JP5800971B1 - Lane driving support device - Google Patents
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Abstract
【課題】レーン走行支援モードでの運転中の手放し判定の誤判定による不要な警告をなくし、運転者にとって使い勝手の良いレーン走行支援装置を提供する。【解決手段】車両の前方の走行路の形状の情報を検出する走行路検出手段の出力に基づいて、ハンドルの手放し状態を判定する閾値を決定し、運転者のハンドル手放し判定を行う。【選択図】図２An object of the present invention is to provide an easy-to-use lane travel support device that eliminates unnecessary warnings due to misjudgment of hand release determination during driving in a lane travel support mode. A threshold for determining a handle release state is determined based on an output of a road detection unit that detects information on a shape of a road ahead of a vehicle, and a driver's handle release determination is performed. [Selection] Figure 2
Description
この発明は、車両のレーン内走行を支援する装置に係り、特にレーン走行支援中に運転者の手放し状態を判定し警告を行うレーン走行支援装置に関するものである。 The present invention relates to a device that supports driving in a lane of a vehicle, and more particularly to a lane driving support device that determines a driver's hand-off state and issues a warning during lane driving support.
従来から車両のレーン走行支援装置としては、カメラによって道路の白線を認識し、車両が白線内を走行するように操舵制御を行うものが知られている。 2. Description of the Related Art Conventionally, as a vehicle lane travel support device, a device that recognizes a white line on a road with a camera and performs steering control so that the vehicle travels within the white line is known.
このような装置では、危険回避のための咄嗟の操舵や曲率の大きいカーブの走行時に、自動での操舵制御では白線から逸脱してしまう場合があり、これに対応するために、運転者が常にハンドルを保持する必要がある。そのため運転者がハンドルから手を放した場合に、手放し状態として判定し警告を行う機能を備えている。 In such a device, when steering a saddle to avoid danger or traveling on a curve with a large curvature, the automatic steering control may deviate from the white line. Need to hold handle. For this reason, when the driver releases his / her hand from the steering wheel, it has a function of determining as a released state and giving a warning.
例えば特開２００５-１２５８５２号公報（特許文献１）には、運転者がハンドルを保持する保舵力に基づき、操舵制御手段に対する運転者の依存状態を監視し、操舵制御手段による車両のレーン走行支援を円滑に行ない得るレーン走行支援装置が開示されている。このレーン走行支援装置は、ハンドルに伝達される操舵反力に応じた操舵信号を検出する操舵信号検出手段と、前記操舵信号検出手段の検出信号に基づき、前記操舵反力に抗して当該運転者が前記ハンドルを保持するときの保舵力を推定する保舵力推定手段を備え、車両が走行レーン内を走行するように操舵制御手段によって修正操舵を行うときの保舵力が閾値を超えるか否かで手放し状態を判定するものである。 For example, Japanese Patent Laying-Open No. 2005-125852 (Patent Document 1) monitors the driver's dependence on the steering control means based on the steering force with which the driver holds the steering wheel, and the lane travel of the vehicle by the steering control means. A lane driving support device that can smoothly perform support is disclosed. The lane driving assist device includes a steering signal detection unit that detects a steering signal according to a steering reaction force transmitted to a steering wheel, and the driving operation against the steering reaction force based on a detection signal of the steering signal detection unit. A steering force estimating means for estimating the steering force when the person holds the steering wheel, and the steering force when the steering control means performs the corrective steering so that the vehicle travels in the travel lane exceeds a threshold value. Whether or not the hand is released is determined by whether or not the hand is released.
また、例えば特開２０１０-１８４６３８号公報（特許文献２）には、車両が凹凸の激しい路面を走行する場合等においても手放し状態の判定がなされ、これによって判定に対する信頼性を高める操舵装置が開示される。この操舵装置は、ハンドルに設けられた第１の振動センサと、ハンドル部に連結されたステアリングコラムに設けられ、ステアリングコラムの振動を検出する第２の振動センサを備え、第１の振動センサと第２の振動センサの検出結果から振動伝達レベルを演算し、振動伝達レベルが閾値を超えるか否かで、手放し状態を判定するものである。 Further, for example, Japanese Patent Laying-Open No. 2010-184638 (Patent Document 2) discloses a steering device in which the determination of the hand-off state is made even when the vehicle travels on a highly uneven road surface, thereby improving the reliability of the determination. Is done. The steering apparatus includes a first vibration sensor provided on a steering wheel, and a second vibration sensor provided on a steering column coupled to the steering wheel portion to detect the vibration of the steering column. The vibration transmission level is calculated from the detection result of the second vibration sensor, and the release state is determined by whether or not the vibration transmission level exceeds a threshold value.
しかし、車両が直進路を走行する場合は、危険回避や白線からの逸脱に備えて、運転者が常にハンドルを保持する必要性は低い。一方で、直進での保舵力は手放し状態であるときの保舵力とほとんど違いが無く、そのため特許文献１のように操舵反力と修正操舵量からでは精度よく手放し判定をすることは困難である。また、特許文献２においても同様で、精度よく手放し判定をすることはできない。 However, when the vehicle travels on a straight road, it is less necessary for the driver to always hold the steering wheel in preparation for danger avoidance and deviation from the white line. On the other hand, the steering force in a straight line is almost the same as the steering force in the hand-released state, and therefore it is difficult to accurately determine the release from the steering reaction force and the corrected steering amount as in Patent Document 1. It is. Similarly, in Patent Document 2, it is not possible to accurately determine whether to let go.
そのため、運転者が常にハンドルを保持する必要性は低いにもかかわらず、誤って手放し状態であると判定し警告することになり、運転者にとって運転中の煩わしさの要因の一つとなり、疲労を増長させてしまう課題があった。 For this reason, although it is less necessary for the driver to always hold the steering wheel, it is erroneously determined that the driver is in a state of letting it go and a warning is given, which is one of the causes of annoyance during driving for the driver. There was a problem of increasing the length.
この発明は上記の課題を解決するものであり、不要な警告をなくし運転者にとって使い勝手の良いレーン走行支援装置を提供するものである。 The present invention solves the above-described problems, and provides a lane driving support device that eliminates unnecessary warnings and is easy to use for the driver.
この発明に係るレーン走行支援装置は、車両前方の走行路の形状を検出する走行路検出手段と、車両の操舵を補助又は実施するトルクを発生するモータと、運転者の操舵力を補助するアシスト電流を演算するアシスト電流演算手段と、レーン走行を支援する電流を演算するレーン走行支援電流演算手段と、操舵制御モードをアシストモード又はレーン走行支援モードの何れかに設定するモード設定手段と、前記運転者がハンドルから手を放している状態を判定する手放し判定手段と、を備え、
前記操舵制御モードが前記レーン走行支援モードに設定されている場合に、前記手放し判定手段は少なくとも前記走行路検出手段の出力に基づいて手放し状態を判定する閾値を決定すると共に、前記走行路検出手段が直進路を検出した場合、直進路を検出していない場合に比べ、手放し状態と判定しにくくなるように閾値を決定することを特徴とする。
A lane travel support device according to the present invention includes a travel path detection means that detects the shape of a travel path ahead of a vehicle, a motor that generates torque that assists or implements steering of the vehicle, and an assist that assists the driver's steering force. Assist current calculation means for calculating current, lane travel support current calculation means for calculating current for supporting lane travel, mode setting means for setting the steering control mode to either the assist mode or the lane travel support mode, comprising a determining let go decision means a state in which the driver is releasing the hand from the handle, and
When said steering control mode is set previously expired over down running assistance mode, along with the hand-release determining means for determining a threshold value for determining the hands-off state based on an output of at least the travel path detecting means, the travel When the road detection unit detects a straight path, the threshold value is determined so that it is difficult to determine that it is in the hand-off state compared to a case where the straight path is not detected .
この発明のレーン走行支援装置によれば、不要な警告をなくし運転者にとって使い勝手の良いレーン走行支援装置を提供できる。 According to the lane travel support device of the present invention, it is possible to provide a lane travel support device that eliminates unnecessary warnings and is easy for the driver to use.
以下、この発明に係るレーン走行支援装置の好適な実施の形態について、図面を参照して説明する。 DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a preferred embodiment of a lane travel assistance apparatus according to the invention will be described with reference to the drawings.
実施の形態１．
図１は、この発明の実施の形態１に係るレーン走行支援装置の構成を示すブロック図である。図１に示すように、レーン走行支援装置１００は、運転者の操舵力を補助するアシスト電流を演算するアシスト電流演算手段１と、車両のレーン走行を支援する電流を演算するレーン走行支援電流演算手段２と、操舵制御モードをアシストモード又はレーン走行支援モードの何れかに設定するモード設定手段３と、アシスト電流演算手段１の出力、レーン走行支援電流演算手段２の出力、及びモード設定手段３の出力から、モータ４に供給する電流を決定するモータ電流決定手段５を備えている。なお、モータ４は、車両の操舵を補助又は実施するトルクを発生するものである。
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a lane travel support apparatus according to Embodiment 1 of the present invention. As shown in FIG. 1, the lane
また、レーン走行支援装置１００は、運転者の操舵トルクを検出する操舵トルク検出手段６と、車両前方の走行路の形状を検出する走行路検出手段７と、モード設定手段３の出力、操舵トルク検出手段６の出力、及び走行路検出手段７の出力から、運転者がハンドルから手を放しているか、即ち、手放し状態であるか否かを判断する手放し判定手段８と、モータ４に供給する電流を、モータ電流決定手段５が決定したモータ電流に一致させるモータ電流制御手段９と、手放し判定手段８で手放し状態と判定した場合に運転者に警告する警告手段１０を備えている。
In addition, the lane
ここで、アシスト電流演算手段１は一般的な電動パワーステアリング制御装置で用いられるもので、図示しない操舵トルクセンサや車速センサ、ハンドル角センサ等からの入力を基にして、運転者の操舵を補助するために必要なモータ電流値を演算する。また、レーン走行支援電流演算手段２は一般的なレーン走行支援装置で用いられるもので、図示しないカメラ、ハンドル角センサ等からの入力を基にして、レーン走行を支援するための電流を演算する。 Here, the assist current calculation means 1 is used in a general electric power steering control device, and assists the driver's steering based on inputs from a steering torque sensor, a vehicle speed sensor, a handle angle sensor, etc. (not shown). The motor current value necessary to The lane driving support current calculation means 2 is used in a general lane driving support device, and calculates a current for supporting lane driving based on input from a camera, a handle angle sensor, etc. (not shown). .
また、モード設定手段３は、基本的には運転者からの要求を操舵制御モードとして設定するものであるが、操舵制御や車両走行状況等にも応じて操舵制御モードを適切に変更するものである。また、走行路検出手段７は、図示しない一般的なレーン走行支援で用いられる前方の車線認識用カメラ、車両位置と地図情報、車外からの情報のいずれか、もしくは複数により検出するものである。 The mode setting means 3 basically sets the request from the driver as the steering control mode, but appropriately changes the steering control mode in accordance with the steering control, the vehicle running condition, and the like. is there. Further, the travel path detection means 7 detects the front lane recognition camera used in general lane travel support (not shown), vehicle position and map information, information from outside the vehicle, or a plurality of information.
次に、実施の形態１に係るレーン走行支援装置１００の手放し判定手段８の動作を図２のフローチャートを用いて説明する。
図２は、レーン走行支援装置１００が周期的に実行する動作を示すものである。まずステップＳ１において、モード設定手段３から操舵制御モードを取得し、アシストモードかレーン走行支援モードかを判定する。
Next, operation | movement of the hand release determination means 8 of the lane
FIG. 2 shows operations periodically executed by the lane
次に、ステップＳ１でレーン走行支援モードと判定した場合、ステップＳ２において、走行路検出手段７から車両前方の走行路の形状を取得し、直進路か否かを判定する。ステップ２で直進路と判定した場合、ステップＳ３において、手放し状態と判定しにくくなるように閾値を設定し、非直進路と判定した場合、ステップＳ４において、手放し状態を通常通り判定するように閾値を設定する。 Next, when it is determined in step S1 that the vehicle is in the lane travel support mode, in step S2, the shape of the travel path ahead of the vehicle is acquired from the travel path detection means 7, and it is determined whether or not it is a straight road. If it is determined in step 2 that the vehicle is going straight, a threshold is set in step S3 so that it is difficult to determine that the hand is released. If it is determined that the vehicle is non-straight, it is determined in step S4 that the released state is determined normally. Set.
次に、ステップＳ５において、ステップＳ３またはステップＳ４で設定した閾値と操舵トルク検出手段６の出力を基に、運転者が手放し状態であるか否かを判定し、手放し状態と判断した場合、ステップＳ６で警告手段１０に信号を出力して終了する。 Next, in step S5, based on the threshold value set in step S3 or step S4 and the output of the steering torque detection means 6, it is determined whether or not the driver is in a let-off state. In S6, a signal is output to the warning means 10 and the process is terminated.
一方、ステップＳ１でアシストモードと判定した場合、また、ステップＳ５で手放し状態でないと判定した場合は終了する。 On the other hand, when it determines with assist mode in step S1, and when it determines with it not being a hand-off state by step S5, it complete | finishes.
このようにして実施の形態１に係るレーン走行支援装置１００では、車両の前方の走行路の形状が直進か否かに応じて手放し状態の判定の閾値を変更し手放し状態の判定を行う。そのため直進路で運転者の保舵力が小さくなっている状態を手放し状態と誤判定し運転者に警告してしまうことがなく、運転者に煩わしさを与えることがない。
In this way, in the lane
なお、本実施の形態では、操舵トルク検出手段６の出力を閾値と比較することによって運転者が手放し状態であるか否かを判定したが、手放し状態の判定方法はこれに限るものではなく、手放し状態に関連する物理量を閾値と比較する方式であればよい。 In the present embodiment, it is determined whether or not the driver is in the let-away state by comparing the output of the steering torque detecting means 6 with a threshold value, but the determination method of the hand-off state is not limited to this. Any method may be used as long as the physical quantity related to the hand-off state is compared with a threshold value.
また、本実施の形態では、走行路検出手段７によって手放し判定の感度を２段階に分けているが、２段階の判定に限定するものではなく、例えば図３に示すように、車速とカーブの曲率に応じて手放し判定の感度が変更するマップを用いることで、同じ直進路を走行していても車速が高い場合には手放し判定の感度を上げることなどの細かい調整ができ、運転者にとってより快適なレーン走行支援装置を適用することが可能となる。 Further, in the present embodiment, the sensitivity of the hand-off determination is divided into two stages by the travel path detecting means 7, but it is not limited to the two-stage determination. For example, as shown in FIG. By using a map that changes the sensitivity of letting go according to the curvature, you can make fine adjustments such as raising the sensitivity of letting go when the vehicle speed is high even if you are traveling on the same straight path, and it is more for the driver. A comfortable lane travel support device can be applied.
また、本実施の形態では、手放し判定手段８の出力によって警告手段１０により運転者に警告を行っているが、手放し判定手段８の出力を警告手段１０に用いることに限定するものではなく、例えば手放し判定手段８の出力をモード設定手段３に送信することで、運転者が手放しと判定された場合に、自動でレーン走行支援モードからアシストモードに切り替えることが可能となる。
Further, in the present embodiment, the warning is given to the driver by the warning means 10 by the output of the hand release determination means 8, but the output of the hand release determination means 8 is not limited to being used for the
また、本実施の形態では、走行路検出手段７の出力に基づき手放し状態の判定の閾値を設定したが、別途危険検出手段を設け、走行路検出手段７の出力と危険検出手段の出力に基づいて手放し状態の判定の閾値を設定するようにしてもよい。具体的には、危険検出手段を地図情報と車両位置の情報（例えばＧＰＳを利用したカーナビゲーションの情報）とした場合、直進路を走行中でもカーブに車両が進入する前に手放し状態の判定の閾値を通常（ステップＳ４)とするように制御することが可能となる。さらに、危険検出手段を車外装置（例えば、ＳＨＦ（Super High Frequency）波を用いて交通情報を提供するＤＳＲＣ（Dedicated Short Range Communication））からの情報とした場合、数キロ先の落下物や故障車の情報、渋滞情報などの時々刻々と変わる道路情報に応じて手放し状態の判定の閾値を設定することが可能となり、より安全なレーン走行支援装置を提供することが可能である。 In this embodiment, the threshold for determining the hand-off state is set based on the output of the travel path detection means 7, but a risk detection means is provided separately, based on the output of the travel path detection means 7 and the output of the risk detection means. Then, a threshold value for determining the release state may be set. Specifically, when the danger detection means is map information and vehicle position information (for example, car navigation information using GPS), the threshold for determining the hand-off state even before the vehicle enters the curve even when traveling on a straight road Can be controlled to be normal (step S4). Furthermore, when the danger detection means is information from an external device (for example, DSRC (Dedicated Short Range Communication) that provides traffic information using SHF (Super High Frequency) waves), a fallen object or a broken vehicle several kilometers away It is possible to set a threshold for determining the hand-off state according to the road information that changes from time to time, such as traffic information and traffic jam information, and it is possible to provide a safer lane driving support device.
また、本実施の形態では、ステップＳ２において直進路と判定した場合、ステップＳ３において手放し状態と判定しにくくなるように手放し状態の判定の閾値を設定したが、直進路と判定した場合には手放し判定自体を行わないようにしてもよい。 In this embodiment, when it is determined that the vehicle is going straight in step S2, the threshold for determining the hand-off state is set so that it is difficult to determine that the hand is released in step S3. The determination itself may not be performed.
以上、この発明の実施の形態を説明したが、レーン走行支援モード中に運転者が軽くハンドルを保持していた場合の手放し状態の判定の誤判定をなくすための発明でもあるため、通常の操舵モードとしては本実施の形態に示した電動パワーステアリングによるアシストモードだけではなく、ステアバイワイヤや可変ギア操舵機構による通常操舵でも適用可能であるなど、発明の範囲内において、実施の形態を適宜、変更、省略することが可能である。 The embodiment of the present invention has been described above. However, since the present invention is also an invention for eliminating the erroneous determination of the hand-off state when the driver is lightly holding the steering wheel during the lane driving support mode, normal steering is performed. The mode is not limited to the assist mode by the electric power steering shown in the present embodiment, but can be applied by normal steering by a steer-by-wire or a variable gear steering mechanism. It can be omitted.
１ アシスト電流演算手段、２ レーン走行支援電流演算手段、３ モード設定手段、
４ モータ、５ モータ電流決定手段、６ 操舵トルク検出手段、７ 走行路検出手段、
８ 手放し判定手段、９ モータ電流制御手段、１０ 警告手段、１００ レーン走行支援装置。
1 assist current calculation means, 2 lane travel support current calculation means, 3 mode setting means,
4 motor, 5 motor current determination means, 6 steering torque detection means, 7 travel path detection means,
8 hand release determination means, 9 motor current control means, 10 warning means, 100 lane travel support device.
Claims (8)
前記操舵制御モードが前記レーン走行支援モードに設定されている場合に、前記手放し判定手段は少なくとも前記走行路検出手段の出力に基づいて手放し状態を判定する閾値を決定すると共に、前記走行路検出手段が直進路を検出した場合、直進路を検出していない場合に比べ、手放し状態と判定しにくくなるように閾値を決定することを特徴とするレーン走行支援装置。 Travel path detection means for detecting the shape of the travel path ahead of the vehicle, a motor for generating torque for assisting or executing the steering of the vehicle, assist current calculation means for calculating an assist current for assisting the steering force of the driver, Lane driving support current calculation means for calculating a current for supporting lane driving, mode setting means for setting the steering control mode to either the assist mode or the lane driving support mode, and the driver releases his hand from the steering wheel comprising a determining let go determining unit status, and
When said steering control mode is set previously expired over down running assistance mode, along with the hand-release determining means for determining a threshold value for determining the hands-off state based on an output of at least the travel path detecting means, the travel A lane driving support apparatus, wherein when the road detection unit detects a straight road, the threshold is determined so that it is difficult to determine that the road is in the hand-off state compared to a case where the straight road is not detected .
前記操舵制御モードが前記レーン走行支援モードに設定されている場合に、前記走行路検出手段の出力と前記危険検出手段の出力に基づいて手放し状態を判定する閾値を決定することを特徴とするレーン走行支援装置。 Travel path detection means for detecting the shape of the travel path ahead of the vehicle, a motor for generating torque for assisting or executing the steering of the vehicle, assist current calculation means for calculating an assist current for assisting the steering force of the driver, Lane driving support current calculation means for calculating a current for supporting lane driving, mode setting means for setting the steering control mode to either the assist mode or the lane driving support mode, and the driver releases his hand from the steering wheel Hand release determining means for determining the state, and danger detecting means for detecting the danger of the traveling road ahead of the vehicle,
When the steering control mode is set to the lane travel support mode, a threshold value for determining a release state is determined based on the output of the travel path detection unit and the output of the danger detection unit. Driving support device.
前記操舵制御モードが前記レーン走行支援モードに設定されている場合、前記手放し判定手段は、前記走行路検出手段が直進路を検出した場合に、手放し状態を判定しないことを特徴とするレーン走行支援装置。 Travel path detection means for detecting the shape of the travel path ahead of the vehicle, a motor for generating torque for assisting or executing the steering of the vehicle, assist current calculation means for calculating an assist current for assisting the steering force of the driver, Lane driving support current calculation means for calculating a current for supporting lane driving, mode setting means for setting the steering control mode to either the assist mode or the lane driving support mode, and the driver releases his hand from the steering wheel A hand release determining means for determining the state,
When the steering control mode is set to the lane travel support mode, the hand release determination unit does not determine the hand release state when the travel path detection unit detects a straight path. apparatus.
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| JP2014183824A JP5800971B1 (en) | 2014-09-10 | 2014-09-10 | Lane driving support device |
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| JP2016055770A JP2016055770A (en) | 2016-04-21 |
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| JP2019162918A (en) * | 2018-03-19 | 2019-09-26 | 株式会社Ｓｕｂａｒｕ | Steering assist system of vehicle |
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| JP6406761B2 (en) * | 2016-06-30 | 2018-10-17 | 本田技研工業株式会社 | Holding state detection device |
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