WO2017014128A1

WO2017014128A1 - Steering effort status detection device and driving assist device

Info

Publication number: WO2017014128A1
Application number: PCT/JP2016/070693
Authority: WO
Inventors: 慎一郎深沢
Original assignee: いすゞ自動車株式会社
Priority date: 2015-07-21
Filing date: 2016-07-13
Publication date: 2017-01-26
Also published as: JP2017024512A

Abstract

The steering effort status detection device 1 has: a detection unit 11 for detecting a steering torque applied to a steering wheel 2; a derivation part 131 for deriving a variation among multiple steering torque values, said steering torque values indicating the intensities of multiple steering torques detected by the detection unit 11 in a predetermined period; and a determination part 132 for determining a status as being a hand-off status, that is, a status in which the steering wheel 2 is not held, when the variation among the multiple torque values is equal to or smaller than a predetermined value.

Description

Steering state detection device and driving support device

The present invention relates to a steered state detecting device and a driving support device for detecting a steering state of a steering wheel by a driver.

A system that can detect whether or not a driver is operating a steering wheel is known. Patent Document 1 discloses a method of automatically controlling a handle by driving a motor when it is detected that the driver is in a released state in which the handle is not gripped.

Japanese Unexamined Patent Publication No. 2006-182051

In the conventional system, it is determined whether or not the steering wheel is released based on the magnitude of the steering torque applied to the steering wheel by the driver. However, when the driver is lightly grasping the handle or holding the hand, there is a problem that it is easy to erroneously determine whether or not the driver is holding the handle.

Therefore, the present disclosure has been made in view of these points, and an object thereof is to improve the detection accuracy of a released state in which the handle is not held.

The steered state detection device according to the present disclosure includes a detection unit that detects a steering torque applied to a steering wheel, and a plurality of steering torque value variations indicating the magnitudes of the plurality of steering torques detected by the detection unit within a predetermined period. A deriving unit for deriving a statistical value indicating the magnitude of the steering wheel, and a determination unit for determining that the steering wheel is in a state of being released when the statistical value is smaller than a predetermined value. It is characterized by.

By doing in this way, the steered state detecting device can improve the accuracy of detecting a released state in which the handle is not steered.

The derivation unit derives, as the statistical value, standard deviations or variances of the plurality of steering torque values detected by the detection unit within the predetermined period, and the determination unit calculates standard deviations or variances of the steering torque values. Is smaller than the predetermined value, it is determined that the hand is released.

By doing in this way, the steered state detection device can determine using the objective index indicating the magnitude of the variation in the steering torque value depending on whether or not it is in the hand-off state. Accuracy can be improved.

The predetermined value is a value determined based on a fluctuation amount of the wheel due to a load applied to the traveling wheel.

In this way, the determination can be made without being affected by the steering torque generated by the load applied to the traveling wheel, so that the accuracy of discriminating between the state where the steering wheel is held and the state where the handle is released can be improved.

The predetermined value is a value determined based on a fluctuation amount of torque generated by the driving support device that controls the traveling position.

By doing in this way, it is possible to detect with high accuracy the hand-off state that occurs when driving assistance is being performed.

The driving support device according to the present disclosure includes a detection unit that detects a steering torque applied to a steering wheel, and a large variation in a plurality of steering torque values that indicate the magnitudes of the plurality of steering torques detected by the detection unit within a predetermined period. A derivation unit for deriving a statistical value that indicates the state, a determination unit that determines that the steering wheel is in a state of being released when the statistical value is smaller than a predetermined value, and a case of not being in the releasing state And a driving support unit that performs steering support of the steering wheel and stops the steering support when the hand is in the released state.

In addition, the driving support apparatus according to the present disclosure includes a steering sensor that detects a steering torque applied to a steering wheel, a memory, and a processor, and the processor performs processing including the following in accordance with a program stored in the memory. : Calculating a statistical value indicating the magnitude of variation of a plurality of steering torque values indicating the magnitude of the plurality of steering torques detected by the steering sensor within a predetermined period, and when the statistical value is smaller than a predetermined value, It is determined that the handle is in a released state where the steering wheel is not being held.

By doing in this way, the driving assistance device can improve the accuracy of detecting a hand-off state in which the steering wheel is not held, and can perform steering assistance according to the steering state of the steering wheel. Thereby, the driving assistance apparatus can improve the safety | security of the vehicle at the time of driving assistance.

According to the present disclosure, there is an effect that it is possible to improve the detection accuracy of the hand-off state in which the handle is not held.

FIG. 1 is a diagram illustrating a configuration of a steered state detection device according to the first embodiment of the present disclosure. FIG. 2 is a diagram showing a distribution of steering torque values detected during vehicle travel. FIG. 3 is a flowchart showing a processing procedure in the steering-holding state detection apparatus according to the first embodiment. FIG. 4 is a diagram showing an outline of the driving support apparatus according to the second embodiment of the present invention. FIG. 5 is a diagram illustrating a configuration of the driving support apparatus according to the second embodiment. FIG. 6 is a flowchart illustrating a processing procedure in the driving support apparatus according to the second embodiment.

<First Embodiment>
[Configuration of Steering System W]
FIG. 1 is a diagram illustrating a configuration of the steering holding state detection device 1 according to the present embodiment. The steered state detection device 1 is mounted on a steering system of a vehicle such as a passenger car. Hereinafter, the configuration of the steering system W including the steered state detection device 1 will be described. The steering system W includes a steering holding state detection device 1, a handle 2, a steering shaft 3, a steering mechanism unit 4, and a vehicle speed detection unit 5.

The steered state detection device 1 is a device that detects whether the driver is in the steered state where the handle 2 is being gripped, or whether the driver is in the released state where the handle 2 is not gripped. The steered state detection device 1 determines whether or not it is in the hand-off state based on a statistical value indicating a variation in the steering torque value indicating the magnitude of the steering torque applied to the handle 2. Details of the steered state detection device 1 will be described later.

The handle 2 is fixed in the vehicle so as to be rotatable around an axis. The steering shaft 3 is a rotating shaft that transmits a steering torque applied to the handle 2. The steering shaft 3 transmits the steering torque applied when the driver rotates the handle 2 to the steering mechanism unit 4.

The steering mechanism unit 4 includes, for example, a rack and pinion type steering mechanism including a pinion 41 integrally formed at the lower end of the steering shaft 3 and a rack shaft 42 meshing with the pinion 41. Thereby, the steering mechanism part 4 converts the torque transmitted through the steering shaft 3 into a lateral force orthogonal to the traveling direction of the vehicle. The rack shaft 42 is fixed to the front portion of the vehicle so as to be slidable with respect to the side of the vehicle. Further, both ends of the steering mechanism 4 are connected to the

front wheels

44L and 44R via

tie rods

43L and 43R, respectively. The steering mechanism unit 4 steers the

front wheels

44L and 44R by sliding the

tie rods

43L and 43R with a linear force in the lateral direction of the vehicle.

The vehicle speed detection unit 5 is a sensor that detects the vehicle speed that is the traveling speed of the vehicle. The vehicle speed detection unit 5 notifies the steering state detection device 1 of the detected vehicle speed.

[Configuration of Steering State Detection Device 1]
Then, the structure of the steering-holding state detection apparatus 1 is demonstrated in detail.
The steered state detection device 1 includes a detection unit 11, a storage unit 12, and a control unit 13. The detection unit 11 detects the steering torque applied to the handle 2 via the steering shaft 3. For example, the detection unit 11 is a torque sensor that detects the magnitude of the steering torque applied to the steering shaft 3. The detection unit 11 notifies the control unit 13 of a steering torque value indicating the magnitude of the detected steering torque.

The storage unit 12 includes a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 12 stores a program executed by the control unit 13.

The control unit 13 is, for example, a processor. The control unit 13 operates as the derivation unit 131 and the determination unit 132 by executing the program stored in the storage unit 12.

The deriving unit 131 derives a statistical value indicating the degree of variation in the steering torque value based on a plurality of steering torque values detected by the detecting unit 11 within a predetermined period. For example, the deriving unit 131 derives a standard deviation or variance of a plurality of steering torque values detected by the detecting unit 11 within a predetermined period as a statistical value indicating the magnitude of the variation in the steering torque value. For example, the deriving unit 131 calculates variances of a plurality of steering torque values detected by the detecting unit 11 in the latest 5 seconds.

FIG. 2 is a diagram showing an example of a distribution of steering torque values detected during vehicle travel. In the example shown in FIG. 2, the horizontal axis indicates the magnitude of the steering torque value, and the vertical axis indicates the length of time when the steering torque value is detected. On the horizontal axis, the right side of the origin indicates the right steering torque value, and the left side of the origin indicates the left steering torque value.

The distribution in the example shown in FIG. 2 is a distribution of steering torque values detected while the vehicle is traveling on a straight road. In the example shown in FIG. 2, the distribution of steering torque values detected while the vehicle is running in the hand-off state, the light grip state, and the normal grip state are indicated by a solid line, a one-dot chain line, and a dotted line, respectively. Has been.

In the example shown in FIG. 2, it is shown that the variation in the released state is smaller than the variation in the light grip state and the normal grip state. The variation that occurs in the hand-off state varies in the magnitude and direction of the torque applied to the steering shaft 3 as the direction of the wheels fluctuates due to road irregularities while the vehicle is traveling on the road. This is a variation caused by this. In the light gripping state and the normal gripping state, the driver performs an operation that cancels the change in the direction of the wheel due to the influence of the unevenness of the road or the like, so that the variation is large.

判定 Determining unit 132 determines that it is in a hand-off state when statistical values of a plurality of steering torque values are smaller than a predetermined value. Specifically, the determination unit 132 releases the handle 2 when the standard deviation or variance of the steering torque value is smaller than a determination threshold set in advance based on the amount of wheel fluctuation caused by the load applied to the running wheel. It is determined that it is in a state.

More specifically, the determination unit 132 calculates the variance value of the steering torque value detected by the detection unit 11 within a preset detection period. The determination unit 132 determines whether or not the calculated variance value is smaller than a determination threshold value. Then, when the variance value is smaller than the determination threshold, the determination unit 132 determines that the handle 2 is in the released state. On the other hand, the determination unit 132 determines that the steering wheel 2 is in the steered state when the variance value is equal to or greater than the determination threshold value.

The determination unit 132 may change the determination threshold based on the state of the road that is running. For example, the determination unit 132 specifies the state of the road on the basis of the map information including information on the road state and the information indicating the position of the vehicle obtained from GPS (Global Position System). The determination threshold value may be changed based on the state of the road.

The determination unit 132 outputs a warning to the driver when the vehicle speed detected by the vehicle speed detection unit 5 is greater than a predetermined speed and it is determined that the handle 2 has been released for a predetermined time or longer. For example, when the determination unit 132 determines that the steering wheel 2 is running in a state where the vehicle speed is higher than a predetermined determination speed for 3 seconds or more, the warning unit (not shown) provided in advance in the vehicle is determined. Is output a warning signal. When a warning signal is input from the determination unit 132, the warning device outputs a warning sound or a warning display for the driver. By doing in this way, generation | occurrence | production of the accident by continuing a hand-off state can be suppressed.

[Procedure for Processing in Steering State Detection Device 1]
Then, the procedure of the process which detects the hand release state in the steering-holding state detection apparatus 1 is demonstrated. FIG. 3 is a flowchart showing a procedure of processing in the steered state detection device 1 according to the present embodiment.

First, the detection unit 11 detects the steering torque in the steering shaft 3 (S11). Subsequently, the deriving unit 131 derives statistical values of a plurality of steering torque values detected by the detecting unit 11 within a predetermined period (S12).

Subsequently, the determination unit 132 determines whether or not the statistical value of the derived steering torque value is smaller than a determination threshold value (S13). When the statistical value of the steering torque value is equal to or greater than the determination threshold (No in S13), the process returns to S11.

On the other hand, when the statistical value of the steering torque value is smaller than the determination threshold value (Yes in S13), the determination unit 132 determines that the hand is released and proceeds to S14.

Subsequently, the vehicle speed detection unit 5 detects the vehicle speed (S14). The determination unit 132 determines whether the vehicle speed detected by the vehicle speed detection unit 5 is equal to or higher than the determination speed (S15). When the vehicle speed is smaller than the determination speed (No in S15), the process returns to S11.

On the other hand, when the vehicle speed is equal to or higher than the determination speed (Yes in S15), the warning device outputs a warning sound or warning display to the driver (S16).

Subsequently, the determination unit 132 determines whether or not the vehicle has stopped (S17). If the vehicle is not stopped (No in S17), the process returns to S11. On the other hand, when the vehicle stops, the steered state detection device 1 ends the process of detecting the hand-off state.

In FIG. 3, the warning is output when the vehicle speed is equal to or higher than the determination speed. It may be output.

[Effect in the first embodiment]
As described above, the steered state detection device 1 according to the present embodiment derives a statistical value indicating the magnitude of variation in the steering torque value detected within a predetermined period, and releases it when the statistical value is smaller than the predetermined value. It is determined that it is in a state. By doing in this way, the steering-holding state detection apparatus 1 can detect the handle release state of the vehicle in which the driver is driving with high accuracy.

<Second Embodiment>
Next, the second embodiment will be described. FIG. 4 is a diagram illustrating an overview of the driving support device 10 according to the second embodiment. The steering system W of the present embodiment includes a handle 2, a steering shaft 3, a steering mechanism unit 4, an actuator 7, and a driving support device 10. The driving support device 10 includes a steering holding state detection device 1 and a driving support unit 6.

In the first embodiment, a case has been described in which a warning is output to the driver when the determination unit 132 detects a hand-off state. On the other hand, the steering system W in the second embodiment further includes the driving support unit 6 and the actuator 7, and when the determination unit 132 detects that the driving support unit 6 is in the released state, This is different from the first embodiment in that the operation is stopped.

[Configuration of Driving Support Device 10]
Next, the configuration of the driving support device 10 will be described. FIG. 5 is a diagram illustrating a configuration of the driving support apparatus 10 according to the second embodiment.

The driving support unit 6 includes, for example, a processor (not shown), and executes a driving support operation for traveling along a lane, for example, by executing a program stored in a ROM (not shown). . For example, the driving support unit 6 starts the driving support operation when the vehicle speed detected by the vehicle speed detection unit 5 exceeds a predetermined value. The driving support unit 6 is configured so that, for example, the traveling position indicated by the distance between the predetermined position of the vehicle and the lane boundary is within a predetermined range based on the image captured by the camera (not shown). The actuator 7 is controlled.

When the driving support unit 6 controls the actuator 7, the actuator 7 applies torque to the steering shaft 3 to rotate the steering shaft 3. The detection unit 11 in the present embodiment detects a torque obtained by combining the torque applied by the driver to the steering wheel 2 and the torque applied by the actuator 7 to the steering shaft 3 as the steering torque. Due to the driving support operation by the driving support unit 6, as in FIG. 2, the steering torque value varies even in the released state. In the steering holding state, the torque applied by the driver to the steering wheel 2 is added to the torque applied to the steering shaft 3 by the actuator 7, so that the variation in the steering torque value is smaller than that in the hand-off state, as in the first embodiment. Become bigger.

As in the first embodiment, the determination unit 132 can determine that the steering torque value is in the hand-off state when the variance or standard deviation of the steering torque value is smaller than the determination threshold. Specifically, the determination unit 132 determines whether the steering torque value has a standard deviation or variance smaller than a determination threshold value determined based on a fluctuation amount of torque generated by the driving assistance device 10 that controls the driving position. 2 is determined to be in the let-off state. In the second embodiment, since the torque applied by the actuator 7 and the torque applied by the driver are applied to the steering shaft 3, the variation tends to increase. Therefore, the determination unit 132 in the second embodiment has a determination threshold value during the driving support unit 6 performing the driving support operation, and a value larger than the determination threshold value during the driving support unit 6 not performing the driving support operation. It may be. The determination unit 132 notifies the driving support unit 6 of the determination result.

Based on the determination result notified from the determination unit 132, the driving support unit 6 performs steering support for the handle 2 when it is not in the released state, and stops the steering support for the handle 2 when it is in the released state. Specifically, the driving support unit 6 transmits a control signal for driving support to the actuator 7 when the determination unit 132 determines that the steering wheel steering state is maintained. On the other hand, the driving support unit 6 stops the transmission of the driving support control signal to the actuator 7 when the determination unit 132 determines that the state of the handle 2 is in the state of letting it go. By doing in this way, the driving assistance part 6 can stop the operation | movement which the actuator 7 applies a torque to the steering shaft 3, for example, when it detects that the steering-holding state detection apparatus 1 is a letting state. .

Further, the driving support unit 6 may output a warning signal to a warning device (not shown) provided in advance in the vehicle, for example, when it is detected that the vehicle is in the hand-off state. The warning signal is a control signal for outputting a warning sound or warning display for the driver. When a warning signal is input from the driving support unit 6, the warning device outputs a warning sound or a warning display for the driver.

By doing in this way, the driving support part 6 can suppress that a hand-off state arises at the time of driving assistance, and can improve the safety | security of the vehicle at the time of driving | running | working. In the above description, the example in which the driving support unit 6 is configured by a processor different from the steered state detection device 1 has been described, but is not limited to this configuration. For example, the control unit 13 may operate as the driving support unit 6 by executing a program stored in the storage unit 12.

[Processing procedure in the driving support device 10]
Then, the procedure of the process in the driving assistance apparatus 10 is demonstrated. FIG. 6 is a flowchart illustrating a processing procedure in the driving support apparatus 10 according to the present embodiment.

First, the driving support unit 6 starts a driving support operation when the vehicle speed exceeds a predetermined value (S21). Subsequently, the detection unit 11 detects the steering torque in the steering shaft 3 (S22). The deriving unit 131 derives statistical values of a plurality of steering torque values detected by the detecting unit 11 within a predetermined period (S23).

Subsequently, the determination unit 132 determines whether or not the statistical value of the steering torque value derived by the deriving unit 131 is smaller than the determination threshold (S24). If the determination unit 132 determines that the statistical value of the steering torque value is greater than or equal to the determination threshold (No in S24), the driving support unit 6 continues to perform the driving support operation (S25), and the process proceeds to S22. Return.

On the other hand, when the determination unit 132 determines that the statistical value of the steering torque value is smaller than the determination threshold (Yes in S24), the driving support unit 6 stops the driving support operation (S26).

[Effects of Second Embodiment]
As described above, the driving support device 10 according to the present embodiment determines whether or not the statistical value indicating the magnitude of the variation in the steering torque value detected within the predetermined period is smaller than the determination threshold value. If the driving support device 10 determines that the statistical value is smaller than the determination threshold value, the driving support device 10 stops the driving support operation. By doing in this way, the driving assistance apparatus 10 can suppress performing driving assistance in the hand-released state, and can improve the safety of the vehicle.

As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said 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 invention. For example, in the above description, the example in which the variance or the standard deviation is used as the index indicating the magnitude of the variation in the steering torque value has been described, but other indexes may be used.

This application is based on a Japanese patent application (Japanese Patent Application No. 2015-143791) filed on July 21, 2015, the contents of which are incorporated herein by reference.

The steered state detecting device and the driving support device according to the present disclosure have an effect of improving the detection accuracy of the hand-off state in which the steering wheel is not steered, and are used for realizing a highly safe driving support system. It is useful in that it can.

DESCRIPTION OF SYMBOLS 1 ... Steering state detection apparatus 2 ... Handle 3 ... Steering shaft 4 ... Steering mechanism part 5 ... Vehicle speed detection part 6 ... Driving support part 7 ... Actuator 10 ... · Driving support device 11 ··· Detection unit 12 ··· Storage unit 13 ··· Control unit 131 ··· Derivation unit 132 ··· Determination unit 41 ··· Pinion 42 ···

Rack shafts

43L and 43R・

Tie rods

44L, 44R ... Front wheels W ... Steering system

Claims

A detection unit for detecting a steering torque applied to the steering wheel;
A derivation unit for deriving a statistical value indicating the magnitude of variation of a plurality of steering torque values indicating the magnitude of the plurality of steering torques detected by the detection unit within a predetermined period;
When the statistical value is smaller than a predetermined value, a determination unit that determines that the steering wheel is in a released state indicating a state where the steering wheel is not held,
A rudder state detection device having
The derivation unit derives the standard deviation or variance of the plurality of steering torque values detected by the detection unit within the predetermined period as the statistical value,
The determination unit determines that the hand-off state is present when a standard deviation or variance of the steering torque value is smaller than the predetermined value.
The steered state detecting device according to claim 1.
The predetermined value is a value determined based on a fluctuation amount of the wheel due to a load applied to a running wheel,
The steered state detection device according to claim 1 or 2.
The predetermined value is a value determined based on a fluctuation amount of torque generated by a driving support device that controls a traveling position,
The steered state detection device according to claim 1 or 2.
A detection unit for detecting a steering torque applied to the steering wheel;
A derivation unit for deriving a statistical value indicating the magnitude of variation of a plurality of steering torque values indicating the magnitude of the plurality of steering torques detected by the detection unit within a predetermined period;
When the statistical value is smaller than a predetermined value, a determination unit that determines that the steering wheel is in a released state indicating a state where the steering wheel is not held,
A driving assistance unit that performs steering assistance of the steering wheel when not in the hand-off state, and stops the steering assistance when in the hand-off state;
A driving support device having
A steering sensor for detecting a steering torque applied to the steering wheel;
Memory,
A driving support device comprising a processor,
The processor performs processing including the following according to a program stored in the memory:
Calculating a statistical value indicating the magnitude of variation of a plurality of steering torque values indicating the magnitude of the plurality of steering torques detected by the steering sensor within a predetermined period;
When the statistical value is smaller than a predetermined value, it is determined that the handle is in a released state, in which the steering wheel is not steered.