process proceeds to step S42 in FIG. 7, and if the vehicle is not traveling on the straight line portion immediately before the right curve in step S26, step S34 is executed.
Proceed to. The above steps S24 to S30 correspond to the first displacement means M5.

In step S34, the navigation device 2
0 or based on information from the road infrastructure system communication device 22, it is determined whether or not the vehicle is traveling on a straight line portion immediately after the left corner (for example, several tens of meters). It is determined whether the vehicle is traveling on a straight line immediately after the corner (for example, several tens of meters). Then, step S34
If it is determined that the vehicle is traveling on the straight section immediately after the left corner,
Proceeding to step S38, -L1 is set as the target position S.

If it is determined in step S36 that the vehicle is traveling on the straight line portion immediately after the right corner, the flow advances to step S40 to set + L1 as the target position S. That is, the target position is corrected in the direction opposite to the turning direction in the straight section immediately after the turning circuit. After executing step S38 or S40, or if the vehicle is not traveling on the straight line portion immediately after the right curve in step S36, the process proceeds to step S42 in FIG. The above steps S34 to S40 correspond to the second displacement means.

In step S42, as shown in FIG. 9, it is determined whether or not the length l of the straight portion at the boundary where the turning direction is opposite is less than or equal to a predetermined value. When this condition is satisfied, in step S44 as the fourth displacement means, this straight line portion is not regarded as immediately after the front corner, but as the straight line portion immediately before the previous corner, and as in steps S24 to S30, + L1 or -L1 is set as the target position in the direction opposite to the turning direction of the previous corner.

After execution of step S44 or step S44
If the condition of 42 is not satisfied, the process proceeds to step S46.
In step S46, the coefficient ka is calculated using the radius of curvature R of the helical circuit (the radius of curvature R of the corresponding helical circuit is used for the straight line portion immediately before or immediately after the helical circuit) with reference to the map shown by the solid line III in FIG. I do. Thereafter, the process proceeds to step S48, in which the turning depth of the turning circuit (turning angle) θd (the turning depth θ of the corresponding turning circuit in the linear portion immediately before or immediately after the turning circuit).
Using d), the coefficient kb is calculated with reference to the map shown by the solid line IV in FIG. Further, in step S49, the coefficient kc is calculated using the vehicle speed V detected by the sensor group 24 with reference to the map shown by the solid line V in FIG. Then, in step S50, the target position S is corrected by multiplying the coefficients ka, kb, and kc by the following equation, and the process ends.

S = S.times.ka.times.kb.times.kc As a result, the target position is set by displacing the turning circuit in the same direction as the turning direction and in the direction immediately before and after the turning circuit in the opposite direction to the turning direction. The larger the radius of curvature R of the road, the larger the setting, the larger the turning depth, and the larger the speed of the vehicle.

FIG. 11 shows, by a solid line with an arrow, a traveling line of a general driving characteristic of the driver when the vehicle 50 travels on the left corner. In the figure, the broken line indicates the center position of the traveling line with respect to the left and right guidelines II and I at both ends of the traveling line. When traveling from the linear portion A to the corner portion straight portion C through B, running line in preparation for entering the linear portions A ₁ in the left corner of the left corner just prior approaches to the right of the guidelines I,
In corner B, the vehicle travels as straight as possible, so that the traveling line approaches guideline II on the left. Therefore straight portions C ₁ in traveling line immediately after the left corner approaches the right guidelines I of the traveling lane, then returns to the center position of the travel lane.

In this embodiment, the target position substantially coincides with the driving line having the general driving characteristics of the driver as shown in FIG. For this reason, the traveling line by the steering control conforms to general driving characteristics, and it is possible to prevent the driver from feeling uncomfortable.

[0034]

As described above, the first aspect of the present invention provides
Traveling lane recognizing means for recognizing a traveling lane on a road and a vehicle position on the traveling lane; target position setting means for setting a target position in the traveling lane based on the recognized traveling lane; A vehicle traveling control device having steering control means for performing steering control based on a deviation from a target position; a road condition detecting means for detecting a turning state of a road during and before and after a turn; Has a first displacement means for displacing the target position in the direction opposite to the turning direction of the turning circuit.

As a general driving characteristic, the vehicle tends to approach the turning direction in the direction opposite to the turning direction at the entrance of the turning circuit. In such a situation, the target position is displaced in the direction opposite to the turning direction. Can be matched with general driving characteristics, and steering control for preventing the departure of the driving lane without giving the driver an uncomfortable feeling can be performed. According to a second aspect of the present invention, a driving lane recognizing means for recognizing a driving lane on a road and a position of the own vehicle on the driving lane, and setting a target position in the driving lane based on the recognized driving lane. In a vehicle travel control device having target position setting means and steering control means for performing steering control based on a deviation between the own vehicle position and the target position, a road for detecting a turning state of a road during and before and after a turn It has a situation detecting means and a second displacement means for displacing a target position on a straight road immediately after the circuit in a direction opposite to a turning direction of the circuit.

At the exit of the turning circuit, the vehicle tends to approach in the direction opposite to the turning direction as a general driving characteristic, and in such a situation, the target position is displaced in the direction opposite to the turning direction. Can be matched with general driving characteristics, and steering control for preventing the departure of the driving lane without giving the driver an uncomfortable feeling can be performed. According to a third aspect of the present invention, a driving lane recognizing means for recognizing a driving lane on a road and a position of the own vehicle on the driving lane, and setting a target position in the driving lane based on the recognized driving lane. In a vehicle travel control device having target position setting means and steering control means for performing steering control based on a deviation between the own vehicle position and the target position, a road for detecting a turning state of a road during and before and after a turn It has a situation detecting means and a first displacement means for displacing a target position in the turning circuit in a turning direction of the turning circuit.

In a turning circuit, the vehicle body is often shifted in the turning direction as a general driving characteristic. In such a situation, the target position is displaced in the turning direction. It is possible to perform the steering control for preventing the departure from the traveling lane without giving the driver an uncomfortable feeling. According to a fourth aspect of the present invention, in the vehicle traveling control device according to any one of the first to third aspects, the displacement means changes a displacement amount according to a radius of curvature of the circuit.

As described above, since the amount of displacement is changed according to the radius of curvature of the circuit, a target position suitable for general driving characteristics can be set. According to a fifth aspect of the present invention, in the vehicle traveling control device according to any one of the first to third aspects, the displacement means changes a displacement amount according to a turning depth of the circuit.

As described above, since the displacement amount is changed according to the turning depth, a target position suitable for general driving characteristics can be set. According to a sixth aspect of the present invention, in the vehicle travel control device according to any one of the first to fifth aspects,
The displacement means changes a displacement amount according to a vehicle speed.

As described above, since the amount of displacement is changed according to the vehicle speed, a target position suitable for general driving characteristics can be set. According to a seventh aspect of the present invention, in the vehicle traveling control device according to any one of the first to sixth aspects, there is provided a continuous state detecting means for detecting a continuous state of the circuit, and the continuous state detecting means. In the case where the turning directions of the successive turning circuits detected in the above are different, the straight path immediately before the preceding turning circuit has a fourth displacement means for displacing the target position as the straight path immediately after the preceding turning circuit.

For this reason, when the vehicle travels on a complex corner having a different turning direction, the target position on the straight road immediately after the corner in front is displaced in a direction opposite to the turning direction of the preceding corner, and the general driving characteristics and Steering control can be achieved.

[Brief description of the drawings]

FIG. 1 is a principle diagram of the present invention.

FIG. 2 is a system schematic diagram of the apparatus of the present invention.

FIG. 3 is a block diagram of an alarm system ECU.

FIG. 4 is a configuration diagram of a steering mechanism.

FIG. 5 is a flowchart of a main process.

FIG. 6 is a flowchart of a target value setting process.

FIG. 7 is a flowchart of a target value setting process.

FIG. 8 is a diagram for explaining target position setting.

FIG. 9 is a diagram for explaining a composite circuit.

FIG. 10 is a diagram showing a map of coefficients ka, kb, and kc.

FIG. 11 is a diagram showing general driving characteristics of corner running.

[Explanation of symbols]

 10, 11, 12 Image sensor 14 Image processing recognition device 16 Alarm system ECU 18 GPS device 20 Navigation device 22 Road infrastructure system communication device 24 Sensor group 30 CPU 32 ROM 34 RAM 36 Input port circuit 38 Output port circuit 40 Communication circuit 42 Common bus M1 Driving lane recognition means M2 Target position setting means M3 Steering control means M4 Road condition detection means M5 First displacement means

Claims (7)

[Claims] 1. A travel lane recognizing means for recognizing a travel lane on a road and a position of a vehicle on the travel lane; a target position setting means for setting a target position in the travel lane based on the recognized travel lane; A vehicle traveling control device having steering control means for performing steering control based on a deviation between the vehicle position and a target position, a road condition detecting means for detecting a turning condition of a road during and before and after a turn; A travel control device for a vehicle, comprising first displacement means for displacing a target position on a straight road immediately before the road in a direction opposite to a turning direction of the circuit. 2. A driving lane recognizing means for recognizing a driving lane on a road and a position of the own vehicle on the driving lane; a target position setting means for setting a target position in the driving lane based on the recognized driving lane; A vehicle traveling control device having steering control means for performing steering control based on a deviation between the vehicle position and a target position, a road condition detecting means for detecting a turning condition of a road during and before and after a turn; A travel control device for a vehicle, comprising: second displacement means for displacing a target position on a straight road immediately after the road in a direction opposite to a turning direction of the turning circuit. 3. A driving lane recognizing means for recognizing a driving lane on a road and a position of the vehicle on the driving lane; a target position setting means for setting a target position in the driving lane based on the recognized driving lane; A vehicle traveling control device having steering control means for performing steering control based on a deviation between the vehicle position and a target position, a road condition detecting means for detecting a turning condition of a road during and before and after a turn; A travel control device for a vehicle, comprising first displacement means for displacing a target position on a road in a turning direction of the circuit. 4. The travel control device for a vehicle according to claim 1, wherein the displacement means changes a displacement amount according to a radius of curvature of the circuit. apparatus. 5. The vehicle travel control device according to claim 1, wherein the displacement means changes a displacement amount according to a turning depth of the circuit. Travel control device. 6. The vehicle travel control device according to claim 1, wherein the displacement means changes a displacement amount according to a vehicle speed. 7. The running control device for a vehicle according to claim 1, further comprising a continuous state detecting means for detecting a continuous state of the circuit, wherein the continuous state detected by the continuous state detecting means is provided. A traveling control device for a vehicle, comprising: a fourth straightening means for displacing a target position on a straight road immediately before a preceding turning circuit when the turning direction of the turning circuit is different, as a straight road immediately after the preceding turning circuit.