JP2004231096A - Lane-following system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lane following system for sufficiently reflecting drivers' preference on following drive. <P>SOLUTION: This lane-following system 1, which allows a vehicle to perform a following drive along a lane, comprises: a lane information detection part 10 for detecting the lane information ahead of a vehicle; a correction steering monitor part 12 for detecting the completion of a driver's correction steering action; a lateral displacement data recording part 16 for recording lateral displacement data indicating the location of a self vehicle in the road width direction of a self-vehicle traveling lane on the basis of the lane information detected by the lane information detection part 10; a target line updating part 18 for updating the target line in performing the vehicle to follow the target line on the basis of the recorded lateral displacement data; an automatic steering control section 22 for outputting a control command to perform the vehicle to follow an updated target line and an automatic steering actuator 24 for providing an operation torque and operating reaction force torque to a steering effort transmitting system 26 on the basis of the control command. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a lane following device.
[0002]
[Prior art]
Conventionally, when the blinker is not operated, data on the position of the lane in which the vehicle is running in the width direction (data such as rightward of the lane) is sequentially collected to obtain a target line, and the vehicle is moved along the target line. There is known a lane following device that causes a vehicle to follow. In this device, a target line reflecting the driver's preference is set by collecting position data at the time of traveling without operating the blinker and determining the target line (see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-09-309453 (FIG. 5)
[0004]
[Problems to be solved by the invention]
By the way, in the conventional lane following device, there is a case where a steering operation for correcting the own vehicle position is not immediately performed even when the own vehicle approaches the white line due to requirements such as a road structure and a following ability of the lane following device itself. sell. In addition, when the vehicle is following the vehicle, the driver is less conscious of actively and frequently performing the steering operation. Therefore, in the following traveling by the conventional device, the behavior of the vehicle is disturbed left and right as compared with the case where the driver performs the steering operation by himself.
[0005]
However, in the conventional lane following device, data in such a disturbed state is also to be detected, so that the target line may not accurately reflect the driver's preference. In this case, the driver feels strange.
[0006]
The present invention has been made to solve such a conventional problem, and an object of the present invention is to set a target line that more reflects the driver's preference and to reduce the discomfort given to the driver. The object of the present invention is to provide a simple lane following device.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is a lane following device that causes a vehicle to follow and travel along a lane, wherein a detecting unit detects lane information ahead of the vehicle, and detects the lane information in the width direction of the own vehicle traveling lane. The lateral displacement data indicating the position of the vehicle is detected, the corrective steering monitoring means detects the end of the corrective steering action of the driver, and the lateral displacement data recording means detects the end of the corrective steering action by the corrective steering monitor means. In this case, the lateral displacement data detected by the detecting means is recorded, and the target line updating means sets the target line when the vehicle follows the lane based on the lateral displacement data recorded by the lateral displacement data recording means. Update, the steering control means outputs a control command for causing the vehicle to follow the target line updated by the target line updating means, and the steering means is controlled based on the control command from the steering control means. It gives the operating torque or operation reaction force torque to the steering force transmission system.
[0008]
【The invention's effect】
According to the present invention, the recording of the lateral displacement data is performed when the driver completes the corrective steering action. Normally, when the vehicle is not traveling on a desired traveling line, the driver operates the steering wheel to correct the own vehicle position, and corrects the own vehicle position to a desired position. Therefore, it can be said that the corrected vehicle position in the road width direction is a position that accurately reflects the driver's preference. According to the present invention, the end of the corrective steering action is detected, and the target line is updated by recording the lateral displacement data when the driver corrects the own vehicle position to a desired position. Then, the vehicle is caused to follow the target line. Therefore, it is possible to set a target line that more reflects the driver's preference, and reduce the discomfort given to the driver.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.
[0010]
FIG. 1 is a configuration diagram of a lane following device according to the first embodiment of the present invention. The lane following device 1 shown in FIG. 1 causes a vehicle to follow and travel along a lane, detects lane information ahead of the vehicle, and shows a lateral displacement indicating the position of the vehicle in the width direction of the lane. A lane information detection unit (detection means) 10 for detecting data is provided.
[0011]
The lane information detection unit 10 receives, for example, a video signal from a CCD camera that captures a road ahead of the vehicle, performs image processing on the input video information, and extracts lane boundary lines such as white lines and center lines as lane information. Based on this, the lateral displacement data is detected.
[0012]
In addition, the lane following device 1 detects a driver's steering action itself based on a signal from a steering force detector 28 described later, and detects a completion of the driver's corrective steering action (corrected steering monitoring means) 12. And a clock section 14 for counting time.
[0013]
Further, the lane following device 1 has a lateral displacement data recording unit (lateral displacement data recording means) 16 that collects and records lateral displacement data indicating the position of the host vehicle in the road width direction of the host vehicle traveling lane. Specifically, the lateral displacement data recording section 16 collects lateral displacement data detected by the lane information detecting section 10 when the correction steering monitoring section 12 detects the end of the corrective steering action. Further, the lateral displacement data recording unit 16 is configured to hold a predetermined number of the latest lateral displacement data, and when the number of data exceeds the predetermined number, sequentially delete the oldest data.
[0014]
The lane tracking device 1 includes a target line updating unit 18 that updates a target line when the vehicle is caused to follow the lane based on the lateral displacement data recorded by the lateral displacement data recording unit 16. Specifically, when new lateral displacement data is recorded in the lateral displacement data recording unit 16, the target line updating unit 18 calculates a moving average of the lateral displacement data, and uses the calculation result as target line data.
[0015]
Further, the lane following device 1 causes the vehicle to follow the target line according to the target line setting unit 20 that holds the data of the target line changed by the target line updating unit 18 and the data of the target line that the target line setting unit 20 holds. And an automatic steering control unit (automatic steering control means) 22 for outputting a control command for the control. Specifically, the automatic steering control unit 22 generates and outputs a control command based on the lateral displacement data from the lane information detection unit 10 so as to match the target line.
[0016]
Further, the lane following device 1 has an automatic steering actuator (steering means) 24 that applies an operation torque or an operation reaction force torque to a steering force transmission system 26 based on a control command from the automatic steering control unit 22. The automatic steering actuator 24 is composed of, for example, a motor, and is connected to a steering shaft, which is a steering force transmission system 26, to apply an operation torque or an operation reaction torque.
[0017]
Further, the lane following device 1 includes a steering force detection unit 28 installed between the steering force transmission system 26 and the operation handle 30. The steering force detector 28 is, for example, a strain gauge, and detects the amount of twist of the steering shaft 32 to obtain a steering force by operating the steering wheel.
[0018]
Next, the operation of the lane following device 1 according to the present embodiment will be described. FIG. 2 is a flowchart showing a basic operation of the lane following device 1 according to the present embodiment.
[0019]
As shown in the figure, first, the correction steering monitoring unit 12 sets the status to "standby" as an initial process (ST101). Then, the steering force detector 28 measures the driver's steering force (ST102).
[0020]
Thereafter, the corrected steering monitoring unit 12 determines whether or not there is a steering force based on a signal from the steering force detection unit 28 (ST103). When it is determined that there is a steering force (ST103: YES), the correction steering monitoring unit 12 sets the status to "steering" (ST104). Then, the process returns to step ST102.
[0021]
On the other hand, when it is determined that there is no steering force (ST103: NO), the correction steering monitoring unit 12 determines what the current status is (ST105). When it is determined that the current status is steering (ST105: steering), the correction steering monitoring unit 12 sets the status to “completed” (ST106).
[0022]
Here, the reason why the status is set to “completed” is that, although the status is determined to be steering in step ST105, it is determined that there is no steering force in step ST103. That is, the correction steering monitoring unit 12 detects that the driver does not operate the steering wheel because there is no steering force even though the status is “steering”, and recognizes that this is the end of the correction steering action. In ST106, the status is set to "completed".
[0023]
Thereafter, the clock unit 14 starts an observation period timer (ST107). Then, data recording is performed (ST108). FIG. 3 is a flowchart showing a detailed operation of the data recording process (ST108) shown in FIG.
[0024]
As shown in FIG. 3, when recording data, first, the lane information detection unit 10 reads lane information (ST201) and calculates lateral displacement data (ST202). Then, the lateral displacement data recording unit 16 records the lateral displacement data calculated by the lane information detecting unit 10 (ST203).
[0025]
After the recording, the target line updating unit 18 calculates a target line from the lateral displacement data recorded in the lateral displacement data recording unit 16, and changes the setting of the target line in the target line setting unit 20 (ST204). Then, the process returns to step ST102 in FIG.
[0026]
By the way, when it is determined that the status is “completed” (ST105: completed), the device 1 determines whether the value of the observation period timer measured by the clock unit 14 is within the period (ST109). ). If it is determined that it is within the period (ST109: YES), the process proceeds to step ST108.
[0027]
On the other hand, when it is determined that the current time is not within the period (ST109: NO), the correction steering monitoring unit 12 sets the status to “standby” (ST110), and the process returns to step ST102. If it is determined in step ST105 that the state is neither “steering” nor “completed” (ST105: other), the process returns to step ST102.
[0028]
As is clear from the above description, in the present embodiment, data recording has been started when the state has shifted from the state where the steering force is applied to the state where the steering force is not applied. For this reason, the target line set in the target line setting unit 20 is based on the lateral displacement data immediately after the driver finishes steering.
[0029]
Then, the automatic steering control unit 22 outputs a control command to cause the vehicle to follow the target line obtained as described above, and the automatic steering actuator 24 that has received the control command outputs an operation torque to the steering force transmission system 26. Or, give an operation reaction torque.
[0030]
In the present apparatus 1, the above processing is repeated until, for example, the ignition switch is turned off.
[0031]
As described above, according to the lane following device 1 according to the present embodiment, the recording of the lateral displacement data is performed when the driver finishes the corrective steering action. Normally, when the vehicle is not traveling on a desired traveling line, the driver operates the steering wheel to correct the own vehicle position, and corrects the own vehicle position to a desired position. Therefore, it can be said that the corrected vehicle position in the road width direction is a position that accurately reflects the driver's preference. In the present embodiment, the end of the corrective steering action is detected, and the target line is updated by recording the lateral displacement data based on the fact that the driver has corrected the vehicle position to a desired position. Then, the vehicle is caused to follow the target line. Therefore, it is possible to set a target line that more reflects the driver's preference, and reduce the discomfort given to the driver.
[0032]
In addition, since the end of the corrective steering action is detected by the fact that the driver's steering operation is lost, the end of the corrective steering action is determined in accordance with highly reliable information of the driver's steering operation, and the corrective steering action is determined by image processing or the like. As compared with the case where the end of the action is detected, the end of the corrective steering action can be accurately detected.
[0033]
Next, a second embodiment of the present invention will be described. The second embodiment has the same configuration as the first embodiment, but differs in the detailed operation of the data recording process (ST108) shown in FIG. 2 from the first embodiment. Hereinafter, a second embodiment will be described.
[0034]
FIG. 4 is a flowchart illustrating a detailed operation of the data recording process (ST108) of the lane following device 2 according to the second embodiment. As shown in the figure, when recording data according to the second embodiment, first, the lane information detection unit 10 reads lane information (ST301), calculates lateral displacement data, and drives the vehicle in the lane advancing direction. The inclination angle of the direction is calculated (ST302).
[0035]
Here, the inclination angle of the vehicle traveling direction with respect to the lane traveling direction will be described. FIG. 5 is an explanatory diagram showing an inclination angle of the vehicle traveling direction with respect to the lane traveling direction. As shown in FIG. 5, when the vehicle 40 is traveling in the lane 41, the lane advancing direction is a direction on the traveling side of the lane in which the vehicle 40 travels, and is parallel to the roadside line 42a and the center line 42b. (The reference numeral 43 in FIG. 5). The vehicle traveling direction is the direction in which the vehicle 40 travels (reference numeral 44 in FIG. 5). As is clear from FIG. 5, the vehicle traveling direction 44 is not always parallel to the lane traveling direction 43, and when the vehicle traveling direction 44 is not parallel to the lane traveling direction 43, an angle θ1 is generated between them. This angle θ1 is the inclination angle of the vehicle traveling direction 44 with respect to the lane traveling direction 43.
[0036]
Description will be made again with reference to FIG. After calculating the lateral displacement data and the inclination angle θ1, the correction steering monitoring unit 12 determines whether the inclination angle θ1 is equal to or less than a predetermined amount (for example, ± 5 °) (ST303). When it is determined that the inclination angle θ1 is equal to or smaller than the predetermined amount (ST303: YES), the clock unit 14 sets a parallel state continuation time indicating a time when the vehicle traveling direction 44 is substantially parallel to the lane traveling direction 43. Update (ST304). When the current inclination angle θ1 is newly reduced to a predetermined amount or less from the state in which the previous inclination angle θ1 has exceeded the predetermined amount, timing of the parallel state continuation time is started.
[0037]
Thereafter, the correction steering monitoring unit 12 determines whether or not the parallel state continuation time is equal to or longer than a predetermined value (ST305). That is, the correction steering monitoring unit 12 determines whether or not the state in which the vehicle traveling direction 44 is substantially parallel to the lane traveling direction 43 has continued for a predetermined time (first predetermined time), for example, three seconds.
[0038]
If it is determined that the predetermined time has not been continued (ST305: NO), the process proceeds to step ST102 in FIG. On the other hand, when it is determined that the predetermined time has been maintained (ST305: YES), the lateral displacement data recording unit 16 records the lateral displacement data calculated in step ST302 (ST306).
[0039]
After the recording, the target line updating unit 18 calculates the target line from the lateral displacement data recorded in the lateral displacement data recording unit 16, and updates the setting of the target line of the target line setting unit 20 (ST307). Then, clock section 14 clears the parallel state continuation time (ST308), and the process returns to step ST102 in FIG.
[0040]
If it is determined that the tilt angle θ1 is not smaller than the predetermined amount (ST303: NO), the clock unit 14 clears the parallel state continuation time (ST308), and the process returns to step ST102 in FIG.
[0041]
As is clear from the above description, in the present embodiment, in addition to the case where the steering force is shifted from the state where the steering force is applied to the state where the steering force is not applied, the vehicle traveling direction 44 is substantially parallel to the lane traveling direction 43. It is determined that the state has continued for a predetermined time. Then, when this state continues for a predetermined time, the recording of the lateral displacement data has been started. For this reason, the target line set in the target line setting unit 20 is based on the lateral displacement data after the driver finishes steering and the traveling line is in a stable state.
[0042]
Then, the automatic steering control unit 22 outputs a control command to cause the vehicle to follow the obtained target line, and the automatic steering actuator 24 receiving the command outputs an operation torque or an operation reaction torque to the steering force transmission system 26. give.
[0043]
In this way, according to the lane following device 2 according to the present embodiment, as in the first embodiment, it is possible to reflect the driver's preference with respect to the following travel, and to accurately detect the end of the corrective steering action. Becomes possible.
[0044]
Further, since the end of the corrective steering action is detected when the state in which the vehicle traveling direction 44 is substantially parallel to the lane advancing direction 43 continues for a predetermined time in addition to the fact that the driver does not operate the steering wheel, the driver is detected. The data obtained after setting the vehicle position to the desired traveling line is reliably collected, and the lateral displacement data in a state where the behavior of the vehicle is stable is recorded. For this reason, it is possible to further improve the accuracy of the target line, and it is possible to more accurately reflect the driver's preference regarding the following travel.
[0045]
Next, a third embodiment of the present invention will be described. The third embodiment has the same configuration as the first embodiment, but differs in the detailed operation of the data recording process (ST108) shown in FIG. 2 from the first embodiment. Hereinafter, a third embodiment will be described.
[0046]
FIG. 6 is a flowchart illustrating a detailed operation of the data recording process (ST108) of the lane following device 3 according to the third embodiment. As shown in the figure, when recording data according to the third embodiment, first, the lane information detection unit 10 reads lane information (ST401), calculates lateral displacement data, and drives the vehicle in the lane advancing direction. The inclination angle θ1 of the direction is calculated (ST402). The lane traveling direction 43, the vehicle traveling direction 44, and the inclination angle θ1 are the same as those described in the second embodiment.
[0047]
After calculating the lateral displacement data and the tilt angle θ1, the correction steering monitoring unit 12 calculates a difference value θ2 of the tilt angle θ1 (ST403). Specifically, the correction steering monitoring unit 12 obtains a difference between the previously detected inclination angle θ1 and the currently detected inclination angle θ1, and sets the difference as a difference value θ2.
[0048]
Thereafter, the correction steering monitoring unit 12 determines whether or not the difference value θ2 is equal to or smaller than a predetermined amount (for example, ± 3 °) (ST404). That is, the correction steering monitoring unit 12 determines whether the current inclination angle θ1 is substantially equal to the previous inclination angle θ1 by determining that the difference value θ2 is equal to or less than the predetermined amount.
[0049]
When it is determined that the difference value θ2 is equal to or less than the predetermined amount (ST404: YES), the clock unit 14 determines that the difference value θ2 is substantially equal, that is, the constant state duration indicating the time when the inclination angle θ1 is substantially constant. Is updated (ST405). When the current difference value θ2 becomes a predetermined amount or less from the state in which the previous difference value θ2 has exceeded the predetermined amount, the measurement of the constant state continuation time is started.
[0050]
Thereafter, the correction steering monitoring unit 12 determines whether or not the constant state duration time is equal to or longer than a predetermined value (ST406). That is, the correction steering monitoring unit 12 determines whether or not the state in which the tilt angle θ1 is substantially constant has continued for a predetermined time (a second predetermined time), for example, three seconds.
[0051]
If it is determined that the predetermined time has not elapsed (ST406: NO), the correction steering monitoring unit 12 records the current tilt angle θ1 (ST407), and then the process proceeds to step ST102 in FIG.
[0052]
On the other hand, when determining that the predetermined time has been maintained (ST406: YES), the lateral displacement data recording unit 16 records the lateral displacement data calculated in step ST402 and the weighting value (ST408).
[0053]
Here, the weight value will be described. The weighting value is a value determined according to an inclination angle of the vehicle traveling direction 44 with respect to the lane traveling direction 43. For example, when the absolute value of the inclination angle θ1 is smaller than a predetermined amount than when the absolute value exceeds a predetermined amount. Is a value that is increased. More specifically, for example, the weighting value is set to “3” when the absolute value of the tilt angle θ1 is 5 ° or less, and is set to “1” when the absolute value of the tilt angle θ1 exceeds 5 °. .
[0054]
The case where the state in which the inclination angle θ1 is substantially constant continues for a predetermined time is, for example, a case as shown in FIG. FIG. 7 is an explanatory diagram illustrating a state in which the state in which the tilt angle θ1 is substantially constant continues for a predetermined time.
[0055]
For example, as shown in FIG. 7, it is assumed that the vehicle 40 is traveling in a curved section 41a. At this time, since the lane information detecting unit 10 captures the road ahead of the vehicle, the lane traveling direction 43 is based on the road condition ahead of the vehicle. On the other hand, the vehicle traveling direction 44 is not based on the road conditions ahead of the vehicle, and therefore, is obtained even when the vehicle 40 is traveling along the lane 41 when the curvature of the curved section 41a is constant. A constant inclination angle θ1 is always detected between the lane traveling direction 43 and the vehicle traveling direction 44.
[0056]
After the recording, the target line updating unit 18 calculates the target line based on the lateral displacement data and the weight value recorded in the lateral displacement data recording unit 16, and updates the setting of the target line of the target line setting unit 20 (ST409). ). That is, the target line updating unit 18 calculates and updates the target line based on not only the lateral displacement data but also the weight value corresponding to the tilt angle θ1.
[0057]
Specifically, when the target line is L _ave , the lateral displacement data is L (n), and the weight value is W (n), the target line L _ave is
L _ave = (Σ (L (n) × W (n))) / (Σ (W (n)))
Is calculated and updated. Therefore, the target line _Lave reflects a large amount of lateral displacement data when the absolute value of the inclination angle θ1 is 5 ° or less, and reflects a large amount of lateral displacement data when the absolute value of the inclination angle θ1 exceeds 5 °. It is not to be done.
[0058]
After the update of the target line, the clock unit 14 clears the constant state continuation time (ST410), the corrected steering monitoring unit 12 records the current tilt angle θ1 (ST407), and then the process proceeds to step ST102 in FIG. Return.
[0059]
By the way, even when it is determined that the difference value θ2 is not smaller than the predetermined amount (ST404: NO), the clock unit 14 clears the constant state continuation time (ST410), and the correction steering monitoring unit 12 determines the current inclination angle θ1. Recording is performed (ST407), and the process returns to step ST102 in FIG.
[0060]
As is clear from the above description, in the present embodiment, in addition to the case where the steering force is shifted from the state where the steering force is applied to the state where the steering force is not applied, the state where the inclination angle θ1 is substantially constant has continued for a predetermined time. Have judged. Then, when this state continues for a predetermined time, the recording of the lateral displacement data has been started. For example, when the vehicle 40 is traveling along a curved section 41a, and when the vehicle 3 is traveling along the lane 41 with a line that does not give a feeling of strangeness to the driver, the lateral displacement data may be collected. Desirably, in the present embodiment, even in such a case, an opportunity to collect lateral displacement data is not missed.
[0061]
Then, the automatic steering control unit 22 outputs a control command to cause the vehicle to follow the obtained target line, and the automatic steering actuator 24 receiving the command outputs an operation torque or an operation reaction torque to the steering force transmission system 26. give.
[0062]
In this way, according to the lane following device 3 according to the present embodiment, as in the first embodiment, it is possible to more reflect the driver's preference with respect to following and to accurately detect the end of the corrective steering action. Becomes possible.
[0063]
In addition, the target line is calculated and updated based on a weight value corresponding to the inclination angle of the vehicle traveling direction 44 with respect to the lane traveling direction 43, and the absolute value of the inclination angle θ1 exceeds a predetermined amount. The value is larger when the amount is equal to or less than the predetermined amount than when. When the normal inclination angle θ1 is large, the vehicle 40 is not traveling along the lane 41, and the lateral displacement data is sequentially changing during traveling of the vehicle. On the other hand, when the inclination angle θ1 is small, the vehicle 40 is traveling along the lane 41, and the lateral displacement data during traveling of the vehicle is stable. Therefore, by calculating and updating the target line in accordance with the weight value, it is possible to set the target line that reflects the driver's preference.
[0064]
In addition, since the end of the correction steering action is detected when the state in which the inclination angle θ1 of the vehicle traveling direction 44 with respect to the lane advancing direction 43 is substantially constant continues for a predetermined period of time, in addition to the fact that the driver does not operate the steering wheel. In addition, even if the data is obtained after the driver sets the vehicle position to a desired traveling line in the curve section 41a, it is possible to prevent the data from being missed.
[0065]
It should be noted that the present invention is not limited to the above-described embodiment, and may be modified without departing from the spirit of the present invention. May be combined.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a lane following device according to a first embodiment of the present invention.
FIG. 2 is a flowchart showing a basic operation of the lane following device according to the embodiment.
FIG. 3 is a flowchart showing a detailed operation of a data recording process shown in FIG. 2;
FIG. 4 is a flowchart showing a detailed operation of a data recording process of the lane following device according to the second embodiment.
FIG. 5 is an explanatory diagram showing an inclination angle of a vehicle traveling direction with respect to a lane traveling direction.
FIG. 6 is a flowchart illustrating a detailed operation of a data recording process of the lane following device according to the third embodiment.
FIG. 7 is an explanatory diagram illustrating a state in which the state in which the tilt angle is substantially constant continues for a predetermined time;
[Explanation of symbols]
θ1 Tilt angle θ2 Difference values 1, 2, 3 ... Lane following device 10 ... Lane information detection unit (detection means)
12: Corrected steering monitoring unit (corrected steering monitoring means)
14 clock unit 16 lateral displacement data recording unit (lateral displacement data recording means)
18 Target line updating unit (target line updating means)
20 target line setting unit 22 automatic steering control unit (automatic steering control means)
24 ... automatic steering actuator (steering means)
26 steering power transmission system 28 steering force detector 30 operating handle 32 steering shaft 43 lane traveling direction 44 vehicle traveling direction

Claims (6)

In a lane following device that drives the vehicle to follow the lane,
Detecting means for detecting lane information in front of the vehicle and detecting lateral displacement data indicating the vehicle position in the road width direction of the vehicle traveling lane;
Corrective steering monitoring means for detecting the end of the corrective steering action of the driver;
Lateral displacement data recording means for recording lateral displacement data detected by the detecting means when the correction steering monitoring means detects the end of the corrective steering action;
Based on the lateral displacement data recorded by the lateral displacement data recording means, target line updating means for updating a target line when the vehicle is driven to follow the lane,
Steering control means for outputting a control command for causing the vehicle to follow the target line updated by the target line updating means,
Steering means for applying an operation torque or an operation reaction force torque to a steering force transmission system based on a control command from the steering control means;
A lane following device comprising: 2. The target line updating unit according to claim 1, wherein the target line updating unit calculates and updates the target line based on a weight value according to an inclination angle of the vehicle traveling direction with respect to the lane traveling direction, in addition to the lateral displacement data. Lane tracking device. The lane following apparatus according to claim 2, wherein the weighting value is larger when the absolute value of the inclination angle is equal to or less than a predetermined amount than when the absolute value of the inclination angle exceeds a predetermined amount. The lane according to any one of claims 1 to 3, wherein the corrective steering monitoring means detects the end of the corrective steering action by detecting that the steering wheel operation of the driver is lost. Tracking device. The corrected steering monitoring means detects that the steering operation of the vehicle has been substantially parallel to the lane traveling direction for a first predetermined period of time, in addition to the fact that the driver has not operated the steering wheel. The lane following device according to claim 4, wherein the end of the action is detected. The corrected steering monitoring means detects that the driver has not operated the steering wheel and detects that the state in which the vehicle traveling direction with respect to the lane advancing direction is at a substantially constant angle has continued for a second predetermined time, thereby performing the corrective steering action. The lane following device according to claim 4, wherein the end of the lane detection is detected.

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