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Lane keeping assist device

A technology for auxiliary devices and lanes, which is applied to vehicle components, transportation and packaging, steering mechanisms, etc., and can solve the problems that steering control should not be canceled, control torque can be canceled, and control torque cannot be increased.

Inactive Publication Date: 2016-03-09
DENSO CORP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this case, since the driver does not intend to make a lane change, the steering control for lane keeping should not be canceled
[0010] In addition, without being limited to this example, if the generation of the control torque is canceled as soon as the driving torque is input for a short time, even a slight steering wheel operation will cause the control torque to be cancelled.
Therefore, there is a possibility that the control torque cannot be generated under the situation where the control torque should be generated.

Method used

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Examples

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Embodiment approach 1

[0022] Hereinafter, Embodiment 1 of the present invention will be described based on the drawings. However, in this embodiment, a white line drawn on a road is called a lane boundary line, and a space between the lane boundary line and the lane boundary line is called a lane.

[0023] figure 1 The overall configuration of the lane keeping assist system 1 according to the present embodiment is shown. The lane keeping assist system 1 is mounted on a vehicle such as a passenger car, and assists the driving of the driver so that the own vehicle (the vehicle equipped with the lane keeping assist system 1 ) can maintain the lane defined by the left and right lane boundary lines and travel. operating system.

[0024] In detail, the lane keeping assist system 1 such as figure 1 As shown, it is equipped with a calculation unit 10 functioning as the lane keeping assist device of the present invention, a camera 20, a vehicle speed sensor 21, a yaw rate sensor 22, a steering angle sens...

Embodiment approach 2

[0063] Next, Embodiment 2 will be described. Note that, in the following description of the second embodiment, elements having the same reference numerals as those used heretofore are the same as those in the previous embodiments except when specifically mentioned. In addition, when only a part of the configuration is described, the embodiments described above can be applied to other parts of the configuration.

[0064] In Embodiment 1, the steering request torque is cancelled, based on the period in which the drive torque becomes equal to or greater than the threshold value exceeds the cancel delay time. That is, the cancellation is judged based on the time. In contrast, in Embodiment 2, the cancellation is determined based on the torque integral value.

[0065] Figure 5An overall configuration of a lane keeping assist system 1A according to Embodiment 2 is shown. As shown in the figure, the calculation unit 10A in Embodiment 2 includes a cancel integral value setting un...

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Abstract

In a state where steering request torque is being output (S1: YES), the steering request torque is cancelled (S12) on the basis of continuation of a state where driver torque is being input (S11: YES). A cancel delay time indicating the length of time between the input of driver torque and the cancellation of the steering request torque is shortened when the driver torque is not less than a second timer ON threshold value compared with when the driver torque is between a first timer ON threshold value and the second timer ON threshold value. Thus, when the driver turns the steering wheel quickly and a large torque is input, the control torque is cancelled in a short time, whereby quick steering corresponding to the driver's steering wheel operation is performed. As a result, the sense of discomfort the driver feels can be suppressed.

Description

technical field [0001] The present invention relates to a lane keeping assist device that performs steering control for lane keeping. Background technique [0002] Various lane keeping assist devices are known that assist a vehicle in maintaining a lane (lane) in which it is traveling. The lane keep assist device causes the actuator to generate steering torque if or after the vehicle is about to leave the moving lane. Among them, the lane keeping control device may also be called a lane departure prevention device or a lane departure suppression device. [0003] In addition, of course, sometimes the driver intentionally wants to change the lane. Therefore, even in a situation in which the steering torque is generated by the steering control for lane keeping, the lane keeping control device cancels the steering torque when it is considered that the driver has intentionally operated the steering wheel (steering wheel). produce. Hereinafter, the steering torque generated by...

Claims

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Application Information

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IPC IPC(8): B62D6/00B62D101/00B62D119/00B62D137/00
CPCB62D15/025B60W30/12B60W2510/202
Inventor 中野贵仁长谷川太亮衣笠荣信
Owner DENSO CORP
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