Lane runoff preventing device

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Technical field to which the invention belongs]

The present invention relates to a lane departure prevention device that intermittently adds steering torque and onomatopoeia to notify the driver of lane departure of the own vehicle.

【0002】

[Conventional technology]

Conventionally, it has been known to predict the lane departure of a vehicle and warn the driver with an onomatopoeia. Further, Japanese Patent Application Laid-Open No. 11-34774 proposes a technique for predicting lane departure of a vehicle and vibrating the steering system within a range that does not cause vehicle behavior to give an alarm.

【0003】

[Problems to be Solved by the Invention]

However, when the vibration of the steering torque and the alarm by the onomatopoeia are used together, if these are controlled individually, the judgment of the driver who receives the alarm is delayed or gives a sense of discomfort.

【0004】

The present invention has been made in view of the above problems, and an object of the present invention is that when a lane departure warning is given by using a steering torque application and an onomatopoeic warning in combination, the driver who receives the warning does not delay the judgment or give a sense of discomfort. It is to provide a lane departure prevention device.

【0005】

[Means for solving problems]

In order to achieve the above object, the lane departure prevention device according to the present invention has a lateral position detecting means for detecting the relative lateral position between the lane end and the own vehicle and a relative lateral position detected by the lateral position detecting means. Based on this, the time required for the own vehicle to reach the lane end is measured, and when the arrival time is shorter than the first predetermined time, intermittent steering is performed in the direction opposite to the approaching lane end of the own vehicle. It is provided with a deviation prevention means for performing a first alarm control that applies torque and outputs an intermittent onomatopoeia, and synchronizes the application of steering torque by the deviation prevention means with the output of the onomatopoeia.

【0006】

Further, preferably, when the time required for the own vehicle to reach the lane end is shorter than the second predetermined time, which is shorter than the first predetermined time, the deviation preventing means is approaching the lane end. The second alarm control that applies continuous steering torque in the opposite direction to the above is performed, and the steering torque added in the second alarm control is set as the upper limit value of the steering torque added in the first alarm control of the own vehicle. Set so that the smaller the deviation of the yaw angle with respect to the lane end, the smaller the deviation.

【0007】

Further, preferably, the deviation preventing means is approaching the lane end when the own vehicle is approaching when the time until the own vehicle reaches the lane end is shorter than the second predetermined time, which is shorter than the first predetermined time. The second alarm control that applies continuous steering torque in the opposite direction is performed, and the steering torque applied in the second alarm control is released before the yaw angle with respect to the lane end of the own vehicle becomes zero.

【0008】

Further, preferably, the lateral position detecting means further includes a yaw angle detecting means for detecting the yaw angle with respect to the lane end of the own vehicle, and the deviation preventing means has a predetermined yaw angle detected by the yaw angle detecting means. When it is equal to or greater than the value, the time until the yaw angle becomes zero is predicted, and the addition of the steering torque is released before the predicted time elapses.

【0009】

Further, preferably, the lateral position detecting means further includes a deviation detecting means for detecting that the own vehicle deviates from the lane end, and the deviation preventing means deviates from the lane. If so, the steering torque is continuously applied until the own vehicle avoids lane departure, regardless of the magnitude of the yaw angle.

【0010】

Further, preferably, the steering detecting means for detecting the steering by the driver is further provided, and the deviation preventing means continues the steering detected by the steering detecting means to the end of the lane in which the own vehicle is approaching for a predetermined time or more. At that time, the addition of the steering torque is gradually released.

【0011】

Further, preferably, the steering torque detecting means for detecting the steering torque by the driver is further provided, and the deviation preventing means holds the steering torque detected by the steering detection torque output means at a predetermined torque or more and for a predetermined time or more. At that time, the addition of the steering torque is gradually released.

【0012】

Further, preferably, the steering angle detecting means for detecting the steering angle by the driver is further provided, and the deviation preventing means means that the steering angle detected by the steering angle detecting means is different from the lane end where the own vehicle is approaching. When the vehicle is steered in the opposite direction at a predetermined angle or more, the addition of the steering torque is gradually released.

【0013】

Further, preferably, the operation detecting means for detecting the direction indicating operation by the driver is further provided, and the deviation preventing means performs the direction indicating operation detected by the operation detecting means to the end of the lane in which the own vehicle is approaching. At that time, the addition of the steering torque is gradually released.

【0014】

[Effect of the invention]

As described above, according to the invention of claim 1, by synchronizing the application of the steering torque and the output of the onomatopoeia in the first alarm control, the application of the steering torque and the alarm sound are used in combination to deviate from the lane. When an alarm is given, the judgment speed of the driver who received the alarm can be increased and the sense of discomfort can be reduced.

【0015】

According to the invention of claim 2, the steering torque applied in the second alarm control is set as the upper limit value of the steering torque applied in the first alarm control, and the smaller the deviation of the yaw angle with respect to the lane end of the own vehicle, the smaller the steering torque. By setting to, overshoot during control can be prevented and controllability can be improved.

【0016】

According to the invention of claim 3, the steering torque added in the second alarm control is released before the yaw angle with respect to the lane end of the own vehicle becomes zero, and after the release, it is left to the driver's operation. Overshoot can be prevented and controllability can be improved.

【0017】

According to the invention of claim 4, when the yaw angle is equal to or more than a predetermined value, the time until the yaw angle becomes zero is predicted, and the steering torque is released before the predicted time elapses. Since the rest is left to the driver's operation, overshoot during control can be prevented and controllability can be improved.

【0018】

According to the invention of claim 5, when the own vehicle deviates from the lane, the steering torque is continuously applied until the own vehicle avoids the lane departure regardless of the size of the yaw angle. You can definitely avoid lane departure.

【0019】

According to the invention of claim 6, when the steering by the driver continues to the end of the lane in which the own vehicle is approaching for a predetermined time or more, the driver's intention is determined by gradually releasing the addition of the steering torque. By giving priority, it is possible to reduce hunting in control and discomfort that the driver receives.

【0020】

According to the invention of claim 7, when the steering torque by the driver is held at a predetermined torque or more for a predetermined time or more, the driver's intention is prioritized and controlled by gradually releasing the addition of the steering torque. It is possible to reduce the discomfort that the driver receives from hunting and the driver.

【0021】

According to the invention of claim 8, when the steering angle by the driver is steered at a predetermined angle or more in the direction opposite to the lane end where the own vehicle is approaching, the addition of steering torque is gradually released. As a result, the driver's intention can be prioritized, and hunting in control and discomfort felt by the driver can be reduced.

【0022】

According to the invention of claim 9, when the direction instruction operation by the driver is performed to the end of the lane in which the own vehicle is approaching, the driver's intention is prioritized by gradually releasing the addition of the steering torque. , It is possible to reduce hunting in control and discomfort that the driver receives.

【0023】

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an example in which the lane departure prevention device according to the present invention is mounted on an automobile, which is a typical vehicle, will be described in detail with reference to the accompanying drawings.

【0024】

The embodiment described below is an example as a means for realizing the present invention, and the present invention can be applied to a modified or modified version of the following embodiment without departing from the spirit of the present invention.

【0025】

FIG. 1 is a diagram showing a system configuration of an automobile equipped with the lane departure prevention device of the present embodiment.

【0026】

In the automobile 1 shown in FIG. 1, reference numeral 2 denotes a controller that controls the entire steering device. Reference numeral 3 denotes an imaging device such as a CCD (Charge Coupled Device) camera that images the imaging area R in front of the automobile 1. Instead of the CCD camera 3, an antenna for detecting a magnetic marker embedded in the road surface may be provided at the lower part of the vehicle body. 4 is a yaw rate sensor that detects the yaw rate of automobile 1, 5 is a vehicle speed sensor that detects the vehicle speed of automobile 1, 6 is a blinker switch that the driver performs a direction instruction operation, and 7 is an example of a mechanism that actually steers the automobile 1. , A steering actuator such as a motor that drives a steering shaft connected to the steering wheel 8 in order to apply steering torque. Reference numeral 9 denotes a steering sensor that detects the steering torque and the steering angle driven by the driver or the steering actuator 7. Reference numeral 10 denotes a speaker that emits an alarm sound such as an onomatopoeia to notify the driver of lane departure.

【0027】

FIG. 2 is a block diagram of the controller shown in FIG. 1, and each block represented inside the controller 2 expresses the control operation performed by the controller 2 by the flow of an input signal. The actual control processing by the controller 2 is executed by the CPU (not shown) according to the software stored in the ROM (not shown) in advance (details will be described later).

【0028】

As shown in FIG. 2, the controller 2 detects the lateral deviation with respect to the lane end L (see FIG. 1) of the automobile 1 by a general method based on the image of the front imaging area captured by the CCD camera 3, and the vehicle speed. The lateral speed of the automobile 1 is calculated from the captured image, and the yaw angle of the automobile 1 is estimated from the lateral deviation.

【0029】

In addition, the deviation prediction time TLD from the lateral deviation and the lateral speed to the arrival at the lane L is calculated. Furthermore, the degree of urgency until an alarm is issued is determined based on whether or not the departure prediction time TLD is 1st time T1 or 2nd time T2 or less, and the presence or absence of operation of the blinker switch 6 and steering detected by the steering sensor 9 are determined. The lane departure intention by the driver is determined from the torque and the steering angle θ, and it is determined whether the driver is performing the lane departure avoidance operation from the lateral deviation, the yaw angle φ, and the yaw rate detected by the yaw rate sensor 4.

【0030】

Then, based on the above determination result, when the deviation prediction time is shorter than the first time T1, an intermittent steering torque is added in the direction opposite to the lane end L where the own vehicle is approaching as the first warning control. , Outputs an intermittent alarm sound (onomatopoeia) in synchronization with it. Also, considering the delay in the driver's reaction such as falling asleep, when the deviation prediction time TLD is shorter than the first time T1 and shorter than the second time T2, the lane end L where the own vehicle is approaching as the second warning control. A continuous steering torque is applied in the opposite direction. The steering torque is applied by the steering actuator 7, and the alarm sound is output by using the speaker 10.

【0031】

Next, the control procedure of the controller 2 will be described with reference to FIG. 3 or FIG.

[First Embodiment] FIG. 3 is a flowchart showing a control procedure of the lane departure prevention device of the first embodiment.

【0032】

As shown in FIG. 3, after the input of the CCD camera, various sensors, switches, etc. is updated by the controller 2, the deviation prediction time TLD is calculated in step S1.

【0033】

In step S2, it is determined whether the second alarm control intervention is in progress, and if the determination is YES and the second alarm control intervention is in progress, the process proceeds to step S11. If the determination is NO and the second alarm control intervention is not in progress, the process proceeds to step S3.

【0034】

In step S3, it is determined whether the estimated deviation time TLD is less than or equal to the second time T2 (for example, 0.8 seconds) in which the second alarm control should be intervened. If the judgment is NO and the deviation prediction time TLD is longer than the second time T2, the process proceeds to step S7.

【0035】

In steps S4 and S5, in order to intervene in the second alarm control, in order to stop the first alarm control, the alarm sound is stopped, the steering torque intermittent application control is stopped, and in step S6, the second with a high degree of urgency. Start alarm control.

【0036】

In step S7, since the deviation prediction time TLD is longer than the second time, it is determined whether the first alarm control is in progress. If the determination in step S7 is YES and the first alarm is being controlled, the process proceeds to step S11, and if the determination is NO and the first alarm is not being controlled, the process proceeds to step S8.

【0037】

In step S8, it is determined whether the deviation prediction time TLD is equal to or less than the first time T1 (for example, 1 to 2 seconds, where T1> T2) in which the first alarm control should be intervened. If the judgment in step S8 is YES and the estimated deviation time TLD is 1st time T1 or less, the process proceeds to step S9, and if the judgment is NO and the predicted deviation time TLD is longer than the 1st time T1, no alarm is required. Return.

【0038】

In the following steps S9 and S10, since it is in a state where the first alarm control should be intervened, the output of the alarm sound is started, and the steering torque is intermittently applied in synchronization with it.

【0039】

The next steps S11 to S17 are controls during the first or second warning control, and in each of these steps, the driver's driving intention (that is, when intentionally trying to deviate from the lane due to lane change or overtaking, etc.) and lane departure If the avoidance state is determined and the driver intentionally deviates from the lane or the lane departure avoidance is sufficient, the first and second warning controls are stopped (including those that stop immediately and gradually stop). ).

【0040】

Specifically, in step S11, based on the steering of the steering wheel 8 by the driver detected by the steering sensor 9 (for example, the steering angle θ and the steering direction), the steering is the lane end L to which the own vehicle is approaching. Judge whether the operation has been continued for a predetermined time of Tθ or more. If the judgment in step S11 is YES and steering is continuously performed for a predetermined time Tθ, the process proceeds to step S17, and if the judgment is NO and steering is not continuously performed for a predetermined time Tθ, the driver deviates from the lane. Since there is no intention of, the first or second alarm control is continued and the process proceeds to step S12.

【0041】

In step S12, it is determined whether or not the steering torque is held at a predetermined torque Fx or more and Tf or more for a predetermined time based on the steering torque of the steering wheel 8 by the driver detected by the steering sensor 9. If the judgment in step S12 is YES and the steering torque is held for a predetermined time Tf or more, the process proceeds to step S17, and if the judgment is NO and the steering torque is not held for a predetermined time Tf or more, the driver deviates from the lane. Since there is no intention, the first or second alarm control is continued and the process proceeds to step S13.

【0042】

In step S13, it is determined whether or not the blinker switch operation is performed to the lane end L where the own vehicle is approaching, based on the blinker switch operation by the driver. If the judgment in step S13 is YES and the blinker is operated to the lane end L, the process proceeds to step S17, and if the judgment is NO and the blinker is not operated to the lane L, the driver does not intend to deviate from the lane. The first or second alarm control is continued and the process proceeds to step S14.

【0043】

In step S14, the steering angle θ is steered at a predetermined angle θx or more in the direction opposite to the lane end L to which the own vehicle is approaching, based on the steering angle θ of the steering wheel 8 by the driver detected by the steering sensor 9. Determine if it is done. If the judgment in step S14 is YES and the steering angle θ is steered at a predetermined angle θx or more, the process proceeds to step S16, and if the judgment is NO and the steering angle θ is not steered at a predetermined angle θx or more, the driver Since the avoidance of lane departure due to the above is insufficient, the first or second alarm control is continued and the process proceeds to step S15.

【0044】

In step S15, the time Tφ until the yaw angle φ with respect to the lane end L of the own vehicle becomes zero or less is predicted based on the yaw angle φ with respect to the lane end L of the own vehicle, and this predicted time Tφ is less than a predetermined time. Determine if there is. If the judgment in step S15 is YES and the predicted time Tφ is less than or equal to the predetermined time, the process proceeds to step S16. The second alarm control is continuously returned.

【0045】

In step S16, it is determined whether or not the own vehicle deviates from the lane end L from the lateral deviation of the own vehicle with respect to the lane end L while being steered in the direction of avoiding the lane departure. If the judgment in step S16 is YES and the own vehicle deviates from the lane end L, the first or second warning control is continuously returned because it is necessary to return to the lane, and the judgment deviates from NO. If not, proceed to step S17.

【0046】

In step S17, the first or second alarm control being executed is stopped and returned, reflecting the driver's driving intention and the lane departure avoidance state.

[Time Chart of the First Embodiment] FIGS. 5 to 10 are time charts showing a control procedure of the lane departure prevention device of the first embodiment.

【0047】

FIG. 5 shows the operations of steps S8 to S10, and the alarm sound output and the intermittent application of steering torque are synchronized with the start of the first alarm control (TLD T1). Further, the second alarm control is started after the driver's reaction delay time TD after the first alarm control is started.

【0048】

Further, in step S15, if the predicted time Tφ at which the yaw angle φ with respect to the lane end L of the own vehicle becomes zero or less is short, the steering torque applied in the second alarm control is applied before the yaw angle φ becomes zero. That is, the addition of steering torque is released before the predicted time elapses.

【0049】

By this operation, the judgment speed of the driver who received the alarm can be increased, and the discomfort can be reduced. In addition, since it is left to the driver's operation after the release, overshoot during control can be prevented and controllability can be improved.

【0050】

FIG. 6 shows the operation of step S16. If the own vehicle deviates from the lane end L from the lateral position relative to the lane end L of the own vehicle, the size of the yaw angle φ, that is, the yaw angle φ is zero or less. Regardless of the predicted time Tφ, the second warning control is continued until the lane departure of the own vehicle is avoided. By this operation, lane departure can be reliably avoided.

【0051】

FIG. 7 shows the operation of step S11, in the second alarm control, when the driver's steering (for example, steering angle θ) continues to the lane end L where the own vehicle is approaching for a predetermined time Tθ or more. The addition of steering torque is gradually released. By this operation, the driver's intention can be prioritized, and hunting in control and discomfort felt by the driver can be reduced.

【0052】

FIG. 8 shows the operation of step S12, and when the steering torque by the driver is held at a predetermined torque Fx or more and Tf or more for a predetermined time, the addition of the steering torque in the second alarm control is gradually released. By this operation, the driver's intention can be prioritized, and hunting in control and discomfort felt by the driver can be reduced.

【0053】

FIG. 9 shows the operation of step S14, in the second alarm control when the steering angle θ by the driver is steered at a predetermined angle θx or more in the direction opposite to the lane end L where the own vehicle is approaching. The addition of steering torque is gradually released. By this operation, the driver's intention can be prioritized, and hunting in control and discomfort felt by the driver can be reduced.

【0054】

FIG. 10 shows the operation of step S13, and when the winker operation by the driver is performed to the lane end L where the own vehicle is approaching, the addition of the steering torque in the second warning control is gradually released. By this operation, the driver's intention can be prioritized, and hunting in control and discomfort felt by the driver can be reduced.

[Second Embodiment] FIG. 4 is a flowchart showing a control procedure of the lane departure prevention device of the second embodiment.

【0055】

In the second embodiment, the steering torque F added in the second alarm control is set as the upper limit value of the steering torque F1 added in the first alarm control, and the smaller the deviation φ / φ0 of the yaw angle with respect to the lane end L of the own vehicle, the smaller the deviation φ / φ0. It is set to be small.

【0056】

As shown in FIG. 4, after the input of the CCD camera, various sensors, switches, etc. is updated by the controller 2, the deviation prediction time TLD is calculated in step S21.

【0057】

In step S2, it is determined whether the lane departure can be avoided, that is, whether the yaw angle φ with respect to the lane end L of the own vehicle is zero. If the judgment in step S2 is YES and the lane departure can be avoided, the process proceeds to step S23, and if the judgment is NO and the lane departure cannot be avoided, the process proceeds to step S24.

【0058】

In step S23, since the lane departure can be avoided, the first or second alarm control being executed is stopped and returned.

【0059】

In step S24, it is determined whether the estimated deviation time TLD is less than or equal to the second time T2 (for example, 0.8 seconds) in which the second alarm control should be intervened. If the determination is NO and the deviation prediction time TLD is longer than the second time T2, the process proceeds to step S28.

【0060】

In step S25, in order to intervene in the second alarm control, the alarm sound is stopped, the steering torque intermittent application control is stopped, and the steering torque amount F is set in step S6. This steering torque amount F is calculated by the steering torque F1 added by the first alarm control and the deviation φ / φ0 of the current yaw angle φ with respect to the yaw angle φ0 immediately before the intervention of the second alarm control (F = F1 ×). φ / φ0).

【0061】

In step S27, the second alarm control for continuously applying the steering torque F is started.

【0062】

In step S28, it is determined whether the deviation prediction time TLD is equal to or less than the first time T1 (for example, 1 to 2 seconds, where T1> T2) in which the first alarm control should be intervened. If the judgment in step S28 is YES and the estimated deviation time TLD is 1st time T1 or less, the process proceeds to step S29, and if the judgment is NO and the predicted deviation time TLD is longer than the 1st time T1, no alarm is required. Return.

【0063】

In the following steps S29, S30, and S31, since it is in a state where the first alarm control should be intervened, the output of the alarm sound is started, the steering torque F is set to the steering torque F1 to be added by the first alarm control, and the alarm sound is heard. Steering torque F is applied intermittently in synchronization.

【0064】

In step S32, the yaw angle φ0 immediately before the second alarm control intervention is set to the current yaw angle φ and returns (φ0 = φ).

[Time Chart of the Second Embodiment] FIG. 11 is a time chart showing a control procedure of the lane departure prevention device of the second embodiment.

【0065】

FIG. 11 shows the operation of step S30. When the first alarm control is started (TLD T1), an alarm sound is output, and the steering torque F1 is intermittently applied in synchronization with this. Further, in step S26, the steering torque F added in the second alarm control with the start of the second alarm control (TLD T2) is set to the upper limit value of the steering torque F1 added in the first alarm control. 2 The deviation φ / φ0 of the current yaw angle φ with respect to the yaw angle φ0 immediately before the alarm control intervention is set to be smaller as it becomes smaller, and the steering torque F1 added by the first alarm control and the yaw immediately before the second alarm control intervention are set. It is calculated by the deviation φ / φ0 of the current yaw angle φ with respect to the angle φ0 (F = F1 × φ / φ0).

[Simple explanation of drawings]

[Figure 1]

It is a figure which shows the system configuration of the automobile equipped with the lane departure prevention device of this embodiment.

[Figure 2]

It is a block diagram of the controller shown in FIG.

[Fig. 3]

It is a flowchart which shows the control procedure of the lane departure prevention system of 1st Embodiment.

[Fig. 4]

It is a flowchart which shows the control procedure of the lane departure prevention system of 2nd Embodiment.

[Fig. 5]

It is a time chart which shows the control procedure of the lane departure prevention system of 1st Embodiment.

[Fig. 6]

It is a time chart which shows the control procedure of the lane departure prevention system of 1st Embodiment.

[Fig. 7]

It is a time chart which shows the control procedure of the lane departure prevention system of 1st Embodiment.

[Fig. 8]

It is a time chart which shows the control procedure of the lane departure prevention system of 1st Embodiment.

[Fig. 9]

It is a time chart which shows the control procedure of the lane departure prevention system of 1st Embodiment.

[Fig. 10]

It is a time chart which shows the control procedure of the lane departure prevention system of 1st Embodiment.

[Fig. 11]

It is a time chart which shows the control procedure of the lane departure prevention system of 2nd Embodiment.

[Explanation of symbols]

1 car 2 controller 3 CCD camera 4 Yaw rate sensor 5 Vehicle speed sensor 6 blinker switch 7 Steering actuator 8 steering wheel 9 Steering sensor 10 speakers