JPH06274797A - Controller for vehicle - Google Patents

Abstract

PURPOSE:To reflect the driver's will of deviating from the travelling lane for the control of preventing the deviation which suppress the deviation from the travelling lane being travelling at present. CONSTITUTION:When the actual distance L1 for an edged part alpha of a travelling path being travelling becomes lower than the 1st threshold value L2, a warning device is operated to start the control of an automatic steering wheel to be back to the original travelling lane when it becomes lower than the 2nd threshold value L0. At least one condition, either when the steering angle becomes higher than the prescribed value or when the steering angle speed becomes higher than the prescribed value is satisfied, the control of an automatic steering control is inhibited. Thus, the controller may be an automatic steering controller or a warning device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a vehicle, which is adapted to prevent the vehicle from deviating from a traveling path on which the vehicle is currently traveling due to generation of an alarm or automatic steering.

[0002] In recent vehicles, there are more and more opportunities to carry out driving to continue traveling on a predetermined road, such as when traveling on a highway. From such a point of view, there has been proposed a deviation suppressing device that issues an alarm or automatically steers the vehicle to return to the original traveling path when the vehicle deviates from or is about to deviate from the traveling path (special feature). Kaisho 62-149921
Japanese Patent Laid-Open No. 2-270005).

[0003]

Basically, it is not based on the intention of the driver to suppress the deviation from the traveling path by the deviation suppressing device described above. That is, when the vehicle deviates from or is about to depart from the traveling road due to the driver's carelessness, the alarm device is activated or the automatic steering steering device for automatically returning to the original traveling road is operated. Regardless of the will of the person, the deviation suppression operation will be performed.

On the other hand, it is conceivable that the driver departs from the traveling road for some reason due to the positive intention of the driver.
For example, when an obstacle or the like is found in front of the traveling road on which the vehicle is currently traveling, the driver operates the steering wheel to move out of the current traveling road. In such cases,
Although the driver has a desire to deviate from the current traveling path, the deviation suppressing device in the ON state is activated, and interference between the two becomes a problem.

Therefore, an object of the present invention is to make it possible to sufficiently reflect the driver's intention to deviate from the present travel route in a vehicle equipped with a departure suppressing device that suppresses departure from the present travel route. To provide a control device for the vehicle.

In order to achieve the above object, the present invention has the following configuration. That is, when the vehicle deviates from or is about to deviate from the traveling path on which the vehicle is currently traveling, in the vehicle control device equipped with the deviation suppressing device that suppresses the deviation from the traveling path of the vehicle, the steering wheel steering angle or the steering angle A steering state detecting means for detecting, and a prohibiting means for inhibiting the operation of the deviation suppressing device when at least one of the steering angle and the steering angular velocity is detected by the steering state detecting means to be a predetermined value or more, Is provided.

[0007]

The fact that at least one of the steering wheel steering angle and the steering angular velocity is large suggests that the driver has a strong desire to deviate from the current traveling path. Therefore, according to the present invention, while normally suppressing the deviation from the current traveling path by the deviation suppressing device, when at least one of the steering angle and the steering angular velocity is large, the operation of the deviation suppressing device is prohibited, It is possible to obtain the deviation of the traveling path according to the steering wheel operation by the driver's intention.

[0008]

Embodiments of the present invention will be described below with reference to the accompanying drawings. Fig. 1 shows the outline of automatic steering.
Indicates an edge (boundary line) on the left side of the road on which the vehicle is currently traveling, and M1 to M3 indicate automobiles to which the present invention is applied. The automobile M1 indicates the current traveling state, and the actual distance to the edge portion α at this time is indicated by L1. Further, the automobile M2 shows a case where the distance to the edge portion α becomes L2, and at this time, an alarm device such as a buzzer is activated to warn the driver that the vehicle is about to depart from the road. To do. Furthermore, the distance to the edge α of the car M3 is L0
(L0 <L1), and at this time, it is assumed that the vehicle will deviate from the traveling path if the vehicle is traveling as it is, so that the distance to the edge α is increased, that is, the traveling path currently traveling. Is automatically steered so that it can be maintained.

FIG. 2 shows a control system for controlling the automatic steering as shown in FIG. 1 and prohibiting the automatic steering as required. In FIG.
U is a control unit configured by using a microcomputer, and the control unit U includes sensors S1 to S1.
The signal from S4 is input. The sensor S1 detects the steering angle of the steering wheel. The sensor S2 detects the vehicle speed. The sensor S3 detects whether or not the turn indicator is operating. The sensor S4 measures the distance to the edge portion α of the automobile, and is configured by using either one or both of the radar and the camera.

On the other hand, the control unit U outputs an alarm 11 such as a buzzer and an automatic steering device 12. The automatic steering device 12 has an actuator linked to the steering system, and drives the steering system in response to a command signal from the control unit U in preference to the steering wheel operation by the driver.

The control contents of the control unit U will be described with reference to the flow chart shown in FIG. 3. In the following description, P indicates a step. Note that FIG. 3 shows the automatic steering device 12
It is assumed that the manual switch (not shown) for activating the
When it is FF, the automatic steering device 12 is disabled (no automatic steering).

Based on the above, first in P1, the current vehicle speed V0, the distance L1 to the edge α, and the steering angle θ of the steering wheel are based on the outputs from the sensors S1 to S3.
H is read. Next, at P2, the steering angular velocity dθH is calculated by differentiating the steering angle θH.

At P3, by looking at the output from the sensor S3, it is judged whether or not the turn signal (turn signal) is OFF. If the determination in P3 is NO, that is, if the turn signal is activated, it is clear that the driver intends to make a right turn or a left turn and deviate from the current traveling path. Is released (prohibition of automatic steering).

When the result of the determination in P3 is YES, whether or not it is in the predetermined region while referring to the map shown in FIG. 4 in which the steering wheel steering angle θH and the steering angular velocity dθH are set as parameters in P4. To be determined. Here, the hatched area shown in FIG. 4 is defined as the predetermined area. That is, when the steering angle θH is equal to or greater than a predetermined value,
An area having a predetermined value or more is a predetermined area.

If the result of the determination in P4 is YES, it is considered that the driver has a strong intention to deviate from the current road even if the turn signal is not ON. At P5, automatic steering is released. That is, when the determination in P4 is YES, the direction indicator O
Not to mention that there is a possibility of forgetting to do N, but when there is a desire to deviate from the current roadway so quickly that there is no time to turn on the turn signal to avoid an obstacle that was suddenly discovered. Therefore, at this time, it is permissible to cancel the automatic steering at P5 and change the direction of the vehicle as the driver operates the steering wheel.

If the determination in P4 is no, in P6, the current distance L1 to the edge α is the predetermined threshold value L2.
Is less than or equal to. Y is determined by this P6
In the case of ES, the alarm device 11 is activated at P7,
It warns the driver that it is about to deviate from the current road. The threshold value L2 is set to increase as the vehicle speed V0 increases, as shown in FIG.

After P7, at P8, it is judged if the current distance L1 to the edge α is smaller than a predetermined threshold value L0 (L0 <L2). YE in this P8 judgment
At S, automatic steering is executed at P9 to increase the current distance L1. The threshold value L0 is set to increase as the vehicle speed V0 increases, as shown in FIG. If NO in the determination of P6 or NO in the determination of P8, the process returns to P1.

Although the embodiment has been described above, the automatic steering is released (prohibited) when either the steering angle of the steering wheel is equal to or greater than a predetermined value or the steering angular velocity is equal to or greater than a predetermined value. It may be done from time to time. Further, for simplification of description, the deviation from the left edge portion α of the traveling path has been described, but the same can be applied to the right edge portion. Further, the deviation suppressing device may be a device that issues an alarm instead of the automatic steering.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an outline of automatic steering.

FIG. 2 is a diagram showing a control system of the present invention.

FIG. 3 is a flow chart showing a control example of the present invention.

FIG. 4 is a diagram showing an example of setting a predetermined area in which automatic steering is prohibited.

FIG. 5 is a diagram showing an example of setting a threshold value for operating an alarm device.

FIG. 6 is a diagram showing a setting example of a threshold value for executing automatic steering.

[Explanation of symbols]

 α: Edge of traveling path M1 to M3: Vehicle L0 to L2: Distance to edge α U: Control unit S1: Sensor (for steering wheel steering angle detection) S4: Sensor (for distance measurement to edge α) 11 : Alarm 12: Automatic steering device

Claims (1)

[Claims] Claim: What is claimed is: 1. A steering control device for a vehicle, comprising: a deviation suppressing device for suppressing deviation of a vehicle from a traveling path when the vehicle deviates from or is about to depart from a traveling path on which a steering wheel is steered. Alternatively, a prohibition for prohibiting the operation of the deviation suppression device when the steering state detection means for detecting the steering angular velocity and the steering state detection means detect that at least one of the steering angle and the steering angular velocity is equal to or more than a predetermined value. And a control unit for the vehicle.