VEHICLE STEERING CONTROL DEVICE

专利摘要:
invention patent summary: "vehicle steering control device". it is a vehicle steering control device that performs trajectory control in which the directional wheels are controlled to thus make the vehicle move along a target trajectory. when there is a possibility that the direction of travel of the vehicle may be changed by trajectory control, at least one from an operating position of a driver-operated input means; an angle of orientation of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the direction of travel is made, to thereby give vehicle occupants early warning of the possibility of a change in the direction of travel of the vehicle caused by the control of trajectory.
公开号:BR112014004868B1
申请号:R112014004868-1
申请日:2011-08-31
公开日:2020-03-31
发明作者:Masao Ueyama；Yoji Kunihiro；Theerawat Limpibunterng；Takahiro Kojo
申请人:Toyota Jidosha Kabushiki Kaisha；
IPC主号:

专利说明:

Invention Patent Descriptive Report for VEHICLE STEERING CONTROL DEVICE.
TECHNICAL FIELD [0001] The present invention relates to a vehicle steering control device and, more particularly, to a vehicle displacement control device that performs trajectory control in which the steering wheels are controlled to thereby make the vehicle travels along a target path (a target travel line).
BACKGROUND TECHNIQUE [0002] As one of vehicle steering control devices, a vehicle steering control device that controls the steering wheels by means of a directed angle variation device that is referred to as a ratio variation system is well known. direction (VGRS). In this type of steering control device, a path is specified by analyzing the image in front of the vehicle captured by a camera; a target trajectory is determined based on the specified route; and the steering wheels are controlled to make the vehicle move along the target path.
[0003] When a steering wheel that serves as a means of steering input is caused to turn by means of the directional wheels being directed by the trajectory control, the occupants of the vehicle are disturbed. In order to deal with the problem, it is known to control a directed angle variation device and a power control device to keep the steering wheel rotation as small as possible even with the directional wheels being directed by the trajectory control.
[0004] However, occupants of the vehicle in which the trajectory control is performed cannot foresee the change in the direction of travel of the vehicle caused by the trajectory control and, therefore,
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2/59 for this reason, they may feel anxious and restless. For example, in a situation where the curvature of the road in front of the vehicle varies, occupants may feel anxious and anxious about whether the vehicle will move or not by changing its direction of travel appropriately along the road. In another situation where there is a branch of the road in front of the vehicle, occupants may feel anxious and uneasy as to whether the vehicle will change or not to change the direction of travel to select a road they want to take and pass the branch.
[0005] As one of the means to solve the problem, as described in the patent citation mentioned below 1, it has already been proposed to announce the change in the direction of travel of the vehicle by sound by a navigation unit or to show an advance notice regarding the change in the direction of travel of the vehicle on a display such as a meter or the like.
[0006] EP 2193977 describes a steering control device for a vehicle that includes a steering characteristic setting unit defining the range of a steering manipulation angle corresponding to a tire angle in a predetermined range (close to an induction angle of the target tire to guide to a target location), which is determined based on the target location during vehicle travel, to be wider than the range of a steering angle corresponding to a tire angle outside the predetermined range. A reduction gear ratio of a steering mechanism in the predetermined range increases.
LIST OF QUOTES [0007] Patent Literature 1: Publication of Patent Application
Japanese Open to Evaluation (kokai) No. Heisei 10 (1998) 10-105885 SUMMARY OF THE INVENTION
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3/59
TECHNICAL PROBLEM [0008] In a case where the announcement of the change in the direction of travel of the vehicle is made by sound, occupants often do not recognize the announcement due to their hearing loss and the interference of the advertisement with audio function cannot be avoided . On the other hand, in a case where a prior notice of the change in the vehicle's direction of travel is shown on a display, it is quite difficult to readily recognize the content of the warning regarding the change in the vehicle's direction of travel from the indication on the display. and it is additionally difficult for occupants other than the driver to recognize the notice itself.
DISCLOSURE OF THE INVENTION [0009] A primary objective of the present invention is to provide advance notice of the change in the direction of travel of the vehicle most preferably when compared to where the change in the direction of travel of the vehicle caused by trajectory control is warned in advance by sound and / or indication on a display.
[0010] The present invention provides a vehicle steering control device that performs trajectory control in which the steering wheels are controlled to thereby make the vehicle move along a target trajectory, where when there is a possibility that the direction of travel of the vehicle can be changed by trajectory control, at least one from an operating position of a driver-operated input means; an angle of orientation of the vehicle; and a lateral position of the vehicle with respect to a runway is changed before a change in the direction of travel is made.
[0011] According to the configuration described above, at least one of an operating position of a steering input means operated by a driver; an angle of orientation of the vehicle; is
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4/59 the vehicle's lateral position with respect to a runway is changed before a change in the direction of travel is made. Consequently, advance notice of the change in the direction of travel of the vehicle can be given to the occupants of the vehicle more preferably when compared to where the change in the direction of travel of the vehicle is warned in advance by sound and / or indication on a display. Therefore, vehicle occupants can more safely predict the change in direction of travel of the vehicle caused by trajectory control.
[0012] The configuration mentioned above can be such that: the possibility that the direction of travel of the vehicle can be changed by the trajectory control is a possibility due to at least one of the change in the target trajectory caused by the change in the curvature of the track that appears when the vehicle moves and the target trajectory changes made by the driver in a branch of the road.
[0013] According to this configuration, advance notice of the change in the direction of travel of the vehicle may be given to the occupants of the vehicle in a situation where there is a possibility that the change in the target trajectory is caused by the change in the curvature of the road that arises when the vehicle moves or there is a possibility that the change in the target trajectory is carried out by the driver in a branch of the road.
[0014] In particular, in a situation where there is a possibility that the change in the target trajectory is caused by the change in the curvature of the track that arises when the vehicle moves, advance notice of the change in the direction of travel of the vehicle may be given for vehicle occupants by changing the operating position of the steering input means and the like before a real change in the direction of travel of the vehicle that corresponds to the change in road curvature. Consequently, it is
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5/59 it is possible to reduce the risk that occupants may feel anxious and restless as to whether the vehicle will move or not by changing its direction of travel appropriately along the track.
[0015] In a situation where there is a possibility that the change in the target trajectory will be carried out by the driver on a branch of the road, prior notice is given of the change or maintenance of the direction of travel of the vehicle in a branch of the road by the change in operating position of the steering input medium and something similar on this side of the branch. Consequently, since vehicle occupants can decide whether to pass the branch by selecting the road as warned in advance, or to pass the branch by selecting another road, it is possible to reduce the risk that occupants may feel anxious and restless when the vehicle passes the branch .
[0016] The configuration mentioned above can be such that: at least one of the operating position of the steering input means, vehicle orientation angle, and the vehicle's lateral position with respect to the track is changed to the same side as the direction vehicle displacement after the change with the directional angle of the steering wheels being controlled so that the vehicle moves along the target trajectory as precisely as possible.
[0017] According to this configuration, the change in the direction of travel of the vehicle can be warned in advance by changing at least one of the operating position of the steering input means, vehicle orientation angle, and lateral position of the vehicle with respect to it saw the same direction as the vehicle's direction of travel after the change with the directional angle of the directional wheels being controlled so that the vehicle moves along the target path as precisely as possible.
[0018] The configuration mentioned above can be such that: o
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6/59 vehicle has a steering ratio variation device that varies the relationship between the operating position of the steering input means and the directed angle of the front wheels which are steering wheels, and the operating position of the steering input means direction is varied by controlling the steering ratio variation device. [0019] According to this configuration, controlling the steering ratio variation device to vary the relationship between the operating position of the steering input medium and the directed angle of the front wheels, the operating position of the steering input medium. direction can be varied with the directed angle of the front wheels being controlled to conform to a directed angle to make the target trajectory as precisely as possible.
[0020] The configuration mentioned above can be such that: the vehicle has steering angle variation devices that vary the steering angles of front and rear wheels, and at least one of the vehicle's steering angle and the vehicle's lateral position with respect to track is changed by controlling the directed angles of front and rear wheels by means of the directed angle variation devices.
[0021] According to this configuration, the change in the direction of travel of the vehicle can be warned in advance by controlling the directed angles of front and rear wheels to change at least one of the vehicle's orientation angle and the vehicle's lateral position with respect to the track .
[0022] The configuration mentioned above may be such that: the vehicle has a steering ratio variation device that varies the relationship between the operating position of said steering input means and an auxiliary power generation device. direction, and the operating position of said direction input means is
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7/59 changed with the directed angle of the front wheels being controlled by controlling said steering angle variation devices and said auxiliary steering assist force generation device.
[0023] According to this configuration, once the operating position of the steering input means can be changed with the directed angle of the front wheels being controlled, the operating position of the steering input means can be changed with the directed angle of the front wheels being controlled to conform to a directed angle to realize the target trajectory as precisely as possible.
[0024] The configuration mentioned above may be such that: the vehicle has a steering ratio variation device that varies the relationship between the operating position of the steering input medium and the directed angle of front wheels and a variation device of angle directed to the rear wheels that varies the angle of the rear wheels, and at least one of the vehicle's steering angle and lateral position of the vehicle is changed by controlling the steering ratio variation device and the directed angle variation device for the rear wheels.
[0025] According to this configuration, the change in the direction of travel of the vehicle can be warned in advance by controlling the steering ratio variation device and the angle variation device directed to the rear wheels to change at least one of the steering angle. vehicle orientation and lateral position of the vehicle with respect to the track.
[0026] The configuration mentioned above may be such that: the amount by which at least one of the operating position of the steering input means, vehicle orientation angle, and the vehicle's lateral position with respect to the lane being changed is increased when the degree of change in the direction of travel of the vehicle is high when
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8/59 compared to where the degree of change in the direction of travel of the vehicle is low.
[0027] According to this configuration, the amount of control to give advance notice of the change in the direction of travel of the vehicle can be increased to effectively warn in advance of the change in the direction of travel of the vehicle when the degree of change of direction vehicle displacement is high when compared to where the degree of change in the vehicle's direction of travel is low.
[0028] The configuration mentioned above may be such that: in a situation where the vehicle is displaced laterally with respect to the center of the track, the amount by which at least one of the operating position of the steering input means, steering angle of the vehicle, and the vehicle's lateral position with respect to the track is changed in a direction that increases the amount of displacement is less when compared to the amount by which the change is made in a direction that decreases the amount of displacement.
[0029] According to this configuration, when the amount of the vehicle's displacement is increased by the control to give an early warning of the change in the direction of travel of the vehicle, the amount of control for the early warning can be decreased to reduce the feeling of restlessness that occupants may experience. Conversely, when the amount of vehicle travel is decreased by the control to give advance notice of the change in the vehicle's direction of travel, the amount of control for the advance notice can be increased to effectively warn of the change in the direction of travel. vehicle displacement.
[0030] The configuration mentioned above can be such that: the amount by which at least one of the operating position of the steering input means, vehicle orientation angle, and lateral position
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9/59 of the vehicle with respect to the track is changed is decreased when a vehicle's operating safety is low when compared to where a vehicle's operating safety is high.
[0031] According to this configuration, the amount of control to give advance notice of the change in the direction of travel of the vehicle can be decreased when the vehicle's operating safety is low compared to where the vehicle's operating safety is high . Consequently, it is possible to reduce the risk that a vehicle's operating safety is further diminished by the control to give advance notice of the change in the vehicle's direction of travel. On the contrary, the degree to which the amount of control to give advance notice of the change in the direction of travel of the vehicle is decreased when the vehicle's operating safety is high compared to where the vehicle's operating safety is low can be decreased. , which allows you to effectively notify in advance the change in the direction of travel of the vehicle.
[0032] The configuration mentioned above can be such that: when the amount by which at least one of the operating position of the steering input means, vehicle orientation angle, and lateral position of the vehicle with respect to the track is changed is small , the speed of change is increased when compared to where the amount of change is large.
[0033] According to this configuration, when the amount of control to give advance notice of the change in the direction of travel of the vehicle is small, the speed to change the amount of control can be increased to make it easier for the occupants of the vehicle acknowledge advance notice of the change in the direction of travel of the vehicle. Conversely, when the amount of control to give advance notice of the change in the direction of
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10/59 vehicle travel is large, the speed to change the amount of control can be decreased by reducing the risk that the occupants of the vehicle will feel restless due to the rapid variation in the amount of control to give early warning of the change in the direction of vehicle displacement.
[0034] The configuration mentioned above can be such that: the possibility that the direction of travel of the vehicle can be changed by the trajectory control is a possibility due to the change of the target trajectory made by the driver in a branch of the road, and at least one of the operating position of the steering input means, vehicle orientation angle, and lateral position of the vehicle with respect to the track is shifted to the side opposite to the vehicle's direction of travel after the change.
[0035] According to this setting, the amount of control to give advance notice of the change in the direction of travel of the vehicle is changed in the direction opposite to the direction of travel of the vehicle after the change. Consequently, since the amount of operation by the driver is increased when he wants to change the target path in a branch, it is desirably possible to decide whether or not the driver wants to change the target path based on the amount of operation by the driver.
[0036] The configuration mentioned above can be such that: when there is a branch that has a different direction of travel than the one determined by the target path that was determined, and there is a possibility that the direction of travel of the vehicle may be changed due to the change of the target trajectory made by the driver, a decision is made as to whether the target trajectory is to be changed or not based on the operation by the driver in the middle of steering input.
[0037] According to this configuration, when the driver wants to
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11/59 change the target trajectory, a decision can be made as to whether the target trajectory is to be changed or not based on the operation by the driver in the direction input medium that is conducted to thereby change the direction of travel.
[0038] The configuration mentioned above can be such that: a zone of decision making of the course to decide whether the target trajectory is to be changed or not is determined on this side of the branch, and a decision is made as to whether the target trajectory it is to be changed or not based on the operation conducted by the driver in the middle of the direction entry in the decision making zone of the course.
[0039] According to this configuration, a decision can be made as to whether the target trajectory is to be changed or not based on the operation conducted by the driver in the middle of the direction entry in the decision making zone of the course.
[0040] The configuration mentioned above can be such that: an end point of the course decision making zone is determined on this side of the branch and an initial point of the course decision making zone is determined in a position that is moved away by a predetermined distance on this side of the end point.
[0041] According to this configuration, a decision-making zone of the course that has a prescribed distance can be determined on this side of the branch.
[0042] The configuration mentioned above may be such that: when the amount and / or speed of the operation conducted by the driver in the middle of the steering input after the vehicle has passed the decision-making zone of the course are large, the change of the target trajectory it is carried out more quickly when compared to where the quantity and / or speed are small.
[0043] According to this configuration, the target trajectory can be changed when necessary even after the vehicle has passed the zone
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12/59 of course decision making, and the speed of the change can be determined in a variable way according to the amount and / or speed of the operation conducted by the driver.
BRIEF DESCRIPTION OF THE DRAWINGS [0044] Figure 1 is a schematic view of the configuration showing a first embodiment of a vehicle steering control device according to the present invention that is applied to a vehicle equipped with an electrical steering control device power and a rear wheel steering device.
[0045] Figure 2 is a block diagram that fully illustrates the vehicle's steering control in the first mode.
[0046] Figure 3 is a flowchart showing the control routine in the trajectory control block shown in figure 2.
[0047] Figure 4 is a flow chart showing the control routine in the steering wheel rotation control block shown in figure 2.
[0048] Figure 5 is a flowchart showing the control routine in the control block of the reaction force to the direction shown in figure 2.
[0049] Figure 6 is a flowchart showing the control routine in the steering control torque control block shown in figure 2.
[0050] Figure 7 is a map to calculate a target Olkaft target angle of the front wheels for trajectory control based on the Gyt target lateral acceleration.
[0051] Figure 8 is a map to calculate an Olkart target angle of the rear wheels for trajectory control based on the target lateral acceleration Gyt.
[0052] Figure 9 is a map to calculate an Oswt target rotation angle of the steering wheel based on the rate of change R1fd of the R curvature of the target path.
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13/59 [0053] Figure 10 is a map to calculate a Tic auxiliary torque to compensate for the inertia of the electrical control unit and something similar based on the second order differential value Offtdd of the target angle final target Offt of the wheels front.
[0054] Figure 11 is a map to calculate an auxiliary torque
Tdc to compensate for the viscosity in the electrical power control unit and the like based on the differential Offtd value of the target angle of the final target Offt of the front wheels.
[0055] Figure 12 is a map to calculate an auxiliary torque Tfc to compensate for the friction in the electric power control unit and something similar based on the differential Offtd value of the directed target final angle Offt of the front wheels.
[0056] Figure 13 is a map to calculate a correction torque
Tlkaft based on the steering wheel angle control based on the target steering angle corrected by the front wheel's Oftf response.
[0057] Figure 14 is a map to calculate a correction torque
Tlkart based on the steering wheel angle control based on the target steering angle corrected by the rear wheel Ortf response.
[0058] Figure 15 is a map to calculate a Tbaset target basic assist torque to reduce steering weight on the driver based on steering torque Ts and vehicle speed V.
[0059] Figure 16 is an illustration that shows the operation of the first modality with respect to a case where a vehicle moves along a road that varies from straight to left curve.
[0060] Figure 17 is a block diagram that fully illustrates the vehicle steering control in the second modality of the vehicle steering control device according to the present invention.
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14/59 [0061] Figure 18 is a flowchart showing the control routine of the vehicle's steering angle control block shown in figure 17.
[0062] Figure 19 is a map to calculate an amount of AOyt target control of the vehicle's orientation angle based on a rate of change R1fd of the R curvature of the target path.
[0063] Figure 20 is an illustration that shows the operation of the second modality with respect to a case where a vehicle moves along a road that varies from straight to left curve.
[0064] Figure 21 is a flowchart showing the trajectory control routine in the third modality of the vehicle's steering control device according to the present invention.
[0065] Figure 22 shows an example of a branched pathway that is branched in a Y shape.
[0066] Figure 23 shows an example of a branched path where a displacement course is branched within the path.
[0067] Figure 24 is a flow chart showing the control routine to decide the need to change the target trajectory in the third modality.
[0068] Figure 25 is a flowchart showing the control routine to give prior notice of the existence of a one-way branch in the third modality.
[0069] Figure 26 is a flowchart showing the control routine to decide the driver's intention with respect to changing the travel course in the third mode.
[0070] Figure 27 is a flowchart showing the control routine to decide the driver's final intention with respect to changing the travel course in the third mode.
[0071] Figure 28 is a flow chart showing the control routine to change the target trajectory in the third mode.
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15/59 [0072] Figure 29 is an explanatory view with respect to a zone to allow alteration of the target trajectory and a zone of determination of the driver's intention described.
[0073] Figure 30 is a map to decide which lane the driver wants to take between the current lane, a branched lane on the left and a branched lane on the right based on the steering angle θ, angular steering speed θd and something similar in a situation where the vehicle is on this side of a branch.
[0074] Figure 31 is a map for deciding which lane the driver wants to take between the current lane, a branched lane on the left and a branched lane on the right based on the steering torque Ts, steering torque change rate Tsd and something similar in a situation where the vehicle is on this side of a branch.
[0075] Figure 32 is a map to decide which lane the driver wants to take between the current lane, a branched lane on the left and a branched lane on the right based on the steering angle θ, angular steering speed θd and something similar in a situation where the vehicle has passed the branch.
[0076] Figure 33 is a map to decide which lane the driver wants to take between the current lane, a branched lane on the left and a branched lane on the right based on the steering torque Ts, steering torque change rate Tsd and something similar in a situation where the vehicle has passed the branch.
[0077] Figure 34 is a map to decide which route the driver wants to take between the present lane, a branched lane on the left and a branched lane on the right based on the point on the target path present, the position of the end point Q2 of the branch , direction angle θ and angular direction speed θd.
[0078] Figure 35 is a map to calculate a weight Ws for the target trajectory after changing based on the maximum deviation degree Dsmax,
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16/59 vehicle speed V and elapsed time tc.
[0079] Figure 36 is an explanatory view that shows the vehicle's trajectory drawn through the target trajectory being changed by the third modality for a case (A) where the angle between the two tracks in a branch is large and one case (B ) where the angle is small. DESCRIPTION OF THE MODALITIES [0080] Some preferred embodiments of the present invention will be described in detail with reference to the attached drawings. First modality [0081] Figure 1 is a schematic view of the configuration showing a first modality of a vehicle steering control device according to the present invention that is applied to a vehicle equipped with an electric power control device and a rear wheel steering device.
[0082] With reference to figure 1, a vehicle steering control device 10 is installed in a vehicle 12 and includes a steering angle variation unit 14 and an electronic control unit16 for controlling the steering angle variation unit. In figure 1, the reference numerals 18FL and 18FR denote the left and right front wheels, respectively, which are steerable wheels; and 18RL and 18RR denote the left and right rear wheels respectively. The right and left front wheels 18FR, 18FL which are driven by an electronic energy control unit 22 of a rack and pinion type through a rack bar 24 and steering bars 26L and 26R, respectively with the steering unit being actuated in response to steering operation on a steering wheel 20 by a driver.
[0083] The handwheel 20 that serves as a means of steering input is directly connectable to a pinion shaft 34 of the power control unit 22 through an upper steering shaft 28, the
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17/59 steering angle variation unit 14, a lower steering axis 30, and a universal joint 32. The steering angle variation unit 14 includes an electric motor 36 for further steering steering. Electric motor 36 has a receptacle 14A connected to a lower end of the upper steering shaft 28 and a rotor 14B connected to an upper end of the lower steering shaft 30.
[0084] As is evident from the above, the steering angle variation unit 14 rotates the lower steering axle 30 relative to the upper steering axle 28 to thereby drive the left and right front wheels 18FL and 18FR for supplementary steering. relative to the steering wheel 20. The steering angle variation unit 14 serves as a steering ratio variation system (VGRS), that is, the steering ratio variation unit that increases and decreases a steering ratio (an inverse transmission ratio) is controlled by a steering angle control section of the electronic control unit16.
[0085] The left and right rear wheels 18RL and 18RR being driven by an electrical power control unit 44 from a rear steering device 42 through steering bars 46L and 46R regardless of the direction of the left and right front wheels 18FL and 18FR , and the rear steering device 42 is controlled by the steering section of the electronic control unit16.
[0086] The rear steering device 42 illustrated is an electric auxiliary steering device of well-known configuration, and has a 48A electric motor and a screw type 48C movement transfer mechanism, for example, which transfers rotational movement from the electric motor 48A for back and forth movement (reciprocating) of a 48B relay rod. The 48B relay rod cooperates with the 46L and 46R steering bars and articulated arms not shown in the figure to constitute a wheel turning mechanism that turns the wheels
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18/59 rear left and right 18RL and 18RR to drive by reciprocating the 48B relay rod.
[0087] Although not shown in detail in the figure, the 48C motion transfer mechanism transfers rotational motion from the 48A electric motor to back and forth motion from a 48B relay rod but does not transmit forces that the left and right rear wheels 18RL and 18RR receive from the track surface to the 48A electric motor so that the 48A electric motor is not rotated by the force transmitted to the 48B relay rod.
[0088] In the illustrated modality, the electric power control unit 22 is an electric power control unit located concentric with the rack bar. The power control unit 22 includes an electric motor 50 and a mechanism that converts the rotational torque of the electric motor 50 into a force in a reciprocal direction of the rack bar 24 such as, for example, a ball / type conversion mechanism. thread 52. The power control unit 22 is controlled by a control section of the electric power control unit (EPS) of the electronic control unit 16 and generates auxiliary steering torque to drive the rack bar 24 relative to a receptacle 54 to thereby reduce the steering load on the driver.
[0089] It should be understood that the steering angle variation unit 14 can be of any configuration as long as it cooperates with an auxiliary steering assist force generation device to vary the steering angle of the left and right front wheels without depending of a driver's steering operation and to vary the steering wheel's rotation angle 20. Similarly, the power generation device to assist steering can have any configuration as long as it can generate auxiliary steering force. Additionally, although the means of entry for
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19/59 direction is steering wheel 20 and its operating position is the angle of rotation, the steering input means can be a joystick-type steering lever and its operating position can be reciprocal operating position.
[0090] In the modality shown in the figure, the upper steering axis 28 is equipped with a steering angle sensor 50 that detects a rotation angle of the upper steering axis as a steering angle θ and a steering torque sensor 52 which detects a steering torque Ts. The lower steering axis 30 is provided with a rotation angle sensor 54 which detects a rotation angle of the lower steering axis as a pinion angle (rotation angle of the pinion shaft 34) φ. The signals indicating a steering angle θ, a steering torque Ts and a pinion angle φ are input to the steering angle control section and the EPS control section of the electronic control unit16.
[0091] It should be noted that the rotation angle sensor 54 can be replaced by a rotation angle sensor that detects the relative rotation angle in the directed angle variation unit 14, that is, the rotation angle of the axis of rotation. lower direction 30 relative to the upper steering axis 28.
[0092] Vehicle 12 is equipped with a front CCD camera 58 that captures a front image in front of the vehicle and a selection switch 60 that is operated by a vehicle occupant to turn on and off an auxiliary control to maintain the track ( LKA) to make the vehicle move along a track. A signal indicative of frontal image information in front of the vehicle captured by the CCD 58 camera is input to the driving control section of the electronic control unit16. It should be noted that the front image information in front of the vehicle and track information can be obtained by means other than the CCD camera.
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20/59 [0093] Individual sections of the electronic control unit16 can be those that comprise microcomputers and each microcomputer can have CPU, ROM, RAM, and an input / output port connected to the other through a common bidirectional bus. The steering angle sensor 50, the steering torque sensor 52 and the rotation angle sensor 54 detect a steering angle θ, a steering torque Ts and a pinion angle φ, respectively with the detected variables being positive when the direction or turn of the vehicle is driven in the left turn direction of the vehicle.
[0094] As will be described in detail hereinafter, the electronic control unit16 performs a trajectory control, which is referred to as an aid control to stay on the track (LKA control) by controlling the directed angle variation unit 14 and the electrical power control unit 22 according to the flowcharts shown in figure 2 and the like. Additionally, the electronic control unit16 rotates the steering wheel 20 before its rotation to vary the direction of travel of the vehicle by trajectory control when the radius ratio of a target trajectory to make the vehicle move along a track changes when the vehicle moves.
[0095] Next, the direction control of the vehicle in the first mode will be explained with reference to the flowchart shown in the figure
2. It should be noted that the control according to the flowcharts and block diagrams shown in figures 2 to 6 is initiated when an ignition switch not shown in the figure is turned on, and is performed repeatedly at predetermined intervals.
[0096] In particular, figure 2 is a block diagram that fully illustrates the vehicle's steering control in the first modality and figure 3 is a flowchart showing the control routine in the trajectory control block shown in figure 2. Figure 4 is a flow chart
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21/59 showing the control routine in the steering wheel rotation control block shown in figure 2 and figure 5 is a flow chart showing the control routine in the steering force control block shown in figure 2. Additionally , figure 6 is a flowchart showing the control routine in the steering control torque control block shown in figure 2.
[0097] The control in the path control block 100 shown in figure 2 is performed according to the flowchart shown in figure 3 by the vehicle steering control section of the electronic control unit16. An Olkaft target angle of the front wheels and an Olkart target angle of the rear wheels to move the vehicle along the target path are calculated and indicative signals are provided for the steering response control block 400 as a target 0ft target angle of the front wheels and a target 0rt target angle of the rear wheels for trajectory control.
[0098] The control in the steering wheel control block 200 shown in figure 2 is performed according to the flowchart shown in figure 4 by the vehicle steering control section of the electronic control unit16. A target rotation angle 0swt is calculated which is to rotate the steering wheel 20 to announce a change in the direction of travel of the vehicle before the actual change in the direction of travel of the vehicle caused by the trajectory control. Additionally, a target amount of AOsft correction is calculated from the directed angle of the front wheels to rotate the steering wheel 20 by the target rotation angle 0swt and a signal indicative thereof is provided for an adder 310.
[0099] The target amount of AOsft correction is added to the target 0ft target angle of the front wheels by the adder 310 to calculate a target target 0fft target angle of the front wheels. THE
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22/59 steering angle variation unit 14 is controlled by the steering angle control section of the electronic control unit16 so that the 0f steering angle of the front wheels conforms to the 0fft final target steering angle. The target steering angle 0rt of the rear wheels is determined to a target target angle 0frt by the steering angle control section of the electronic control unit16 and the electrical power control unit 44 of the rear steering device 42 is controlled by the section for that the steering angle 0r of the rear wheels conforms to the steering target angle 0frt of the rear wheels.
[00100] The control in the control block of the reaction force to targeting 400 is performed according to the flowchart shown in figure 5 by the EPS control section of the electronic control unit16. A Tlkat target assist torque to control the 0f directed angle of the front wheels to the Olkaft target directed angle of trajectory control is calculated based on the 0ft target angle of the front wheels, the 0rt target angle of the rear wheels and the like. The target assist torque Tlkat is a target assist torque to control the 0f directed angle of the front wheels to the 0lkaft target directed angle of the path control by the cooperation of the directed angle variation unit 14 and the electrical power control unit 22 without turning the handwheel 20.
[00101] The control in the torque control block for steering aid 500 is performed according to the flowchart shown in figure 6 by the EPS control section of the electronic control unit16. A sum of a Tbaset target basic assist torque to reduce the driver's steering weight and the Tlkat assist torque target is calculated as a Tfat end assist torque target. The electrical power control unit 22 is controlled so that the assist steering torque conforms to the final target assist torque Tfat.
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23/59
Trajectory Control Routine [00102] In step 110 of the trajectory control routine shown in figure 3, after the necessary information has been read, a decision is made as to whether the selection switch 60 is on or not, that is, whether the path control mode is selected or not. When a negative decision is made, the reading of the necessary information and at step 100 are conducted again, while when an affirmative decision is made, the control proceeds to step 120.
[00103] In step 120, a decision is made as to whether the white lines of a track are detected or not based on the frontal image information captured by the CCD 58 camera, that is, whether the track can be specified or not. When a negative decision is made, when a target trajectory for trajectory control cannot be determined, control returns to the step of reading the necessary information and to step 110, whereas when an affirmative decision is made, the control moves forward to step 130.
[00104] In step 130, a target trajectory of the vehicle is determined by analysis and something similar to the frontal image information captured by the CCD camera 58, and a curvature R (the inverse of the radius) of the target trajectory and a lateral difference Y is calculated and an orientation angle de of the vehicle relative to the target trajectory. A target vehicle trajectory can be determined based on the information sent from a navigation unit not shown in the figure or it can be determined based on the combination of the analysis of image information and the information sent from a navigation unit.
[00105] Although an R curvature of the target trajectory and the like are necessary parameters to perform the trajectory control to make the vehicle travel along a target trajectory, when the way to calculate the parameters is not an essential part of the present invention , parameters can be calculated
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24/59 anyway. In particular, since the present position of the vehicle changes gradually as time passes, a curvature R of the target trajectory can be calculated as a function of time elapsed from now on.
[00106] In step 140, a target lateral acceleration Gyt of the vehicle required to make the vehicle move along the target trajectory is calculated based on the parameters mentioned above for trajectory control. When the way to calculate the target lateral acceleration Gyt is not an essential part of the present invention, the target lateral acceleration Gyt can be calculated in any way. For example, a map can be determined that indicates the relationship between the parameters mentioned above for trajectory control and a target lateral acceleration Gyt and a target lateral acceleration Gyt can be calculated from the map based on the parameters mentioned above.
[00107] In step 150, an Olkaft target angle of the front wheels for trajectory control is calculated from a map shown in figure 7 based on the target lateral acceleration Gyt. A sign indicating the value is provided as an Oft target angle of the front wheels for trajectory control for the adder 310 and for the steering response control block 400.
[00108] In step 160, a target angle lkart of the rear wheels for trajectory control is calculated from a map shown in figure 8 based on the lateral acceleration target Gyt. A signal indicating the value is provided as a target target angle Ort of the rear wheels for trajectory control for the steering reaction control block 400 and for the steering angle control section of the electronic control unit16.
Handwheel Rotation Control Routine [00109] Steps 210 and 220 in the wheel rotation control routine
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25/59 steering wheel shown in figure 4 are conducted as in steps 110 and 120, respectively, in the trajectory control routine described above. [00110] In step 230, a reference distance Lf is calculated for the handwheel rotation control. The rotation of the steering wheel to announce a change in the direction of travel of the vehicle for occupants of the vehicle must be conducted in a position that is moved back from the position where the actual change in the direction of travel of the vehicle occurs and the distance between the positions must be increased when vehicle V speed increases. Consequently, the reference distance Lf is calculated so that it increases when the vehicle speed V increases.
[00111] In step 240, a curvature R1f of the target trajectory is determined in a position far ahead by the reference distance Lf from the present position based on the analysis results of the image information in front of the vehicle and vehicle speed V. One time differential value of curvature R1f is also calculated as a rate of change R1fd of curvature R of the target path.
[00112] In step 250, an Oswt target rotation angle of the flywheel 20 is calculated from a map shown in figure 9 based on the rate of change R1fd of the curvature R of the target path. Although not shown in Figure 4, in a situation where a target amount of AOsft correction from the directed angle of the front wheels rapidly changes in magnitude due to the rapid change in magnitude of the rate of change R1fd of the R curvature of the target path, the target amount of correction AOsft can be modified so that it changes in magnitude gradually.
[00113] In step 260, a target amount of AOsft correction of the steering angle of the front wheels to rotate the steering wheel 20 by the target rotation angle Oswt is calculated based on the target rotation angle Oswt, a ratio of a steering system and something similar.
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26/59
Steering Reaction Force Control Routine [00114] In steps 310 in the steering reaction force control routine shown in figure 5, an Offtd differential value and a second order Offtdd differential value are calculated from a target angle at the final target Front wheel offt which is calculated by adding the target angle oft of the front wheels and the target rotation angle Oswt by the adder 310.
[00115] In steps 320, an aid torque Tic to compensate for the inertia of the steering system and the power control unit 22 is calculated from a map shown in figure 10 based on the second order differential value 6fftdd of 6fft final target directed angle of the front wheels.
[00116] In steps 330, an auxiliary torque Tdc is calculated to compensate the viscosity in the steering system and the power control unit 22 from a map shown in figure 11 based on the differential value 6fftd of the target directed angle 6fft end of the front wheels.
[00117] In steps 340, an auxiliary torque Tfc is calculated to compensate the friction in the steering system and the electrical power control unit 22 from a map shown in figure 12 based on the differential value 6fftd of the target directed angle 6fft end of the front wheels.
[00118] In steps 350, a target 6ft target angle of the front wheels is processed for trajectory control by a second order delay and second order advance filter to calculate a target target angle corrected by the 6ftf response of the front wheels. For example, a target directed angle corrected by 6ftf response from the front wheels is calculated according to the following Formula 1. In Formula 1, s represents a Laplace operator and a0-a2 and b0-b2 are coefficients determined by the vehicle specification and something
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27/59 similar.
0ftf = a2s ² + ais + a0 z tíit b2s ² + bis + b0 - (1) [00119] In steps 360, a Tlkaft correction torque based on the directed angle control of the front wheels is calculated from a map shown in figure 13 based on the target directed angle corrected by the Oftf response of the front wheels. The correction torque Tlkaft is an auxiliary torque to control the angle directed from the front wheels to the target angle Oft for the purpose of trajectory control.
[00120] In steps 370, a target Ort angle of the rear wheels is processed for trajectory control by a second order delay and first order advance filter to calculate a target target angle corrected by the rear wheels Ortf response. For example, a target directed angle corrected by the Ortf response of the rear wheels is calculated according to the following Formula 2. In Formula 2, s represents a Laplace operator and b0-b2 and c0-c2 are coefficients determined by the vehicle specification and something similar.
„ _R cis + c0 Ortf = ------------- Ort - (2) b2s ² + bis + b0 [00121] In steps 380, a Tlkart correction torque is calculated
based on the steering angle control of the rear wheels from a map shown in figure 14 based on the target steering angle corrected by the rear wheel Ortf response. The correction torque Tlkart is an auxiliary torque to control the steering angle of the rear wheels to the target steering angle Ort for the purpose of trajectory control.
[00122] In steps 390, a sum of the Tic, Tdc,
Tfc, Tlkaft and Tlkart calculated in step 320 to 340,360 and 380 as a Tlkat target assist torque based on trajectory control and a signal
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28/59 indicative of the value is provided for the steering control torque control block 500.
[00123] Steering Assist Torque Control Routine [00124] In step 410 in the steering assist torque control routine shown in figure 6, a target basic assist torque Tbaset is calculated to reduce the steering weight on the driver from a map shown in figure 15 based on steering torque Ts and vehicle speed V.
[00125] In steps 420, a sum of the target basic assist torque Tbaset and the target help torque Tlkat is calculated based on the path control as a target Tfat end assist torque.
[00126] In steps 430, the electrical power control unit 22 is controlled so that the assist steering torque Ts conforms to the final target assist torque Tfat.
[00127] As is understood from the above, in the trajectory control block 100, a target angle Olkaft of the front wheels and a target angle Olkart of the rear wheels are calculated to make the vehicle move along the target path. In the steering wheel rotation control block 200, a target amount of AOsft correction of the directed angle of the front wheels is calculated to rotate the steering wheel 20 which is to be used to announce a change in the direction of travel of the vehicle before the actual change in the direction of vehicle displacement caused by trajectory control.
[00128] The target amount of AOsft correction and the target target angle 0ft (= 0lkaft) of the front wheels are added by the adder 310 to calculate a target target angle 0fft of the front wheels. The steering angle variation unit 14 is controlled so that the steering angle 0f of the front wheels conforms to the steering target angle 0fft. In addition, the target steering angle 0rt (= 0lkart) of the rear wheels is determined for a steering angle
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29/59 Ofrt final target and the 0r directed angle of the rear wheels is controlled to conform to the Ofrt final target directed angle.
[00129] In the control block of the reaction force to the steering 400, a target assist torque Tlkat is calculated to control the angle of the front wheels towards the target angle of the path control Olkaft without turning the steering wheel 20. In the block steering assistance torque control 500, a sum of a target basic assist torque Tbaset is calculated to reduce the driver's steering weight and the target assist torque Tlkat as an ultimate target assist torque Tfat. In addition, the electrical power control unit 22 is controlled so that the assist steering torque conforms to the final target assist torque Tfat.
[00130] Consequently, while the directed angle Or of the rear wheels is controlled to conform to the final target angle of θ ^ which is the same as the Olkart target angle of the rear wheels of the trajectory control, the directed angle Of the front wheels it is controlled to conform to the target target angle Offt which is the sum of the target target angle Olkaft for trajectory control and the target amount of AOsft correction. In addition, the electrical power control unit 22 is controlled so that it reaches a target assist torque Tlkat that allows controlling the directed angles of the front and rear wheels to the target angles Olkaft and Olkart, respectively, for trajectory control without turning the handwheel 20 in cooperation with the directed angle variation unit 14.
[00131] Therefore, the directed angles of the front and rear wheels can be controlled for the target angles Olkaft and Olkart, respectively, for the trajectory control to make the vehicle move along the target trajectory, and the steering wheel 20 can be rotated by the target rotation angle Oswt which corresponds to the amount
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30/59 AOsft correction target of the front wheels directed angle. Therefore, it is possible to announce the change in the direction of travel of the vehicle by rotating the steering wheel 20 before the direction of travel of the vehicle is actually changed by the trajectory control.
[00132] For example, figure 16 is an illustration that shows the operation of the first modality with respect to a case where a vehicle moves along a track that varies from straight to left curve.
[00133] In figure 16, 80 and 82 represent the left and right white lines of a track 84, respectively and 86 represents a target trajectory that is formed by connecting the central positions between the left and right white lines 80 and 82. 88 represents a vehicle reference position 12 which can be, for example, a center of gravity and 90 represents the longitudinal direction of the vehicle. Additionally, in figure 16, 92 represents a neutral direction of the steering wheel 20 in order to thus clearly indicate the rotation positions of the steering wheel 20 when the vehicle 12 is in the displacement positions P1 to P4.
[00134] When vehicle 12 advances straight (offset position P1), the target angle Olkaft of the front wheels and the target angle Olkart of the rear wheels are 0 and the amount of AOsft target correction of the angle of the front wheels is also 0. Consequently, the 0f directed angle of the front wheels and the 0r directed angle of the rear wheels are controlled to 0 which corresponds to the positions that make the vehicle travel straight, and the steering wheel 20 is kept in its neutral position.
[00135] When vehicle 12 approaches the curve area (offset position P2), although the target angle of the front wheels Olkaft and the target angle of the rear wheels Olkart are 0, the target amount of AOsft correction of the directed angle of
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31/59 front wheels becomes a left turn value. Consequently, although the directed angle 0f of the front wheels and the directed angle 0r of the rear wheels are controlled to 0 which corresponds to the positions that make the vehicle travel straight, the steering wheel 20 is turned in the direction of left turn by an angle of rotation target 0swt, which announces to the occupants of the vehicle that the vehicle will make a left turn by trajectory control.
[00136] When vehicle 12 enters the curve area (offset position P3), the target angle 0lkaft of the front wheels and the target angle 0lkart of the rear wheels assume values for left turn that are determined according to the curvature R of target trajectory 86, and the target amount of correction A0sft of the directed angle of the front wheels and target rotation angle 0swt gradually decreases to close to 0. Consequently, the directed angle 0f of the front wheels and the directed angle 0r of the rear wheels are controlled to left turn values and steering wheel 20 is returned from a left turn position to a position close to neutral, which announces to the vehicle occupants that the left turn condition of the vehicle will not be changed by trajectory control .
[00137] When vehicle 12 becomes stable by turning left (offset position P4), the target steering angle 0lkaft of the front wheels and the target steering angle 0lkart of the rear wheels are maintained at left curve values which are determined accordingly. with the curvature R of the target path 86, and the target amount of correction A0sft of the directed angle of the front wheels and the target rotation angle 0swt are kept close to 0. Consequently, the directed angle 0f of the front wheels and the directed angle 0r of the rear wheels are controlled to values for left turn and steering wheel 20 is kept close to neutral, which announces to
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32/59 occupants of the vehicle that the present left turn condition of the vehicle will be maintained.
Second Mode [00138] Figure 17 is a block diagram that fully illustrates the vehicle steering control in the second mode of the vehicle steering control device according to the present invention. In figure 17, the blocks that correspond to those shown in figure 2 are denoted by the same reference numerals as in figure 2.
[00139] In the second mode, a vehicle steering angle control block 600 is additionally provided for the trajectory control block 100, the steering wheel rotation control block 200, the steering force control block 400 and the steering control torque control block 500. It should be noted that the control in each of the different blocks of the vehicle's 600 steering angle control block is the same as that in the first mode described above.
[00140] The control in the vehicle's steering angle control block 600 is performed according to the flowchart shown in figure 18 by the vehicle steering control section of the electronic control unit16. The quantities of AOyft and AOyrt target corrections for the front and rear wheel steering angles that are calculated are used to control the vehicle's steering angle pelo by trajectory control and to announce to vehicle occupants that the steering angle will change, and the indicative signs of the values are provided for the additives 320 and 330.
[00141] The target amount of AOyft correction of the front wheel angle is added by the adder 320 to an Olkaft target angle of the front wheels to calculate a 0ft target angle of the front wheels. A sign indicating the angle
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33/59 Oft targeting of the front wheels is provided for the adder 310 and is also provided for the control block of the reaction force to the steering 400.
[00142] Similarly, the target amount of AOyrt correction of the steering angle of the rear wheels is added by adder 330 to a target steering angle of the rear wheels to calculate a target angle 0rt of the rear wheels. A signal indicating the target 0rt target angle of the rear wheels is provided for the steering reaction force control block 400 and is also provided as a signal indicative of a target target 0frt target angle of the rear wheels for the angle control section direction of the electronic control unit 16.
[00143] Vehicle Orientation Angle Control Routine [00144] Steps 510 to 540 of the vehicle orientation angle control routine shown in figure 18 are conducted in the same way as in steps 210 to 240, respectively, in the routine steering wheel control described above.
[00145] In step 550, a target control amount A0yt of the vehicle's orientation angle is calculated to announce the vehicle occupants about the change in the direction of travel of the vehicle by the vehicle's trajectory control from a map shown in the figure 19 based on a rate of change R1fd of the curvature R of the target path.
[00146] In step 560, the AOyft and AOyrt target correction amounts for the front and rear wheel directed angles are calculated, for example, by filtering the target control amount A0yt of the vehicle's steering angle with a first order forward filter , and indicative value signals are provided for additives 320 and 330. The target correction quantities AOyft and AOyrt of the directed angles of the front and rear wheels can be calculated from
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34/59 according to the following Formulas 3 and 4. In Formulas, s represents a Laplace operator and the time constants Kf and Kr are constants determined by the vehicle specification and the like.
AOyft = - (Kfs + 1) A0yt. „(3)
AOyrt = - (Krs + 1) A0yt „(4) [00147] It should be understood that the vehicle's steering angle control routine shown in figure 18 can be integrated with the steering wheel rotation routine shown in figure 4 For example, the routine can be modified so that steps 550 and 560 are carried out after the end of step 250 shown in the figure
4.
[00148] As is understood from the above, in the second modality, the control in each of the different blocks of the 600 vehicle orientation angle control block is conducted in the same way as in the first modality described above. The target amounts of AOyft and AOyrt correction for the directed angles of the front and rear wheels that are used to control the vehicle's steering angle pelo by trajectory control are calculated by controlling the vehicle's 600 steering angle control block.
[00149] The target amount of AOyft correction of the front wheels directed angle is added by the adder 320 to an Olkaft target front angle of the front wheels, and the indicative signs of the 0ft target front angle of the front wheels calculated by the addition are provided for the adder. 310 and for the steering reaction control block 400. Similarly, the target amount of AOyrt correction of the steering angle of the rear wheels is added by the adder 330 to a target steering angle Olkart of the rear wheels, a sign indicating the 0rt target steering angle of the rear wheels calculated by the addition is provided for the block of
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35/59 control of the reaction force to the steering 400 and is also provided as a signal indicative of a target angle 0frt final target of the rear wheels to the steering angle control section of the electronic control unit16.
[00150] Consequently, the 0f directed angle of the front wheels is controlled to conform to the final target directed angle 0fft which is the sum of the Olkaft target directed angle for trajectory control, the target amount of correction Δ0γΑ: for angle control of orientation and the target amount of correction Δ0sft to control the direction of rotation angle. The target angle 0r of the rear wheels is controlled to conform to the target target angle θΙΤ which is the sum of the target target angle 0lkaft of the rear wheels for trajectory control and the target amount of correction Δθγιί for the orientation angle control. Additionally, the electrical power control unit 22 is controlled so that it reaches a target torque aid Tlkat that allows to control the directed angles of the front and rear wheels to the targeted angle 0ft and 0rt, respectively, which are the sum of the directed angle target of the front and rear wheels for trajectory control and the target amount of correction for steering angle control, without turning the steering wheel 20 in cooperation with the steering angle variation unit
14.
[00151] Therefore, the directed angles of the front and rear wheels can be controlled to make the vehicle move along the target path with the vehicle's steering angle being controlled, and the steering wheel 20 can be rotated by the target rotation angle 0swt which corresponds to the target correction amount Δ0sft of the directed angle of the front wheels. Therefore, it is possible to announce to the occupants of the vehicle that the direction of travel of the vehicle will be changed by the rotation of the steering wheel 20 and the orientation angle of the
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36/59 vehicle before the vehicle's direction of travel is actually changed by trajectory control. Therefore, the announcement can be made that is more effective than that in the first modality.
[00152] For example, figure 20 is an illustration that shows the operation of the second modality with respect to a case where a vehicle moves along a track that varies from straight to left turn. It should be noted that in figure 20, the parts that correspond to those shown in figure 16 are denoted by the same reference numerals as in figure 16.
[00153] When vehicle 12 advances straight (offset position P1), the target angles Olkaft and Olkart of the front and rear wheels are 0; the target correction amounts ΔθγΑ and ΔθγΑ of the front and rear wheels for the steering angle control are 0; and the target correction amount ΔOsft of the directed angle of the front wheels is also 0. Consequently, the directed angle Of the front wheels and directed angle Or of the rear wheels are controlled to 0 which corresponds to the positions that make the vehicle travel straight; handwheel 20 is held in its neutral position; and the vehicle's steering angle is kept at 0.
[00154] When vehicle 12 approaches the curve area (offset position P2), although the target angle θ ^ Α: of the front wheels and the target angle Olkart of the rear wheels are 0, the target correction amounts ΔθγΑ and ΔθγΑ of the front and rear wheels for steering angle control assume values that make the vehicle's steering angle to the left and the target amount of correction ΔOsft of the directed angle of the front wheels takes on a value for left turn. Consequently, while the directed angle Of the front wheels and the directed angle Or of the rear wheels are controlled to values that make the vehicle turn left and right, respectively, resulting in
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37/59 in which the vehicle's steering angle is controlled in the left direction and the steering wheel 20 is turned in the left turn direction by an Oswt target rotation angle. Therefore, by means of the vehicle's steering angle and the rotation of the steering wheel 20, it is announced to the occupants of the vehicle that the vehicle will make a left turn by trajectory control.
[00155] When vehicle 12 enters the curve area (offset position P3), the target angle of the front wheels Olkaft and the target angle of 6lkart of the rear wheels assume values for left turn that are determined according to the curvature R of target trajectory 86. The target amount of A6sft correction of the directed angle of the front wheels and the target rotation angle 6swt gradually decrease to close to 0. Consequently, the directed angle 6f of the front wheels and the directed angle 6r of the rear wheels are gradually reduced values for right turn and left turn, respectively and steering wheel 20 is returned from a left turn position to close to the neutral position, which announces by the trajectory control to the occupants of the vehicle that the left turn condition of the vehicle will not be changed.
[00156] When vehicle 12 becomes stable by turning left (offset position P4), the target angle 6lkaft of the front wheels and the target angle 6lkart of the rear wheels are maintained in the values for left turn that are determined accordingly with the R curvature of the target path 86. The target correction amounts A6yft and A6yft of the front and rear wheels for the steering angle control, the target amount of correction A6sft of the directed angle of the front wheels and the target rotation angle 6swt are Therefore, the steering angle 6f of the front wheels and steering angle 6r of the rear wheels are controlled to values for left turn and steering wheel 20 is kept close to the
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38/59 neutral position, which announces to the occupants of the vehicle that the present left turn condition of the vehicle will be maintained. Third Mode [00157] In the third mode, the control in each of the different blocks of the path control block 100 shown in figure 17 is conducted in the same way as in the second mode described above. That is, the controls on the steering wheel rotation control block 200, the steering reaction force control block 400 and the steering assistance torque control block 500 and the vehicle's steering angle control block 600 are conducted in the same way as in the second mode described above.
[00158] The control in the path control block 100 is performed according to the flowchart shown in figure 21 by the vehicle direction control section of the electronic control unit 16. In the vehicle path control, a target path is determined of the vehicle and a decision is made as to whether the runway along the target path is branched or not. When a decision is made that the track is branched, a decision is made as to whether the target trajectory is to be changed or not by determining the driver's intention with respect to changing the travel course. In addition, when a decision is made that the target trajectory should be changed, it is changed to a trajectory that is along a travel path desired by the driver. It should be noted that a branched track in the present application means that a track where the travel course is branched into a plurality of travel courses such as a Y-shaped track, cross-track and the like.
[00159] Figure 22 shows an example of a branched track (Y-shaped track). In the branched runway shown in figure 22, a course of
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39/59 offset 94 of a track 84 is branched Y-shaped at a branch point Q1 on a travel stroke 94A of a track 84A and a travel stroke 94B of a track 84B. Point Q2 represents an end point of the branch, that is, the point ahead of which the vehicle cannot change its travel course. In the following description, it is assumed that the travel courses 94 and 94A are present in the target path and when a decision is made that the target path should be changed, it is changed to the travel course 94B.
[00160] Figure 23 shows an example of a branched path where a displacement course is branched within the path. In the branched path shown in figure 23, the runway 84 has two travel strokes, which are partially separated by a central stripe 96, and the travel stroke 94 is branched at a branch point Q1 in the travel strokes 94C and 94D. It should be noted that the position of branch point Q1 varies according to the speed of the vehicle V, track width and the like and an end point Q2 of the branch is determined by the position of the end near the central strip 96. [00161] Na third mode, when a decision is made that the road is branched, the lateral position of the vehicle is shifted to bring the vehicle closer to a travel path that is closer to the target path present among the plurality of travel courses ahead branch point. A decision is made as to whether the driver has an intention or not to change the travel course based on the driving operation conducted by the driver against the lateral displacement above the vehicle. When a decision is made that the driver intends to change the travel course, it is determined that the target trajectory should be changed based on the decision.
Trajectory Control Routine
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40/59 [00162] Steps 710 and 720 in the trajectory control routine shown in figure 21 are carried out in the same way as in step 110 and 120, respectively, in the trajectory control routine (figure 3) in the first modality described above . However, when an affirmative decision is made at step 720, control proceeds to step 730.
[00163] In step 730, a lane in front of the vehicle is determined by analysis and something similar to the information in the frontal image captured by the CCD 58 camera. A target trajectory is determined based on the determined lane and a target route determined by a unit of navigation and something similar.
[00164] In step 740, a branched lane determination section that is used to decide whether or not there is a branch in the lane ahead of the vehicle is determined for a zone located, for example, between a position ahead by Lmin and a position moved forward by Lmax from the present position. Lmin and Lmax are determined in a variable way based on the speed of vehicle V so that they increase when the speed of vehicle V increases. It should be noted that Lmax is determined for a value that is greater than a length of the driver's determination zone described below and Lmin is determined for a value that is less than Lmax.
[00165] In step 750, a decision is made as to whether there is a branch or not in the branching path determination section based on the results of analysis of frontal image information captured by the CCD camera 58 and on the information sent from a scanning unit navigation and something similar. When a negative decision is made, when the target trajectory is not to be changed, the control moves to step 910, while when an affirmative decision is made, the control moves to step 800. It should be noted that
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41/59 if a decision has already been made that a branch exists, control proceeds to step 800 without leading the decision as to whether a branch exists in step 750.
[00166] In step 800, a decision is made as to whether the target trajectory is to be changed or not according to the flowcharts shown in figures 24 to 27. When a negative decision is made, the control proceeds to step 910, whereas when an affirmative decision is made, the control proceeds to step 900. It should be noted that if a decision has already been made that the target trajectory is to be changed, the control proceeds to step 910 without leading the decision as to the need to change in step 800.
[00167] In step 900, the target path is changed to another branched path of the present path according to the flowchart shown in figure 28. For example, in the branched path shown in figure 22, the target path is changed from the path of the offset 94A for the travel path 94B.
[00168] In step 910, an Olkaft target angle of the front wheels and an Olkart target angle of the rear wheels are calculated to make the vehicle's trajectory conform to the target trajectory, and an Oswt target rotation angle of the steering wheel 20 is calculated The target directed angles θ ^ βΛ and O ^ ií and the target rotation angle Osw can be calculated in the same way as in the first and second modes or can be calculated in any other way. The steering angle variation unit 14 and electric power control units 22 and 44 are controlled so that the directed angles Of and Or of the front and rear wheels conform to the final target angles of target Offt and θ ^, respectively, which controls the vehicle to move along the target path.
Control Routine to Decide the Need to Change the Target Trajectory
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42/59 [00169] Before describing the routine to decide the need to change the target trajectory, taking a branched path shown in figure 22, for example, and with reference to figure 29, explanations are provided with respect to determinations of a zone to allow changing the target trajectory and a zone to decide a driver's intention.
[00170] As shown in figure 29, a position Q3 is determined that is spaced Lp on this side from the branch point Q1 to an initial point of a Scp zone to allow the alteration of the target path and a Sid zone to decide the driver's intention. Branch point Q1 is determined for an end point of the Sid section to decide the driver's intention. Again as shown in figure 29, if the vehicle 12 passes from the branch point Q1 far ahead, the change of travel path cannot be carried out on this side of the end point Q2 of the branch travel path 94A to travel path 94B or vice versa. The points Q4 and Q5 that are farthest from the branch point Q1 in the area where the displacement course change is allowed are referred to as an end point of the Scp section to allow the change of the target path. It should be noted that the distance Lp is determined in a variable way so that it increases when the vehicle speed increases. The end points Q4 and Q5 of the Scp section to allow the alteration of the target trajectory are determined in a variable way so that they approach the branch point Q1 when vehicle speed v increases, the angle between the branched lanes increases and the width of the track increases.
[00171] Next, with reference to the flowchart shown in figure 24, the control routine to decide the need to change the target trajectory conducted in step 800.
[00172] First, in step 810, a zone is determined for
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43/59 allow the change of the target trajectory if no zone has been determined to allow the change of the target trajectory. The section to allow changing the target path is a zone where a target path can be changed and changing a target path is prohibited in areas on this side and in front of the section.
[00173] In step 820, a decision is made as to whether or not the vehicle is in the Scp section to allow changing the target trajectory. When a negative decision is made, as it is not allowed to change a target trajectory, the control moves to step 910, while when an affirmative decision is made, the control moves to step 830.
[00174] In step 830, a decision is made as to whether or not the vehicle is on this side of the Q1 branch point, that is, whether or not the vehicle is in the Sid section to decide the driver's intention. When a negative decision is made, the control proceeds to step 860, while when an affirmative decision is made, the control proceeds to step 840.
[00175] In step 840, the lateral and somewhat similar position of the vehicle relative to the track is varied based on the target trajectory present according to the flowchart shown in figure 25 described below, which announces to the occupants of the vehicle that there is a branched track. [00176] In step 850, in the situation where the vehicle has not yet passed the branch point Q1, the decision is made as to the driver's intention with respect to the selection of travel distance according to the flowchart shown in figure 26 described below. That is, a decision is made as to which travel course the driver wants to take.
[00177] In step 860, in the situation where the vehicle passed the branch point Q1, the decision is made as to the driver's final intention with respect to the selection of travel distance according to the
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44/59 flowchart shown in figure 27 described below.
[00178] In step 870, a decision is made as to whether or not the driver wants to change the travel course based on the relationship between the travel course that the driver wants to take and the present target trajectory. When an affirmative decision is made, the control proceeds to step 900, while when a negative decision is made, the control proceeds to step 910.
Control Routine to Announce the Existence of a Branched Lane [00179] In step 841 in the flowchart shown in figure 25 that shows the control routine to announce the existence of a branched lane, a decision is made as to whether the target trajectory the vehicle follows after it has passed the branch point Q1 is or is not on the left side of the current direction of travel. When an affirmative decision is made, the control proceeds to step 843, while when a negative decision is made, the control proceeds to step 842.
[00180] In step 842, a decision is made as to whether the target path that the vehicle follows after it has passed the branch point is on the right side of the present direction of travel or not. When an affirmative decision is made, the control proceeds to step 844, while when a negative decision is made, the control proceeds to step 845.
[00181] In step 843, the target angles Olkaft and Olkart of the front and rear wheels and a target rotation angle Oswt of the steering wheel 20 are calculated so that the angles cause the vehicle 12 to move along the target path present in a condition where the vehicle is moved to the left relative to the present target trajectory. For example, as shown by a dashed line arrow in figure 29, target angles of the front and rear wheels and a target rotation angle of the steering wheel 20 are calculated so that the angles make the
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45/59 vehicle 12 first turn slightly to the left and then turn slightly to the right to thereby move along track 84 in a condition where the vehicle is moved to the left.
[00182] In step 844, the target angles Olkaft and Olkart of the front and rear wheels and a target rotation angle Oswt of the steering wheel 20 are calculated so that the angles cause the vehicle 12 to move along the target path present in a condition where the vehicle is moved on the right side relative to the present target trajectory.
[00183] In step 845, the target angles Olkaft and Olkart of the front and rear wheels are calculated so that the angles prevent the vehicle 12 from being moved to the left or right side relative to the present target path. An Oswt target rotation angle of the handwheel 20 is calculated to 0 so that the handwheel does not rotate.
Control Routine to Decide the Driver's Intention [00184] In step 851 in the flowchart shown in figure 26 that shows the control routine to decide the driver's intention, an angular speed of direction Od is calculated, which is a differential value of the steering angle direction O. A decision is made as to which lane the driver wants to take between the present lane, a branched lane on the left and a branched lane on the right according to a map shown in figure 30 based on the steering angle O, speed angle of direction Od and in the information that the branched track is on the left side, on the right side or on both sides. When the lane the driver wants to take is the present lane, an Fs flag is set to 0. When the lane the driver wants to take is the branched lane on the left, the Fs flag is set to 1. When the lane the driver want to take is the branched track on the right, the Fs flag is set to -1.
[00185] In step 852, a rate of change of direction torque Tsd is calculated, which is a differential value of the direction torque Ts. IT'S
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46/59 a decision is made as to which lane the driver wants to take between the present lane, a branched lane on the left and a branched lane on the right according to a map shown in figure 31 based on the steering torque Ts, the rate of change of direction torque Tsd and in the information that the branched track is on the left side, on the right side or on both sides. When the lane the driver wants to take is the present lane, an Ft flag is set to 0. When the lane the driver wants to take is the branched lane on the left, the Ft flag is set to 1. When the lane the driver wants take is the branched track on the right, the Ft flag is set to -1.
[00186] In step 854, an F flag is calculated which is an index of the driver's intention to change the travel course according to the following Formula 5. The Ks and Kt coefficients in Formula 5 are greater than 0 and less than that 1, such as 0.5, for example, and the sum of Ks and Kt is 1.
F = KsFs + Kt Ft ... (5) [00187] In step 855, a decision is made as to whether or not the F flag is less than a positive Fp reference value which is 1 or a slightly smaller positive constant than 1. When a negative decision is made, the control proceeds to step 857, while when an affirmative decision is made, the control proceeds to step 856 in which a decision is made that the driver wants to change the course of displacement to the branched track on the left.
[00188] In step 857, a decision is made as to whether or not the F flag is greater than a negative reference value Fn which is -1 or a negative constant slightly greater than -1. When an affirmative decision is made, the control proceeds to step 858 in which a decision is made that the driver wants to change the travel course to the right branched track, whereas when
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47/59 a negative decision is made, the control proceeds to step 859 in which a decision is made that the driver does not want to change the travel course.
Control Routine to Decide the Driver's Final Intent [00189] Steps 861 and 862 in the flowchart shown in figure 27 showing the control routine to decide the driver's final intention are conducted in the same way as steps 851 and 852, respectively , in the flowchart shown in figure 26. It should be noted that the decisions in step 861 and 862 are made using the maps shown in figures 32 and 33, respectively. The magnitudes of the limits on the maps shown in figures 32 and 33 are greater than those in the maps shown in figures 30 and 31.
[00190] In step 863 which is conducted subsequent to step 862, a decision is made as to which lane the driver wants to take between the present lane, a branched lane on the left and a branched lane on the right. When the lane the driver wants to take is the present lane, an Ff flag is set to 0. When the lane the driver wants to take is the branched lane on the left, the Ff flag is set to 1. When the lane the driver you want to take is the branched track on the right, the Ff flag is set to -1.
[00191] In figure 34, for example, 94AL and 94AR respectively represent target trajectories of left and right branched lanes. Q2L and Q2R represent the end point of the branched track on the left 94AL and the end point of the branched track on the right 94AR respectively. Therefore, a decision is made as to which lane the driver wants to take between the present lane, a branched lane on the left and a branched lane on the right based on the vehicle point on the present target path 94, in the position of the end point Q2L or Q2R of the branch, in the direction angle θ and in the angular speed of direction 0d.
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48/59 [00192] In step 864, an F flag is calculated which is an index of the driver's intention to change the travel course according to the following Formula 6. The Ks, Kt and Kf coefficients in Formula 6 are greater than than 0 and equal to or less than 0.4, such as, for example, 0.3, 0.3 and 0.4, respectively, and the sum of Ks, Kt and Kf is 1.
F = KsFs + Kt Ft + KfFf. „(6) [00193] Steps 865 to 869 are conducted in the same way as steps 855 to 859, respectively, shown in figure 26. Therefore, the driver's final intention is decided on lane change. [00194] It should be noted that steps 861 and 862 can be omitted and the F flag can be replaced by the Ff flag. Step 863 can be omitted and the F flag can be calculated according to Formula 5 above.
Control Routine for Changing Target Trajectory [00195] In step 901 in the flowchart shown in figure 28 that shows the control routine for changing the target trajectory, a decision is made as to whether the change in the target trajectory was completed or not by the decision , for example, whether the weight Ws described below in this document has become 1 or not. When an affirmative decision is made, control proceeds to step 910, while when a negative decision is made, control proceeds to step 902.
[00196] In step 902, a decision is made as to whether the calculation of the degree of deviation Ds described below in this document has started or not. When an affirmative decision is made, the control proceeds to step 905, while when a negative decision is made, the control proceeds to step 903.
[00197] In step 903, a decision is made as to whether or not the present position of vehicle 12 is on this side of branch point Q1 of the branched track. When an affirmative decision is made, in the
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904, the target trajectory that vehicle 12 takes after passing branch point Q1 is changed to a trajectory of the travel course that the driver wants to take which is decided in step 850 or 860, whereas when a negative decision is made, the control proceeds to step 905.
[00198] In step 905, a degree of deviation Ds is calculated, which is an index that indicates the need to change the target trajectory. On the map shown in figure 32, with a reference line being represented by the border between the area where Fs = 0 and the area where Fs = 1 or -1, the degree of deviation Ds is a value that indicates the distance between the coordinates of direction angle θ and angular speed of direction 0d and the reference line. In step 905, a maximum degree of deviation Dsmax is calculated to a value that the degree of deviation Ds assumes when the increase in the value ADs of the degree of deviation Ds of each cycle becomes equal to or less than a reference value ADs0 (a positive constant close to 0).
[00199] It should be noted that a degree of deviation Ds is calculated so that it increases when the curvature of the course that the vehicle traces in response to the change in the target trajectory. For example, a degree of deviation Ds is calculated so that it increases when an angle between the two lanes of the branched lane increases; it increases when the distance between branch point Q1 and end point Q2 decreases; and it increases when the track width decreases. In the branched track shown in figure 29, a degree of deviation Ds is calculated so that it is greater when the target trajectory changes from 94B to 94A when compared to when the target trajectory changes from 94A to 94B.
[00200] In step 906, a weight Ws is calculated for the target trajectory after the change from a map shown in figure 35 based on the maximum deviation degree Dsmax, the vehicle speed V and the
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50/59 elapsed time tc. As shown in figure 35, a weight Ws is calculated so that it varies from 0 to 1 as soon as the maximum deviation degree Dsmax increases and when the vehicle speed V increases. In addition, a weight Ws is calculated so that it becomes 1 before vehicle 12 reaches the end point Q4 or Q5 of the Scp section to allow the change of the target trajectory shown in figure 29.
[00201] In step 907, the target path is gradually changed according to the weight Ws of the target path present to a target path of the travel course that the driver wants to take. For example, the curvatures of the present target trajectory and the target trajectory of the travel course that the driver wants to take, being represented respectively by Rpre and Rnew, which are functions of time, a kidney curvature of a provisional trajectory is calculated to change the target trajectory. according to the following Formula 7.
Kidneys = (1 - Ws) Rpre + Ws Rnew -.- (7) [00202] As is understood from the above, in the third modality, in step 750 in the flowchart shown in figure 21, a decision is made as to whether there is or not a branch on the track that corresponds to the target trajectory. When a decision is made that there is a branch, in step 800, a decision is made as to whether or not the driver wants to change the target travel course and whether to change the trajectory. Additionally, when a decision is made that the target path should be changed, in step 900, the target path is changed so that it becomes a path of a travel course that corresponds to the driver's intention.
[00203] Therefore, according to the third modality, even in a case where the driver wants to take another lane that does not correspond to the target trajectory for the reasons of a change of intention or road conditions in a situation where the vehicle approaches a track branching, the target trajectory can be redetermined according to
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51/59 with the driver's intention. Therefore, even in a case where the vehicle is approaching a lane branch and the driver wants to change the travel course, the vehicle can safely be made to travel along a target trajectory that reflects the driver's intention.
[00204] In view of the above, the third modality can be considered as a technical idea with respect to a vehicle steering control device that makes a vehicle move along a target trajectory, in which a decision is made as to whether or not there is a branch of the track in front of the vehicle; when there is a branch of the track, a decision is made as to whether or not the driver wants to change the target trajectory; and the change in the target trajectory is controlled according to whether or not the driver intends to change the target trajectory.
[00205] According to the third modality, in step 810 in the flowchart shown in figure 24, a zone is determined to allow the alteration of the target trajectory. When the vehicle moves on this side of the Q1 branch point of the branched runway in the section to allow alteration of the target path, affirmative decisions are made in step 820 and 830. Then, in step 840, it is announced to the occupants of the vehicle that there is a branch varying the lateral position and something similar to the vehicle relative to the track based on the target trajectory present. Additionally, in step 850, a decision is made as to the driver's intention with regard to the selection of travel distance and in step 870, a decision is made as to whether or not the driver wants to change the travel course.
[00206] Therefore, it is possible to decide the driver's intention with regard to the selection of travel stroke more positively and more precisely when compared to where the lateral positions and something similar of the vehicle relative to the track are not varied, that is, where
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52/59 it is not announced to the occupants that there is a branch. [00207] According to the third modality, in a case where the vehicle moves in the section to allow alteration of the target trajectory but has already passed the branch point Q1 of the branched track, affirmative and negative decisions are made respectively in steps 820 and 830 Consequently, at step 860, in the situation where the vehicle passed branch point Q1, a decision is made as to the driver's final intention with respect to the selection of travel distance, and at step 870, based on the result of the decision, a decision is made as to whether or not the driver wants to change the travel course.
[00208] Therefore, the possibility of changing the travel course and changing the target trajectory accompanied by it according to the driver's intention can be decided more precisely when compared to where the control moves to step 910 without conduct steps 860 and 870 when a negative decision is made in step 830. In other words, vehicle steering control can be achieved although more with respect to the driver's intention when compared to where a decision on the final intention is not made of the driver with respect to the selection of travel travel in a situation where the vehicle has passed the branch point Q1.
[00209] According to the third modality, when vehicle 12 moves on this side of branch point Q1, an affirmative decision is made in step 903 in the flowchart shown in figure 28, and in step 904, the target trajectory is changed promptly for a trajectory of the travel course that the driver wants to take. Consequently, the target path can be changed to a path of the travel course that the driver wants to take at the same time that vehicle 12 has passed the branch point
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Q1.
[00210] According to the third modality, when the target trajectory must be changed in a situation where vehicle 12 has passed branch point Q1, a negative decision is made in step 903 and the target trajectory is changed in steps 905 to 907. In particular, in step 905, a degree of deviation Ds is calculated, which is an index indicating the need to change the target trajectory and a degree of maximum deviation Dsmax which is the maximum value of the same, and a weight Ws is calculated for the target trajectory after the change so that the weight becomes 1 earlier as the degree of maximum deviation Dsmax increases.
[00211] Therefore, as shown in figure 36 (A), it is possible to change the direction angles of the front and rear wheels more quickly to thereby positively change the travel stroke when the need to control speed in the direction change of the vehicle increases. vehicle to change the travel course. On the contrary, as shown in figure 36 (B), it is possible to change the steering angles of the front and rear wheels more smoothly to thereby reduce the risk of rapid change in the direction of the vehicle and the restlessness that the vehicle occupants feel due to the quick change.
[00212] As already described, according to the first to third modalities, an aid torque Tic is calculated to compensate for the inertia of the steering system and the power control unit 22 based on the second order differential value Offtdd of the target angle final target Offt of the front wheels. The auxiliary torques Tdc and Tfc to compensate for viscosity and friction, respectively, in the steering system and in the electrical power control unit 22 are calculated based on the differential Offtd value of the directed target final angle Offt of the front wheels.
[00213] Therefore, a Tlkat target aid torque can be calculated the influences of inertia and something similar accompanied by the operation
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54/59 of the electric power control unit 2 being reduced when compared to where the Tic assist torque and something similar are calculated based on the targeted angles oft and ort of the front and rear wheels. Consequently, the directed angles of the front and rear wheels and the rotation of the steering wheel 20 can be controlled more precisely when compared to where a Tlkat assist torque target is calculated without considering an amount of AOsft target correction of the steering angle of the front wheels calculated with based on the target rotation angle Oswt.
[00214] According to the first to third modalities, the means of advertisement (lateral displacement) in the third modality is different from those in the first and second modalities. Consequently, even in a case where the first or second modality is applied to a modality in combination with the third modality, the occupants of the vehicle can recognize the advertisement by distinguishing that it is with respect to the change in the curvature of the road or with respect to branched track.
[00215] In the first to third modes, the lateral displacement of the vehicle relative to the center of the track is not considered when a target rotation angle of the steering wheel is calculated 20. However, in a situation where the vehicle is displaced laterally relative to the center of the track , if this ad is given when the vehicle is displaced or turned too much in the same direction as the lateral displacement, the occupants of the vehicle may feel quite anxious.
[00216] Therefore, preferably, the quantities in the variation of the operating position of the steering input medium, vehicle orientation angle and lateral position of the vehicle are determined in a variable way according to the displacement of the vehicle so that the quantities become smaller when the changes are in the direction that increases the displacement of the vehicle when compared to where the
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55/59 changes are in the opposite direction.
[00217] For example, in the first modality, in step 250, a target rotation angle Oswt of the steering wheel 20 is calculated considering the displacement of the vehicle. in the second mode, in step 550, a target AOyt control amount of the vehicle's orientation angle is calculated considering the vehicle's displacement. In the third modality, in step 843 or 844, the target angles Olkaft and Olkart of the front and rear wheels and a target rotation angle Oswt of the steering wheel 20 are calculated considering the vehicle displacement. According to these configurations, in a situation where the vehicle is displaced laterally relative to the center of the road, it is possible to prevent the announcement of large movements of the vehicle towards the side of the displacement to thereby reduce the risk that occupants of the vehicle feel quite anxious.
[00218] In the first to third modes, a target rotation angle of 6swt of the steering wheel 20 is calculated without considering the safety of the vehicle's operation. However, in a situation where the lane width is small or depends on the conditions of the overloaded lane conditions, the existence or absence of an approaching vehicle, conditions of the road surface, vehicle speed and the curvature of the lane, there is a risk that occupants will feel anxious when an announcement is made that moves or rotates the vehicle a lot. [00219] Therefore, preferably, the quantities by which the operational position of the steering input means, the vehicle's orientation angle and the vehicle's lateral position relative to the track are changed in a variable way according to the operational safety of the vehicle so that quantities decrease in a situation where the vehicle's operating safety is low compared to where the vehicle's operating safety is high. THE
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56/59 vehicle operating safety can be decided on the basis of these indices such as lane width, situations of overloaded lane conditions, whether or not a vehicle is approaching, road surface conditions, vehicle speed and curvature the track.
[00220] It should be understood that the consideration of the vehicle's operating safety is obtained by calculating an Oswt target rotation angle of the steering wheel 20 and something similar considering the vehicle's operating safety in the calculation stages of the same as in the case where the vehicle is laterally shifted. According to these settings, in a situation where the vehicle's operating safety is low, it is possible to prevent the announcement of large movements of the vehicle towards the side of the displacement to thereby reduce the risk that the occupants of the vehicle feel very anxious.
[00221] Additionally, in the first to third modes, an Oswt target rotation angle of the steering wheel 20 is calculated without considering the ad speed, which is varied according to the magnitude of the amount of control for the ad. In a situation where the magnitude of the amount of control of the ad is large, even if the ad is given smoothly, vehicle occupants may recognize the ad, but in a situation where the magnitude of the amount of control of the ad is small, if the announcement is given smoothly, the occupants of the vehicle may not recognize the advertisement. [00222] Therefore, preferably, the speeds to change the operating position of the direction input means and something similar are determined in a variable way according to the magnitudes of the changes in the operating position of the direction input means and something similar for that speeds are higher in a situation where the magnitudes of changes are small when
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57/59 compared to where the magnitudes of the changes are large.
[00223] It should be understood that the consideration of the magnitudes of the changes in the operating position of the direction input medium and something similar is obtained by calculating an Oswt target rotation angle and something similar in the steps of calculating them so that the target values are make your control amounts target sooner when the magnitudes of changes in the operating position of the steering input medium and the like are small.
[00224] Although the present invention has been described with reference to the above modalities, it will be apparent to those skilled in the art that the present invention is not limited to them, but can be incorporated in various other ways without departing from the scope of the invention.
[00225] For example, in the first to third modalities described above, the means for announcing the change of direction of travel of the vehicle are the rotation of the steering wheel 20, the change in the angle of orientation of the vehicle and the change in the lateral position of the relative vehicle the clue. However, as a means of advertising in the first and second modes, the change in the lateral position of the vehicle relative to the track and operation of the flasher can be added. As a means of advertising in the third mode, a change in the vehicle's orientation angle and flasher operation can be added and additionally, a decrease in vehicle speed can be added.
[00226] In the first to third modalities described above, the means for making the vehicle travel along a target path are the angle variation unit 14, the power control unit 22 and the rear steering device 42 However, in the first mode, when the vehicle's steering angle is not controlled, the rear steering device can be
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58/59 omitted and the steering angle of the rear wheels may not be controlled. Consequently, the first modality can be applied to a vehicle that is not equipped with the rear steering device 42 and in which case, since the Olkart target steering angle calculation of the rear wheels in the trajectory control block 100 is not required, the step 160 shown in figure 3 and steps 380 and 390 shown in figure 5 are omitted.
[00227] The third modality can also be applied to a vehicle that is not equipped with the rear steering device 42 and the announcement of the possibility of changing the direction of travel of the vehicle can be obtained by rotating the steering wheel 20 and the like. [00228] In the first to third modes described above, the directed angle of the front wheels is controlled to vary by the cooperation of the directed angle variation unit 14 and the electric power control unit 22. However, in a vehicle that is not equipped with the steering angle variation unit 14, control of the steering angle of the front wheels can be obtained by the energy control unit 22 to thereby make the vehicle move along a target path and conduct an announcement of the possibility that the vehicle's direction of travel can be changed.
[00229] In the first to third modes described above, the auxiliary steering torque is controlled so that in a situation where the announcement of the possibility of the vehicle's direction of travel cannot be changed, even if the directed angle of the front wheels is controlled for trajectory control, handwheel 20 may not rotate. However, the steering control device of the present invention can be applied to a vehicle in which, if the directed angle of the front wheels is controlled for trajectory control in a situation where the announcement of the possibility of
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59/59 that the vehicle's direction of travel can be changed, the steering wheel 20 is rotated.
[00230] In the third modality described above, the Rins curvature of a provisional trajectory to change the target trajectory is calculated as a weighted sum of the functions of the Rpre and Rnew curvatures of the present target trajectory and the target trajectory of the travel course that the driver wants to take. However, provisional target angles of the front and rear wheels can be calculated to change the target path as a weighted sum of the target angles of the front and rear wheels and target angles of the front and rear wheels based on the target path of the travel stroke that the driver wants to take.
[00231] Additionally, in the third modality described above, the announcement of the possibility that the direction of travel of the vehicle can be changed, that is, the announcement of the existence of a branch is conducted by varying the position of the vehicle and something similar towards branched track based on the present target trajectory. However, since the driver's intention can be decided by determining the driver's response against the advertisement, variation of the vehicle's position and something similar can be conducted opposite the branched lane.

权利要求:
Claims (12)
[1]
1. Vehicle steering control device (10) that performs trajectory control in which the directional wheels (18FL, 18FR, 18RL, 18RR) are controlled to thus make the vehicle move along a target trajectory, in which the vehicle has a steering ratio variation device (14) that varies the relationship between an operating position of a steering input means (20) operated by a driver and a directed angle of front wheels (18FL, 18FR) that they are directional wheels, characterized by the fact that when there is a possibility that the direction of travel of the vehicle can be changed by said trajectory control, the operating position of said direction input means (20) is varied by controlling said device of change in direction ratio (14) before a change in the direction of travel is made by said path control.
[2]
2. Direction control device (10), according to claim 1, characterized by the fact that the amount by which the change is made before a change in the direction of travel is made by said path control is increased when the degree of change in the direction of travel of the vehicle is high when compared to the amount by which the degree of change in the direction of travel of the vehicle is low.
[3]
3. Direction control device (10), according to claim 1 or 2, characterized by the fact that in a situation where the vehicle is moved laterally with respect to the center of the track, the amount by which the change is made before a change in the direction of travel is made by said trajectory control in a direction that increases the amount of displacement, it is less when compared to where the change is made in a direction that decreases the amount of displacement.
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[4]
4. Direction control device (10) according to any one of claims 1 to 3, characterized in that the amount by which the change is made before a change in the direction of travel is made by said path control is decreased when a vehicle's operating safety is low when compared to where a vehicle's operating safety is high.
[5]
5. Direction control device (10), according to claim 3 or 4, characterized by the fact that when the amount by which the change is made before a change in the direction of travel is made by said path control is small, the speed of change is increased when compared to where the said amount of change is large.
[6]
6. Direction control device (10), according to claim 1, characterized by the fact that the possibility that the direction of travel of the vehicle can be changed by said path control is a possibility due to the change of the target path made by the driver on a branch of the road, and the change made before a change in the direction of travel is made by said trajectory control is made to the side opposite to the direction of travel of the vehicle after the change.
[7]
7. Direction control device (10), according to claim 1, characterized by the fact that when there is a branch that has a different direction of travel than the one determined by the target path that was determined, and there is a possibility that the direction vehicle displacement can be changed due to the change of the target trajectory made by the driver, a decision is made as to whether the target trajectory is to be changed or not based on the operation by the driver in said means of steering input (20).
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3/4
[8]
8. Direction control device (10), according to claim 7, characterized by the fact that a zone of decision making of the course to decide whether the target trajectory is to be changed or not is determined on this side of said branch , and a decision is made as to whether the target trajectory is to be changed or not based on the operation conducted by the driver in said direction input means (20) in said decision making zone of the course.
[9]
9. Direction control device, according to claim 8, characterized by the fact that an end point of said decision making zone of the course is determined on this side of said branch and an initial point of said decision making zone of the course is determined in a position that is spaced apart by a predetermined distance on this side of said end point.
[10]
10. Direction control device (10), according to claim 8 or 9, characterized by the fact that when the amount and / or speed of the operation conducted by the driver in said direction input means (20) after the vehicle having passed the said decision-making zone of the course are large, the change in the target trajectory is carried out more quickly when compared to where the quantity and / or speed are small.
[11]
11. Direction control device (10), according to claim 1, characterized by the fact that the possibility that the direction of travel of the vehicle can be changed by said trajectory control is a possibility due to at least one among the change in the target trajectory caused by the change in the curvature of the track that arises when the vehicle moves and the change in the target trajectory made by the driver in a branch of the track.
[12]
12. Direction control device (10), according to claim 1, characterized by the fact that the change made before a change in the direction of travel is made by said
Petition 870190100250, of 10/07/2019, p. 66/72
4/4 trajectory control to be performed to the same side as the vehicle's direction of travel after the change while controlling the directional angle of the steering wheels (18FL, 18FR, 18RL, 18RR) so that the vehicle can move along the target trajectory.

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同族专利:

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公开号 | 公开日

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AU2011375962B2|2015-08-20|

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US20140229068A1|2014-08-14|

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MX2014002282A|2014-04-25|

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EP2752357B1|2017-08-09|

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CN103764483B|2016-10-12|

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WO2013030974A1|2013-03-07|

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JPWO2013030974A1|2015-03-23|

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CN103764483A|2014-04-30|

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US9707996B2|2017-07-18|

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AU2011375962A1|2014-03-13|

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RU2557132C1|2015-07-20|

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BR112014004868A2|2017-04-04|

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KR20140034934A|2014-03-20|

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EP2752357A1|2014-07-09|

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MX345320B|2017-01-25|

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EP2752357A4|2015-12-16|

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KR101607412B1|2016-04-11|

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JP5741697B2|2015-07-01|

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法律状态:
2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2019-07-23| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|

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2020-02-04| B09A| Decision: intention to grant|

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2020-03-31| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 31/08/2011, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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PCT/JP2011/069749|WO2013030974A1|2011-08-31|2011-08-31|Vehicle drive-control device|

---