WO2018025758A1 - Lane-maintaining support device and lane-maintaining support method - Google Patents

Lane-maintaining support device and lane-maintaining support method Download PDF

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Publication number
WO2018025758A1
WO2018025758A1 PCT/JP2017/027379 JP2017027379W WO2018025758A1 WO 2018025758 A1 WO2018025758 A1 WO 2018025758A1 JP 2017027379 W JP2017027379 W JP 2017027379W WO 2018025758 A1 WO2018025758 A1 WO 2018025758A1
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Prior art keywords
vehicle
lane
steering
force
unit
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PCT/JP2017/027379
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French (fr)
Japanese (ja)
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鈴木　輝彦
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いすゞ自動車株式会社
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Publication of WO2018025758A1 publication Critical patent/WO2018025758A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to a lane keeping support apparatus and a lane keeping support method that prevent a vehicle from departing from a lane.
  • Patent Document 1 discloses a technique for driving an actuator so that a steering wheel vibrates when it is determined that a vehicle deviates from a traveling path.
  • the present disclosure has been made in view of these points, and it is an object of the present disclosure to provide a technique for making a driver notice that a vehicle has run on a lane line in a vehicle equipped with hydraulic power steering. .
  • a first auxiliary unit that assists the steering of the vehicle with hydraulic pressure
  • a second auxiliary unit that assists the steering of the vehicle with a motor
  • a ride detection unit that detects that the vehicle has boarded a lane line from the image, and steering by the first auxiliary unit when the ride detection unit detects that the vehicle has boarded the lane line
  • a lane keeping assist device comprising: a steering resistance instructing unit that outputs a force in a direction to return the vehicle to the inside of the lane marking while maintaining assistance, and applies the force to a steering shaft.
  • the steering resistance instruction unit causes the second auxiliary unit to output a force in a direction of returning the vehicle to the inside of the lane marking in a pulse shape.
  • the force that the steering resistance instruction unit outputs to the second auxiliary unit is, for example, smaller than the force that the first auxiliary unit assists the steering by the hydraulic pressure.
  • the steering resistance instructing unit is configured to set the force in a direction to return the vehicle to the inside of the lane line when the ride detection unit detects that the vehicle has ridden on the lane line, a predetermined maximum value, The force that is output to the second auxiliary portion and then output to the second auxiliary portion is reduced with the passage of time.
  • a lane keeping support method for a vehicle including a processor, the method using the processor to divide the vehicle from a photographed image obtained by photographing a forward direction of the vehicle.
  • FIG. 1 is a diagram illustrating a configuration of a lane keeping assist device.
  • FIG. 2 is a configuration diagram illustrating a signal flow in the lane keeping assist device.
  • FIG. 3 is a diagram for explaining the torque applied by the electric power steering 3.
  • FIG. 4 is a flowchart of processing performed by the lane keeping assist device.
  • the vehicle is, for example, a large vehicle that makes it difficult to operate the steering wheel unless hydraulic power steering is used.
  • the lane keeping assist device includes both a hydraulic power steering and an electric power steering.
  • the lane keeping assist device photographs the front of the vehicle in the traveling direction with a camera, and if it is determined from the photographed image that the vehicle has entered the lane line, it sends a pulsed current to the motor provided in the electric power steering and deviates from the lane A torque in a direction opposite to the direction is applied to the steering shaft.
  • the direction opposite to the direction deviating from the lane is the same direction as the direction of change of the steered wheels that may occur when the vehicle rides on the lane line.
  • the lane keeping assist device can make the driver of the vehicle notice that the vehicle has been on the lane line. As a result, the lane keeping assist device can prevent the vehicle from deviating from the lane.
  • the configuration of the lane keeping assist device will be described below with reference to the drawings.
  • FIG. 1 is a diagram illustrating a configuration of the lane keeping assist device 1.
  • the lane keeping assist device 1 includes a camera 2, an electric power steering 3, a hydraulic power steering 4, a steering wheel 5, a steering shaft 6, a storage unit 7, a control unit 8, and an engine E.
  • the steering wheel 5 is connected to the steering shaft 6, and torque is applied from the electric power steering 3 and the hydraulic power steering 4 via the steering shaft 6.
  • the camera 2 is connected to the control unit 8 in a wireless or wired manner, captures the front of the vehicle in the traveling direction, and transmits the captured image to the control unit 8.
  • the control unit 8 determines which of the left and right drive wheels of the vehicle is on the lane line based on the captured image.
  • the electric power steering 3 includes a motor 9 connected to the control unit 8 by wire or wirelessly.
  • the motor 9 applies torque to the steering shaft 6 based on the control signal transmitted from the control unit 8. That is, the electric power steering 3 performs steering assistance of the vehicle by the motor.
  • the electric power steering 3 is also referred to as a second auxiliary unit in this specification.
  • the hydraulic power steering 4 includes a variable displacement pump 11 connected to an electromagnetic valve 10.
  • the variable displacement pump 11 is connected to the engine E and obtains power from the engine E.
  • the electromagnetic valve 10 is connected to the control unit 8 by wire or wirelessly, and the degree of opening and closing is adjusted based on a control signal transmitted from the control unit 8.
  • the hydraulic power steering 4 adjusts the degree of opening and closing of the electromagnetic valve 10 to pump the hydraulic oil through the pipe and apply torque to the steering shaft 6. That is, the hydraulic power steering 4 assists the steering of the vehicle by hydraulic pressure.
  • the hydraulic power steering 4 is also referred to as a first auxiliary unit in the present specification.
  • the storage unit 7 includes a ROM (Read Only Memory) in which a program executed by the control unit 8 is recorded and a RAM (Random Access Memory) in which data is temporarily recorded. For example, a captured image captured by the camera 2 is recorded in the RAM.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control unit 8 also functions as a ride-on detection unit 81 and a steering resistance instruction unit 82 by executing a program recorded in the storage unit 7. Each function of the control unit 8 will be described below with reference to FIG.
  • FIG. 2 is a configuration diagram showing a signal flow in the lane keeping assist device 1.
  • a solid line indicates a signal flow
  • a broken line indicates an electrical or mechanical connection.
  • the riding-up detection unit 81 detects that the vehicle has boarded the lane line from a photographed image obtained by photographing the front in the traveling direction of the vehicle.
  • the boarding detection unit 81 specifies, for example, how much the center of the vehicle is deviated from the center of the lane based on the position of the lane marking in the captured image.
  • the boarding detection part 81 specifies the distance of a lane marking from a picked-up image, and detects whether the vehicle got on the lane marking based on the width
  • the steering resistance instructing unit 82 is configured to return the vehicle to the inside of the lane line while maintaining the steering assistance by the hydraulic power steering 4 when the ride detection unit 81 detects that the vehicle has ridden on the lane line. Force is output to the electric power steering 3 and applied to the steering shaft.
  • the steering resistance instruction unit 82 causes the electric power steering 3 to output a force in a direction of returning the vehicle to the inside of the lane marking in a pulsed manner.
  • torque applied to the steering shaft by the electric power steering 3 will be described with reference to FIG.
  • FIG. 3 is a diagram for explaining the torque applied by the electric power steering 3.
  • the horizontal axis represents time
  • the vertical axis represents the magnitude of torque.
  • the electric power steering 3 applies a predetermined torque when the vehicle rides on the lane marking, and thereafter the applied torque is exponentially attenuated over time. Reduce. The driver who drives the vehicle feels that the steering wheel 5 is pushed back for a moment when the vehicle rides on the lane marking.
  • the force that the steering resistance instruction unit 82 outputs to the electric power steering 3 is smaller than the force that the hydraulic power steering 4 assists steering by hydraulic pressure.
  • the force that the steering resistance instruction unit 82 outputs to the electric power steering 3 is a force that does not change the traveling direction of the vehicle. That is, the steering resistance instructing unit 82 instructs the motor 9 to output to such an extent that the play of the mechanical parts constituting the electric power steering 3 moves.
  • the steering resistance instruction unit 82 may cause the motor 9 to output the pulsed torque shown in FIG. 3 only once, or may intermittently output the torque 9 to the motor 9 a plurality of times.
  • FIG. 4 is a flowchart of processing performed by the lane keeping assist device 1.
  • the process starts with the camera 2 photographing the front of the vehicle in the traveling direction (S41). Subsequently, the boarding detection unit 81 acquires a captured image captured by the camera 2 (S42). Subsequently, the boarding detection unit 81 determines whether or not the vehicle has boarded the lane marking (S43). When the vehicle is not on the lane line (NO in S44), the lane keeping assist device 1 repeats the process of S41 again.
  • the steering resistance instructing unit 82 maintains the steering assistance by the hydraulic power steering 4 and generates a torque in the direction to return the vehicle to the inside of the lane line of the lane.
  • the output is made to the steering 3 and applied to the steering shaft, and the process is terminated (S45).
  • the lane keeping assist device 1 includes the hydraulic power steering 4 that assists the steering of the vehicle by hydraulic pressure, and the electric power steering 3 that assists the steering of the vehicle by the motor.
  • the lane keeping assist device 1 maintains the steering assistance by the hydraulic power steering 4 while detecting that the vehicle has entered the lane marking from the photographed image obtained by photographing the forward direction of the vehicle. A force in a direction to return to the inside of the lane marking is output to the electric power steering 3 and applied to the steering shaft.
  • the lane keeping assist device 1 can make the driver aware that the vehicle has been on the lane line. As a result, the lane keeping assist device 1 can effectively prevent the vehicle from deviating from the lane.
  • the lane keeping assist device 1 includes the electric power steering 3, the steering assistance by the hydraulic power steering 4 can be maintained even when rotational vibration is applied to the steering wheel 5. Therefore, it is possible to prevent the direction of the steering wheel from changing when rotational vibration is applied to the steering wheel 5.
  • the present invention has an effect that in a vehicle equipped with hydraulic power steering, it is possible to make the driver notice that the vehicle has boarded the lane marking, and is useful for a lane keeping assist device, a lane keeping assist method, etc. It is.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
  • Traffic Control Systems (AREA)

Abstract

A lane-maintaining support device 1 is provided with: a first auxiliary part for assisting vehicle steering with hydraulic pressure; a second auxiliary part for assisting the vehicle steering with a motor; a riding-on detection unit 81 for detecting, from a captured image in which the forward area in the traveling direction of the vehicle is captured, that the vehicle has ridden on a division line of a traffic lane; and a steering resistance instruction unit 82 for, if the riding-on detection unit 81 detects that the vehicle has ridden on the division line, causing the second auxiliary part to output a force in the direction for returning the vehicle to the inside of the division line and for applying the force to a steering shaft, while maintaining the steering assistance by the first auxiliary part.

Description

車線維持支援装置及び車線維持支援方法Lane maintenance support device and lane maintenance support method
　本開示は、車両が車線を逸脱するのを防ぐ車線維持支援装置及び車線維持支援方法に関する。 The present disclosure relates to a lane keeping support apparatus and a lane keeping support method that prevent a vehicle from departing from a lane.
　従来、車両が走行路から逸脱する状況を運転者に認識させる技術がある。特許文献１には、車両が走行路から逸脱すると判別された場合に、ステアリングホイールが振動するようにアクチュエータを駆動させる技術が開示されている。 Conventionally, there is a technique for allowing a driver to recognize a situation in which a vehicle deviates from a traveling path. Patent Document 1 discloses a technique for driving an actuator so that a steering wheel vibrates when it is determined that a vehicle deviates from a traveling path.
日本国特開２０００－２５１１７１号公報Japanese Unexamined Patent Publication No. 2000-251171
　ところで、大型車両の場合、車両が区画線に乗り上げても操舵輪からステアリングホイールまで振動が伝わりづらい。そのため、大型車両の運転者は車両が区画線に乗り上げたことに気付きにくい。 By the way, in the case of a large vehicle, it is difficult for vibration to be transmitted from the steering wheel to the steering wheel even when the vehicle rides on the lane marking. Therefore, it is difficult for the driver of the large vehicle to notice that the vehicle has been on the lane marking.
　上記問題に対して、操舵軸に回転振動を与えて運転者に車両が区画線に乗り上げたことを認識させることが考えられる。しかしながら、大型車両の場合、車重が大きいことから、通常、油圧式のパワーステアリングが備えられており、操舵軸を回転させて運転者に車両が区画線に乗り上げたことを気付かせるのは困難である。また、車両が区画線に乗り上げた場合に単にステアリングホイールを回転させたとしても、実際に車両が区画線に乗り上げた場合の挙動と異なっていれば、運転者は車両が区画線に乗り上げたのか、それとも道路上の異物に乗り上げたのかわからない可能性がある。 In order to solve the above problem, it is conceivable to apply a rotational vibration to the steering shaft so that the driver can recognize that the vehicle has entered the lane line. However, in the case of a large vehicle, since the vehicle weight is large, it is usually equipped with a hydraulic power steering, and it is difficult to make the driver notice that the vehicle has entered the lane line by rotating the steering shaft. It is. In addition, even if the steering wheel is simply rotated when the vehicle rides on the lane line, if the vehicle is different from the behavior when the vehicle actually rides on the lane line, has the driver taken the vehicle on the lane line? Or you may not know if you got on a foreign object on the road.
　そこで、本開示はこれらの点に鑑みてなされたものであり、油圧式パワーステアリングを搭載した車両において、運転者に車両が区画線に乗り上げたことを気付かせる技術を提供することを目的とする。 Therefore, the present disclosure has been made in view of these points, and it is an object of the present disclosure to provide a technique for making a driver notice that a vehicle has run on a lane line in a vehicle equipped with hydraulic power steering. .
　本開示の第１の態様においては、車両の操舵を油圧により補助する第１補助部と、前記車両の操舵をモータにより補助する第２補助部と、前記車両の進行方向前方が撮影された撮影画像から前記車両が車線の区画線に乗り上げたことを検出する乗り上げ検出部と、前記乗り上げ検出部が、前記車両が前記区画線に乗り上げたことを検出した場合に、前記第１補助部による操舵補助を維持しつつ、前記車両を前記区画線の内側に戻す方向の力を前記第２補助部に出力させて操舵軸に付与する操舵抵抗指示部と、を備える車線維持支援装置を提供する。 In the first aspect of the present disclosure, a first auxiliary unit that assists the steering of the vehicle with hydraulic pressure, a second auxiliary unit that assists the steering of the vehicle with a motor, and a photograph in which the front in the traveling direction of the vehicle is photographed A ride detection unit that detects that the vehicle has boarded a lane line from the image, and steering by the first auxiliary unit when the ride detection unit detects that the vehicle has boarded the lane line There is provided a lane keeping assist device comprising: a steering resistance instructing unit that outputs a force in a direction to return the vehicle to the inside of the lane marking while maintaining assistance, and applies the force to a steering shaft.
　前記操舵抵抗指示部は、例えば、前記第２補助部に前記車両を前記区画線の内側に戻す方向の力をパルス状に出力させる。 The steering resistance instruction unit, for example, causes the second auxiliary unit to output a force in a direction of returning the vehicle to the inside of the lane marking in a pulse shape.
　前記操舵抵抗指示部が前記第２補助部に出力させる力は、例えば、前記第１補助部が前記油圧により前記操舵を補助する力よりも小さい。 The force that the steering resistance instruction unit outputs to the second auxiliary unit is, for example, smaller than the force that the first auxiliary unit assists the steering by the hydraulic pressure.
　前記操舵抵抗指示部は、前記乗り上げ検出部が、前記車両が前記区画線に乗り上げたことを検出した際に、前記車両を前記区画線の内側に戻す方向の前記力を所定の最大値、前記第２補助部に出力させ、その後、前記第２補助部に出力させる前記力を時間の経過と共に低減させる。 The steering resistance instructing unit is configured to set the force in a direction to return the vehicle to the inside of the lane line when the ride detection unit detects that the vehicle has ridden on the lane line, a predetermined maximum value, The force that is output to the second auxiliary portion and then output to the second auxiliary portion is reduced with the passage of time.
　本開示の第２の態様においては、プロセッサを備えた車両の車線維持支援方法であって、前記方法は前記プロセッサに、前記車両の進行方向前方が撮影された撮影画像から前記車両が車両の区画線に乗り上げたことを検出するステップと、前記乗り上げ検出部が、前記車両が前記区画線に乗り上げたことを検出した場合に、油圧による操舵補助を維持しつつ、前記車両を前記区画線の内側に戻す方向の力をモータに出力させて操舵軸に付与するステップと、を実行させる車線維持支援方法を提供する。 In a second aspect of the present disclosure, there is provided a lane keeping support method for a vehicle including a processor, the method using the processor to divide the vehicle from a photographed image obtained by photographing a forward direction of the vehicle. A step of detecting that the vehicle has boarded a line, and when the ride-up detecting unit detects that the vehicle has boarded the lane line, the vehicle is placed inside the lane line while maintaining hydraulic steering assistance. And a step of outputting a force in a direction to return to the motor and applying the force to the steering shaft.
　本開示によれば、油圧式パワーステアリングを搭載した車両において、運転者に、車両が区画線に乗り上げたことを気付かせるという効果を奏する。 According to the present disclosure, in a vehicle equipped with a hydraulic power steering, there is an effect that the driver is made aware that the vehicle has entered the lane line.
図１は、車線維持支援装置の構成を示す図である。FIG. 1 is a diagram illustrating a configuration of a lane keeping assist device. 図２は、車線維持支援装置における信号の流れを示した構成図である。FIG. 2 is a configuration diagram illustrating a signal flow in the lane keeping assist device. 図３は、電動パワーステアリング３が付与するトルクを説明するための図である。FIG. 3 is a diagram for explaining the torque applied by the electric power steering 3. 図４は、車線維持支援装置が行う処理のフローチャートである。FIG. 4 is a flowchart of processing performed by the lane keeping assist device.
［概要］
　以下に、実施の形態に係る車線維持支援装置の概要を説明する。車両は、例えば、油圧式パワーステアリングを用いないとステアリングホイールの操作が困難となるような大型車両である。 [Overview]
Below, the outline | summary of the lane maintenance assistance apparatus which concerns on embodiment is demonstrated. The vehicle is, for example, a large vehicle that makes it difficult to operate the steering wheel unless hydraulic power steering is used.
　上記のような大型車両では、道路に敷設された区画線に車両が乗り上げた場合であっても、重量が軽く路面からステアリングホイールまでの距離が短い普通乗用車とは異なり、車両の運転者が車両が区画線に乗り上げたことに気付きにくい。 In the case of a large vehicle as described above, even when the vehicle rides on a lane line laid on the road, unlike a normal passenger car that is light and has a short distance from the road surface to the steering wheel, the driver of the vehicle It ’s hard to notice that they got on the lane line.
　実施の形態に係る車線維持支援装置は、油圧式パワーステアリングと電動パワーステアリングとの両方を備える。車線維持支援装置は、カメラで車両の進行方向前方を撮影し、撮影画像から車両が区画線に乗り上げたことを判定すると、電動パワーステアリングが備えるモータにパルス状の電流を流し、車線を逸脱する方向とは反対の方向のトルクを操舵軸に付与する。上記車線を逸脱する方向と反対の方向は、車両が区画線に乗り上げた際に起こりうる操舵輪の変化の方向と同じ向きである。 The lane keeping assist device according to the embodiment includes both a hydraulic power steering and an electric power steering. The lane keeping assist device photographs the front of the vehicle in the traveling direction with a camera, and if it is determined from the photographed image that the vehicle has entered the lane line, it sends a pulsed current to the motor provided in the electric power steering and deviates from the lane A torque in a direction opposite to the direction is applied to the steering shaft. The direction opposite to the direction deviating from the lane is the same direction as the direction of change of the steered wheels that may occur when the vehicle rides on the lane line.
　こうすることによって、車線維持支援装置は、車両の運転者に、車両が区画線に乗り上げたことを気付かせることができる。その結果、車線維持支援装置は、車両が車線を逸脱することを防止することができる。以下に、図面を参照しながら車線維持支援装置の構成について説明する。 By doing so, the lane keeping assist device can make the driver of the vehicle notice that the vehicle has been on the lane line. As a result, the lane keeping assist device can prevent the vehicle from deviating from the lane. The configuration of the lane keeping assist device will be described below with reference to the drawings.
［車線維持支援装置の構成］
　図１は、車線維持支援装置１の構成を示す図である。車線維持支援装置１は、カメラ２、電動パワーステアリング３、油圧式パワーステアリング４、ステアリングホイール５、操舵軸６、記憶部７、制御部８及びエンジンＥを備える。ステアリングホイール５は操舵軸６と接続され、電動パワーステアリング３及び油圧式パワーステアリング４から操舵軸６を介してトルクを付与される。 [Configuration of Lane Maintenance Support Device]
FIG. 1 is a diagram illustrating a configuration of the lane keeping assist device 1. The lane keeping assist device 1 includes a camera 2, an electric power steering 3, a hydraulic power steering 4, a steering wheel 5, a steering shaft 6, a storage unit 7, a control unit 8, and an engine E. The steering wheel 5 is connected to the steering shaft 6, and torque is applied from the electric power steering 3 and the hydraulic power steering 4 via the steering shaft 6.
　カメラ２は、制御部８と無線又は有線で接続され、車両の進行方向前方を撮影して撮影画像を制御部８に送信する。制御部８は、例えば、撮影画像に基づいて車両が備える左右の駆動輪のうちどちらの駆動輪が区画線に乗り上げたかを判定する。 The camera 2 is connected to the control unit 8 in a wireless or wired manner, captures the front of the vehicle in the traveling direction, and transmits the captured image to the control unit 8. For example, the control unit 8 determines which of the left and right drive wheels of the vehicle is on the lane line based on the captured image.
　電動パワーステアリング３は、制御部８と有線又は無線で接続されたモータ９を備える。モータ９は、制御部８から送信される制御信号に基づいて操舵軸６にトルクを付与する。即ち、電動パワーステアリング３は、モータにより車両の操舵補助を行う。なお、電動パワーステアリング３は、本明細書において第２補助部とも称される。 The electric power steering 3 includes a motor 9 connected to the control unit 8 by wire or wirelessly. The motor 9 applies torque to the steering shaft 6 based on the control signal transmitted from the control unit 8. That is, the electric power steering 3 performs steering assistance of the vehicle by the motor. The electric power steering 3 is also referred to as a second auxiliary unit in this specification.
　油圧式パワーステアリング４は、電磁バルブ１０と接続された可変容量ポンプ１１を備える。可変容量ポンプ１１は、エンジンＥと接続され、エンジンＥから動力を得る。電磁バルブ１０は、制御部８と有線又は無線で接続され、制御部８から送信される制御信号に基づいて開閉度合いが調節される。 The hydraulic power steering 4 includes a variable displacement pump 11 connected to an electromagnetic valve 10. The variable displacement pump 11 is connected to the engine E and obtains power from the engine E. The electromagnetic valve 10 is connected to the control unit 8 by wire or wirelessly, and the degree of opening and closing is adjusted based on a control signal transmitted from the control unit 8.
　油圧式パワーステアリング４は、電磁バルブ１０の開閉度合いを調節することによって配管を介して作動油を圧送し、操舵軸６にトルクを付与する。即ち、油圧式パワーステアリング４は、油圧により車両の操舵補助を行う。なお、油圧式パワーステアリング４は、本明細書において第１補助部とも称される。 The hydraulic power steering 4 adjusts the degree of opening and closing of the electromagnetic valve 10 to pump the hydraulic oil through the pipe and apply torque to the steering shaft 6. That is, the hydraulic power steering 4 assists the steering of the vehicle by hydraulic pressure. The hydraulic power steering 4 is also referred to as a first auxiliary unit in the present specification.
　記憶部７は、制御部８が実行するプログラムが記録されたＲＯＭ（Read Only Memory）及びデータを一時的に記録するＲＡＭ（Random Access Memory）を備える。ＲＡＭには、例えば、カメラ２が撮影した撮影画像が記録される。 The storage unit 7 includes a ROM (Read Only Memory) in which a program executed by the control unit 8 is recorded and a RAM (Random Access Memory) in which data is temporarily recorded. For example, a captured image captured by the camera 2 is recorded in the RAM.
　制御部８は、記憶部７に記録されたプログラムを実行することによって、乗り上げ検出部８１及び操舵抵抗指示部８２としても機能する。制御部８の各機能について、以下に図２を参照しながら説明する。 The control unit 8 also functions as a ride-on detection unit 81 and a steering resistance instruction unit 82 by executing a program recorded in the storage unit 7. Each function of the control unit 8 will be described below with reference to FIG.
　図２は、車線維持支援装置１における信号の流れを示した構成図である。図２において、実線は信号の流れを示し、破線は電気的又は機械的接続を示す。 FIG. 2 is a configuration diagram showing a signal flow in the lane keeping assist device 1. In FIG. 2, a solid line indicates a signal flow, and a broken line indicates an electrical or mechanical connection.
　乗り上げ検出部８１は、車両の進行方向前方が撮影された撮影画像から車両が区画線に乗り上げたことを検出する。乗り上げ検出部８１は、例えば、撮影画像に写っている区画線の位置に基づいて、車両の中央が車線中央からどの程度偏位しているかを特定する。そして、乗り上げ検出部８１は、撮影画像から区画線と区画線との距離を特定し、車両の幅に基づいて、車両が区画線に乗り上げたか否かを検出する。 The riding-up detection unit 81 detects that the vehicle has boarded the lane line from a photographed image obtained by photographing the front in the traveling direction of the vehicle. The boarding detection unit 81 specifies, for example, how much the center of the vehicle is deviated from the center of the lane based on the position of the lane marking in the captured image. And the boarding detection part 81 specifies the distance of a lane marking from a picked-up image, and detects whether the vehicle got on the lane marking based on the width | variety of a vehicle.
　操舵抵抗指示部８２は、乗り上げ検出部８１が、車両が区画線に乗り上げたことを検出した場合に、油圧式パワーステアリング４による操舵補助を維持しつつ、車両を区画線の内側に戻す方向の力を電動パワーステアリング３に出力させて操舵軸に付与する。操舵抵抗指示部８２は、例えば、電動パワーステアリング３に車両を区画線の内側に戻す方向の力をパルス状に出力させる。以下に、図３を参照しながら電動パワーステアリング３が操舵軸に付与するトルクについて説明する。 The steering resistance instructing unit 82 is configured to return the vehicle to the inside of the lane line while maintaining the steering assistance by the hydraulic power steering 4 when the ride detection unit 81 detects that the vehicle has ridden on the lane line. Force is output to the electric power steering 3 and applied to the steering shaft. For example, the steering resistance instruction unit 82 causes the electric power steering 3 to output a force in a direction of returning the vehicle to the inside of the lane marking in a pulsed manner. Hereinafter, torque applied to the steering shaft by the electric power steering 3 will be described with reference to FIG.
　図３は、電動パワーステアリング３が付与するトルクを説明するための図である。図３に示した座標系は、横軸が時間であり、縦軸がトルクの大きさである。図３に示した例では、車両が区画線に乗り上げた際に、ステアリングホイール５が車線の中央へ向かう方向に一瞬大きな力で押し戻され、時間と共にステアリングホイール５が回転する力が低減する。換言すれば、図３に示した例では、電動パワーステアリング３は、車両が区画線に乗り上げた際に所定のトルクを付与し、その後、時間の経過と共に付与するトルクを指数関数的減衰状に低減させる。車両を運転する運転者は、車両が区画線に乗り上げた際に、一瞬ステアリングホイール５が押し戻されるのを感じる。 FIG. 3 is a diagram for explaining the torque applied by the electric power steering 3. In the coordinate system shown in FIG. 3, the horizontal axis represents time, and the vertical axis represents the magnitude of torque. In the example shown in FIG. 3, when the vehicle rides on the lane line, the steering wheel 5 is pushed back in a direction toward the center of the lane for a moment with a large force, and the force with which the steering wheel 5 rotates with time decreases. In other words, in the example shown in FIG. 3, the electric power steering 3 applies a predetermined torque when the vehicle rides on the lane marking, and thereafter the applied torque is exponentially attenuated over time. Reduce. The driver who drives the vehicle feels that the steering wheel 5 is pushed back for a moment when the vehicle rides on the lane marking.
　操舵抵抗指示部８２が電動パワーステアリング３に出力させる力は、油圧式パワーステアリング４が油圧により操舵を補助する力よりも小さい。具体的には、操舵抵抗指示部８２が電動パワーステアリング３に出力させる力は、車両の進行方向を変更しない程度の力である。即ち、操舵抵抗指示部８２は、電動パワーステアリング３を構成する機械部品の遊びが動く程度の出力をモータ９に指示する。操舵抵抗指示部８２は、図３に示したパルス状のトルクを１回のみモータ９に出力させてもよく、断続的に複数回モータ９に出力させてもよい。 The force that the steering resistance instruction unit 82 outputs to the electric power steering 3 is smaller than the force that the hydraulic power steering 4 assists steering by hydraulic pressure. Specifically, the force that the steering resistance instruction unit 82 outputs to the electric power steering 3 is a force that does not change the traveling direction of the vehicle. That is, the steering resistance instructing unit 82 instructs the motor 9 to output to such an extent that the play of the mechanical parts constituting the electric power steering 3 moves. The steering resistance instruction unit 82 may cause the motor 9 to output the pulsed torque shown in FIG. 3 only once, or may intermittently output the torque 9 to the motor 9 a plurality of times.
［車線維持支援装置１が行う処理のフロー］
　図４は、車線維持支援装置１が行う処理のフローチャートである。先ず、カメラ２が車両の進行方向前方を撮影する処理から開始する（Ｓ４１）。続いて、乗り上げ検出部８１が、カメラ２が撮影した撮影画像を取得する（Ｓ４２）。続いて、乗り上げ検出部８１が、車両が車線の区画線に乗り上げたか否かを判定する（Ｓ４３）。車両が区画線に乗り上げていない場合（Ｓ４４においてＮＯ）、車線維持支援装置１は、再度Ｓ４１の処理を繰り返す。 [Flow of processing performed by the lane keeping assist device 1]
FIG. 4 is a flowchart of processing performed by the lane keeping assist device 1. First, the process starts with the camera 2 photographing the front of the vehicle in the traveling direction (S41). Subsequently, the boarding detection unit 81 acquires a captured image captured by the camera 2 (S42). Subsequently, the boarding detection unit 81 determines whether or not the vehicle has boarded the lane marking (S43). When the vehicle is not on the lane line (NO in S44), the lane keeping assist device 1 repeats the process of S41 again.
　車両が区画線に乗り上げた場合（Ｓ４４においてＹＥＳ）、操舵抵抗指示部８２は、油圧式パワーステアリング４による操舵補助を維持しつつ、車両を車線の区画線の内側に戻す方向のトルクを電動パワーステアリング３に出力させて操舵軸に付与して、処理を終了する（Ｓ４５）。 When the vehicle rides on the lane line (YES in S44), the steering resistance instructing unit 82 maintains the steering assistance by the hydraulic power steering 4 and generates a torque in the direction to return the vehicle to the inside of the lane line of the lane. The output is made to the steering 3 and applied to the steering shaft, and the process is terminated (S45).
［車線維持支援装置１が奏する効果］
　上記のとおり、実施の形態に係る車線維持支援装置１は、油圧により車両の操舵補助を行う油圧式パワーステアリング４と、モータにより車両の操舵補助を行う電動パワーステアリング３とを有する。車線維持支援装置１は、車両の進行方向前方が撮影された撮影画像から車両が車線の区画線に乗り上げたことを検出した場合に、油圧式パワーステアリング４による操舵補助を維持しつつ、車両を区画線の内側に戻す方向の力を電動パワーステアリング３に出力させて操舵軸に付与する。 [Effects of Lane Maintenance Support Device 1]
As described above, the lane keeping assist device 1 according to the embodiment includes the hydraulic power steering 4 that assists the steering of the vehicle by hydraulic pressure, and the electric power steering 3 that assists the steering of the vehicle by the motor. The lane keeping assist device 1 maintains the steering assistance by the hydraulic power steering 4 while detecting that the vehicle has entered the lane marking from the photographed image obtained by photographing the forward direction of the vehicle. A force in a direction to return to the inside of the lane marking is output to the electric power steering 3 and applied to the steering shaft.
　こうすることによって、車線維持支援装置１は、運転者に車両が区画線に乗り上げたことを気付かせることができる。その結果、車線維持支援装置１は、車両が車線を逸脱することを効果的に防止することができる。また、車線維持支援装置１は、電動パワーステアリング３を備えるため、ステアリングホイール５に回転振動を与えている際も、油圧式パワーステアリング４による操舵補助を維持することができる。従って、ステアリングホイール５に回転振動を与えている際に操舵輪の方向が変化することを防止することができる。 By doing so, the lane keeping assist device 1 can make the driver aware that the vehicle has been on the lane line. As a result, the lane keeping assist device 1 can effectively prevent the vehicle from deviating from the lane. In addition, since the lane keeping assist device 1 includes the electric power steering 3, the steering assistance by the hydraulic power steering 4 can be maintained even when rotational vibration is applied to the steering wheel 5. Therefore, it is possible to prevent the direction of the steering wheel from changing when rotational vibration is applied to the steering wheel 5.
　以上、本開示を実施の形態を用いて説明したが、本開示の技術的範囲は上記実施の形態に記載の範囲には限定されない。上記実施の形態に、多様な変更又は改良を加えることが可能であることが当業者に明らかである。そのような変更又は改良を加えた形態も本開示の技術的範囲に含まれ得ることが、特許請求の範囲の記載から明らかである。 As mentioned above, although this indication was explained using an embodiment, the technical scope of this indication is not limited to the range as described in the above-mentioned embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present disclosure.
　本出願は、2016年8月2日付で出願された日本国特許出願（特願2016-152054）に基づくものであり、その内容はここに参照として取り込まれる。 This application is based on a Japanese patent application (Japanese Patent Application No. 2016-152054) filed on August 2, 2016, the contents of which are incorporated herein by reference.
　本発明は、油圧式パワーステアリングを搭載した車両において、運転者に、車両が区画線に乗り上げたことを気付かせることができるという効果を有し、車線維持支援装置及び車線維持支援方法等に有用である。 INDUSTRIAL APPLICABILITY The present invention has an effect that in a vehicle equipped with hydraulic power steering, it is possible to make the driver notice that the vehicle has boarded the lane marking, and is useful for a lane keeping assist device, a lane keeping assist method, etc. It is.
　１・・・車線維持支援装置
　２・・・カメラ
　３・・・電動パワーステアリング
　４・・・油圧式パワーステアリング
　５・・・ステアリングホイール
　６・・・操舵軸
　７・・・記憶部
　８・・・制御部
　８１・・・乗り上げ検出部
　８２・・・操舵抵抗指示部
　９・・・モータ
　１０・・・電磁バルブ
　１１・・・可変容量ポンプ DESCRIPTION OF SYMBOLS 1 ... Lane keeping support apparatus 2 ... Camera 3 ... Electric power steering 4 ... Hydraulic power steering 5 ... Steering wheel 6 ... Steering shaft 7 ... Memory | storage part 8 ... Control unit 81 ... Riding detection unit 82 ... Steering resistance instruction unit 9 ... Motor 10 ... Electromagnetic valve 11 ... Variable displacement pump

Claims (8)

  1. 　車両の操舵を油圧により補助する第１補助部と、
    　前記車両の操舵をモータにより補助する第２補助部と、
    　前記車両の進行方向前方が撮影された撮影画像から前記車両が車線の区画線に乗り上げたことを検出する乗り上げ検出部と、
    　前記乗り上げ検出部が、前記車両が前記区画線に乗り上げたことを検出した場合に、前記第１補助部による操舵補助を維持しつつ、前記車両を前記区画線の内側に戻す方向の力を前記第２補助部に出力させて操舵軸に付与する操舵抵抗指示部と、
    　を備える車線維持支援装置。     A first auxiliary part for assisting the steering of the vehicle by hydraulic pressure;
    A second auxiliary part for assisting the steering of the vehicle by a motor;
    A boarding detection unit that detects that the vehicle has boarded a lane marking from a captured image in which the forward direction of the vehicle is captured;
    When the boarding detection unit detects that the vehicle has boarded the lane line, a force in a direction to return the vehicle to the inside of the lane line is maintained while maintaining steering assistance by the first auxiliary unit. A steering resistance indicating unit that outputs to the second auxiliary unit and applies to the steering shaft;
    A lane keeping assist device.
  2. 　前記操舵抵抗指示部は、前記第２補助部に前記車両を前記区画線の内側に戻す方向の前記力をパルス状に出力させる、
    　請求項１に記載の車線維持支援装置。     The steering resistance instruction unit causes the second auxiliary unit to output the force in a direction of returning the vehicle to the inside of the lane marking in a pulse shape.
    The lane keeping assist device according to claim 1.
  3. 　前記操舵抵抗指示部が前記第２補助部に出力させる前記力は、前記第１補助部が前記油圧により前記操舵を補助する力よりも小さい、
    　請求項１又は２に記載の車線維持支援装置。     The force that the steering resistance instruction unit outputs to the second auxiliary unit is smaller than the force that the first auxiliary unit assists the steering by the hydraulic pressure,
    The lane keeping assist device according to claim 1 or 2.
  4. 　前記操舵抵抗指示部は、
    　　　前記乗り上げ検出部が、前記車両が前記区画線に乗り上げたことを検出した際に、前記車両を前記区画線の内側に戻す方向の前記力を所定の最大値、前記第２補助部に出力させ、
    　　　その後、前記第２補助部に出力させる前記力を時間の経過と共に低減させる、
    　請求項１乃至３の何れか一項に記載の車線維持支援装置。     The steering resistance instruction unit
    When the boarding detection unit detects that the vehicle has boarded the lane line, the force in a direction to return the vehicle to the inside of the lane line is output to the second auxiliary unit by a predetermined maximum value. ,
    Thereafter, the force to be output to the second auxiliary unit is reduced over time.
    The lane keeping assist device according to any one of claims 1 to 3.
  5. 　プロセッサを備えた車両の車線維持支援方法であって、前記方法は前記プロセッサに以下を実行させる：
    　前記車両の進行方向前方が撮影された撮影画像から前記車両が車両の区画線に乗り上げたことを検出するステップと、
    　前記車両が前記区画線に乗り上げたことを検出した場合に、油圧による操舵補助を維持しつつ、前記車両を前記区画線の内側に戻す方向の力をモータに出力させて操舵軸に付与するステップ。     A vehicle lane keeping support method comprising a processor, the method causing the processor to:
    Detecting that the vehicle rides on a lane marking of the vehicle from a captured image obtained by photographing the front in the traveling direction of the vehicle;
    A step of outputting to the motor a force in a direction to return the vehicle to the inside of the lane marking while maintaining steering assistance by hydraulic pressure when detecting that the vehicle has boarded the lane marking; .
  6. 　請求項５に記載の車線維持支援方法であって、
    　前記方法は前記プロセッサに、前記モータに前記車両を前記区画線の内側に戻す方向の力をパルス状に出力させる。     The lane keeping support method according to claim 5,
    In the method, the processor causes the motor to output a force in a direction of returning the vehicle to the inside of the lane marking in a pulsed manner.
  7. 　請求項５又は６に記載の車線維持支援方法であって、
    　前記プロセッサが前記モータに出力させる力は、前記油圧により前記操舵を補助する力よりも小さい。     A lane keeping support method according to claim 5 or 6,
    The force that the processor outputs to the motor is smaller than the force that assists the steering by the hydraulic pressure.
  8. 　請求項５乃至７の何れか一項に記載の車線維持支援方法であって、
    　前記方法は前記プロセッサに、
    　　　前記車両が前記区画線に乗り上げたことを検出した際に、前記車両を前記区画線の内側に戻す方向の前記力を所定の最大値、前記第２モータに出力させ、
    　　　その後、前記モータに出力させる前記力を時間の経過と共に低減させる。     A lane keeping support method according to any one of claims 5 to 7,
    The method includes:
    When detecting that the vehicle has boarded the lane line, the force in a direction to return the vehicle to the inside of the lane line is output to the second motor with a predetermined maximum value,
    Thereafter, the force to be output to the motor is reduced with time.
PCT/JP2017/027379 2016-08-02 2017-07-28 Lane-maintaining support device and lane-maintaining support method WO2018025758A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000251171A (en) * 1999-02-26 2000-09-14 Toyota Motor Corp Lane deviation alarming device for vehicle
JP2006213094A (en) * 2005-02-01 2006-08-17 Toyota Motor Corp Power steering device
JP2016088429A (en) * 2014-11-10 2016-05-23 株式会社デンソー Lane keep control system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000251171A (en) * 1999-02-26 2000-09-14 Toyota Motor Corp Lane deviation alarming device for vehicle
JP2006213094A (en) * 2005-02-01 2006-08-17 Toyota Motor Corp Power steering device
JP2016088429A (en) * 2014-11-10 2016-05-23 株式会社デンソー Lane keep control system

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