JP5151625B2 - Steering support device - Google Patents

Description

  The present invention relates to a steering assist device that assists a steering operation by a driver.

As a conventional steering assist device, for example, as described in Patent Document 1, a driver's arousal level is detected by the arousal level determination means, and a steering torque command value for preventing lane departure as the awakening level decreases. What increases (control amount) is known.
JP-A-9-216567

  However, the following problems exist in the prior art. That is, in a state where the arousal level is low, the driver's reaction speed decreases. For this reason, if the control amount for preventing lane departure is increased more than usual, for example, the vehicle will deviate from the opposite lane, or the behavior of the vehicle will be disturbed and it will be easier to deviate from the lane. There is a risk that it will not be possible.

  An object of the present invention is to provide a steering assist device that can surely prevent a lane departure of a vehicle due to carelessness of a driver.

The present invention relates to a steering assist device for assisting a steering operation by a driver, a lane keeping assist control means for controlling the steering so that the host vehicle travels while maintaining the inside of the lane, and the possibility that the host vehicle deviates from the lane. A lane departure warning control means for generating a departure warning when the vehicle has occurred, a state detection means for detecting a driver state, a vehicle speed detection means for detecting the actual vehicle speed of the host vehicle, and a driver state detected by the state detection means And a control mode changing means for switching the control mode from the lane keeping support mode for executing the lane keeping support control means to the lane departure warning mode for executing the lane departure warning control means. Depending on the state, means for setting an upper support vehicle speed used in the lane keeping support mode, and the actual vehicle speed detected by the vehicle speed detection means Determining whether greater than support upper speed, when the actual vehicle speed of the vehicle is higher than the support upper speed, which is the control mode characterized in that the switching from the lane keeping assist mode lane departure warning mode.

In such a steering assist device of the present invention, for example, when the host vehicle is traveling in the lane keeping assist mode, the driver's state (sleeping, looking aside, drinking) is detected, and the driver's normality is detected from the detection result. When it is determined that the driving degree has decreased, the control mode is switched from the lane keeping assist mode to the lane departure warning mode. As a result, when the possibility that the vehicle departs from the lane increases, a departure warning is generated. Therefore, a decrease in the normal driving degree of the driver is suppressed by the departure warning at that time, and the driver performs a driving operation for avoiding the lane departure of the host vehicle. As a result, it is possible to reliably prevent the vehicle from departing from the lane due to carelessness of the driver.
In the lane keeping support mode, control is performed so that the host vehicle travels while keeping the lane at the support upper limit vehicle speed or less. Therefore, the lower the support upper limit vehicle speed used in the lane keeping support mode, the lower the normal driving degree of the driver is. When the actual vehicle speed of the host vehicle becomes higher than the support upper limit vehicle speed, the control mode is switched to the lane departure warning mode, thereby preventing the lane keeping support mode from being continuously executed even when the normal driving degree of the driver is lowered. The

Further, the present invention provides a steering assist device for assisting a steering operation by a driver, a lane keeping assist control means for controlling steering so that the host vehicle travels while maintaining the lane, and the host vehicle deviates from the lane. A lane departure warning control means for generating a departure warning when a possibility arises, a state detection means for detecting a driver's condition, a vehicle speed control means for controlling the vehicle speed of the host vehicle to become a target vehicle speed, From the lane keeping support mode for executing the lane keeping support control means to the lane departure warning mode for executing the lane departure warning control means according to the driver state detected by the state detecting means and the vehicle speed detecting means for detecting the actual vehicle speed. Control mode change means for switching the control mode, the control mode change means includes means for setting a target vehicle speed according to the driver's condition, vehicle speed detection means It is determined whether or not the actual vehicle speed of the host vehicle detected in step S is lower than a preset vehicle speed threshold, and when the actual vehicle speed of the host vehicle is lower than the vehicle speed threshold, the control mode is changed from the lane keeping support mode to the lane departure warning. The mode is switched to the mode.

In such a steering assist device of the present invention, for example, when the host vehicle is traveling in the lane keeping assist mode, the driver's state (sleeping, looking aside, drinking) is detected, and the driver's normality is detected from the detection result. When it is determined that the driving degree has decreased, the control mode is switched from the lane keeping assist mode to the lane departure warning mode. As a result, when the possibility that the vehicle departs from the lane increases, a departure warning is generated. Therefore, a decrease in the normal driving degree of the driver is suppressed by the departure warning at that time, and the driver performs a driving operation for avoiding the lane departure of the host vehicle. As a result, it is possible to reliably prevent the vehicle from departing from the lane due to carelessness of the driver.
In addition, the lower the normal driving degree of the driver, the lower the target vehicle speed of the host vehicle and the lower the normal driving degree of the driver when the lane keeping support mode is executed by controlling the vehicle speed of the host vehicle according to the target vehicle speed. However, the host vehicle will not continue to travel at a higher speed than necessary. When the actual vehicle speed of the host vehicle becomes lower than a preset vehicle speed threshold, the lane keeping support mode is continuously executed even when the normal driving degree of the driver is lowered by switching the control mode to the lane departure warning mode. Is prevented.

  Preferably, the control mode changing means is configured not to return the control mode to the lane keeping assist mode after the control mode is switched from the lane keeping assist mode to the lane departure warning mode.

  When the control mode automatically returns to the lane keeping assist mode, the normal driving degree of the driver may be lowered again. Therefore, after the control mode is switched from the lane keeping support mode to the lane departure warning mode by the control mode changing means, the driver in the normal operation state is manually operated without automatically returning the control mode to the lane keeping assist mode. It is preferable to set the control mode to the lane keeping support mode.

  According to the present invention, it is possible to reliably prevent the vehicle from departing from the lane due to carelessness of the driver, and sufficiently ensure safety.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a steering assist device according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of a first embodiment of a steering assist device according to the present invention. In the figure, the steering assist device 1 of the present embodiment has two control functions of a lane keeping assist mode and a lane departure warning mode. The lane keeping support mode is a control mode in which steering is automatically controlled so that the host vehicle travels along the center of the lane. The lane departure warning mode is a control mode in which a departure warning is generated when the host vehicle is about to depart from the lane.

  The steering assist device 1 includes an ECU (Electronic Control Unit) 2 whose main component is a microcomputer including a CPU, a ROM, a RAM, and the like. Connected to the ECU 2 are a face recognition camera 3 that captures the face of the driver and acquires the face image data, and a lane keeping support setting switch 4 for the driver to manually set the lane keeping assistance mode. Yes.

  Further, a steering actuator 5, an alarm device 6 and a vibration generator 7 are further connected to the ECU 2.

  The steering actuator 5 applies steering torque (assist torque) to the steering when the lane keeping assist mode is executed as the control mode, and includes a motor, a speed reduction mechanism, and the like. The alarm device 6 generates a departure warning sound when executing the lane departure warning mode as the control mode.

  When the control mode is switched from the lane keeping assist mode to the lane departure warning mode, the vibration generator 7 is an informing means for informing the driver that the control mode has been changed by generating a vibration in the steering wheel or the seat. In this case, the driver can recognize the change of the control mode without being confused by other alarm sounds. In the case of steering system control as in this embodiment, it is most intuitive to use steering vibration.

  The ECU 2 includes a wakefulness estimation unit 8, a control mode setting unit 9, a lane maintenance support control unit 10, and a lane departure warning control unit 11.

  The arousal level estimation unit 8 detects a driver's eye blink based on the face image data acquired by the face recognition camera 3, and estimates the driver's arousal level from the blink state of the eye. Note that the driver's arousal level can also be estimated from the behavior (staggered state) of the host vehicle.

  The control mode setting unit 9 sets the control mode to the lane maintenance support mode when the lane maintenance support setting switch 4 is turned on by the driver, and controls the control mode according to the arousal level estimated by the arousal level estimation unit 8. Is set to the lane departure warning mode. Further, the control mode setting unit 9 controls the vibration generator 7 to generate vibration from the vibration generator 7 when the control mode is switched from the lane keeping assist mode to the lane departure warning mode.

  When the lane keeping support mode is set by the control mode setting unit 9, the lane keeping support control unit 10 performs control such that the lane keeping support mode is executed. Specifically, based on lane information detected by imaging with a front camera (not shown) and vehicle speed information detected by a vehicle speed sensor (not shown), the host vehicle moves through the center of the lane. The steering actuator 5 is controlled so as to keep running.

  The lane departure warning control unit 11 performs control such that the lane departure warning mode is executed when the lane departure warning mode is set by the control mode setting unit 9. That is, the alarm device 6 is controlled so as to generate a departure alarm sound from the alarm device 6 when the possibility of the vehicle deviating from the lane arises.

  FIG. 2 is a flowchart showing a procedure of lane departure warning mode setting processing executed by the control mode setting unit 9.

  In the figure, it is first determined whether or not the arousal level estimated by the arousal level estimation unit 8 is lower than the arousal level determination threshold (normal driving determination threshold) (step S101). When it is determined that the arousal level is lower than the arousal level determination threshold, it is subsequently determined whether or not the lane keeping support setting switch 4 is in the ON state (step S102).

  When it is determined that the lane keeping assist setting switch 4 is in the ON state, the control mode is changed from the lane keeping assist mode to the lane departure warning mode (step S103). That is, as shown in FIG. 3, when the lane keeping support mode is being executed as the control mode, if the wakefulness estimated by the wakefulness estimating unit 8 becomes lower than the wakefulness determination threshold, the control mode is maintained as lane keeping. Switch from support mode to lane departure warning mode.

  Subsequently, a control end signal is sent to the lane keeping support control unit 10, the execution of the lane keeping support mode by the lane keeping support control unit 10 is finished, and a control start signal is sent to the lane departure warning control unit 11. Then, execution of the lane departure warning mode by the lane departure warning control unit 11 is started (step S104). Then, the vibration generator 7 is controlled so as to generate vibration in the steering or the seat (step S105). Note that the vibration generation control process may be performed between step S103 and step S104.

  If it is determined in step S102 that the lane keeping assist setting switch 4 is not in the ON state, that is, it is determined that the lane keeping assist mode is not being executed, the control mode is set to the lane departure warning mode (procedure S106). Subsequently, a control start signal is sent to the lane departure warning control unit 11 to start execution of the lane departure warning mode by the lane departure warning control unit 11 (step S107).

  Here, when the control mode is switched from the lane keeping assist mode to the lane departure warning mode in step S103, the lane is automatically set as the control mode even if the driver's arousal level becomes higher than the arousal level determination threshold after that. It does not return to the maintenance support mode and remains in the lane departure warning mode. In order to return the control mode to the lane keeping support mode, the driver himself turns on the lane keeping support setting switch 4 again.

  In the above, the lane keeping assist control unit 10 and the steering actuator 5 of the ECU 2 constitute lane keeping assist control means for controlling the steering so that the host vehicle travels while maintaining the lane. The lane departure warning control unit 11 and the alarm device 6 of the ECU 2 constitute lane departure warning control means for generating a departure warning when there is a possibility that the host vehicle will depart from the lane. The face recognition camera 3 and the arousal level estimation unit 8 of the ECU 2 constitute state detection means for detecting the state of the driver. The control mode setting unit 9 of the ECU 2 controls from the lane keeping support mode for executing the lane keeping support control means to the lane departure warning mode for executing the lane departure warning control means according to the state of the driver detected by the state detecting means. Control mode changing means for switching modes is configured.

  By the way, when the driver's arousal level is reduced during driving, if the lane keeping support mode is continuously executed, the own vehicle continues to travel in the lane as it is. However, when the driver's arousal level is reduced, the possibility that the host vehicle departs from the lane becomes very high simply by completely stopping the execution of the lane keeping support mode.

  On the other hand, in the present embodiment, when the driver's arousal level becomes lower than the arousal level determination threshold during the execution of the lane keeping assist mode, the control mode is automatically switched from the lane keeping assist mode to the lane departure warning mode. As a result, the own vehicle is likely to depart from the lane, but a departure warning sound is generated at this time. Therefore, the departure warning sound gives the driver a sense of tension and encourages the driver's awakening, so that the driver himself performs steering operation etc. to avoid lane departure, and then rests early in some cases.・ I will take a break. By reducing the dependency on the lane keeping support control system in this way, the driver's awakening level is reduced, so it is possible to reliably prevent lane departure of the vehicle due to carelessness such as a driver's sleep. , Safety can be improved sufficiently.

  In addition, once the control mode is switched from the lane keeping support mode to the lane departure supporting mode, the control mode does not automatically switch from the lane departure warning mode to the lane keeping supporting mode. It is possible to prevent the driver's arousal level from being lowered again due to the automatic return.

  In the present embodiment, when the driver's arousal level becomes lower than the arousal level determination threshold, the control mode is immediately switched from the lane keeping support mode to the lane departure warning mode. However, the present invention is not limited to this. . For example, the control amount of the lane departure warning control unit 10 (steering torque command value for the steering actuator 5) is gradually decreased in response to a decrease in the arousal level, and when the control amount becomes 0, the control mode is changed to lane maintenance support. The mode may be switched to the lane departure warning mode.

  In addition, when the driver's arousal level becomes lower than the arousal level determination threshold, the driver is notified in advance that the control mode is to be changed, and a response from the driver is requested. When there is not, the control mode may be switched from the lane keeping support mode to the lane departure warning mode. At this time, examples of means for notifying the driver include voice guidance, display, alarm sound, vibration, or a combination thereof. Examples of the response means from the driver include voice, switch operation, navigation operation, and driving operation such as accelerator, brake, and steering. In this case, the reliability of the arousal level estimation by the arousal level estimation unit 8 can be compensated.

  FIG. 4 is a block diagram showing a schematic configuration of the second embodiment of the steering assist device according to the present invention. In the figure, the same or equivalent elements as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the figure, the steering assist device 20 of the present embodiment includes an ECU 21 instead of the ECU 2 in the first embodiment. The steering assist device 20 further includes a steering torque sensor 22 that detects an actual steering torque applied to the steering by the driver.

  The ECU 21 includes a release determination unit 23 in addition to the arousal level estimation unit 8, the control mode setting unit 9, the lane maintenance support control unit 10, and the lane departure warning control unit 11. Based on the detected value of the steering torque sensor 22 and the arousal level estimated by the arousal level estimation unit 8, the hand release determination unit 23 determines whether or not the driver is performing a release operation.

  FIG. 5 is a flowchart showing the procedure of the hand release operation determination process executed by the hand release determination unit 23.

  In the figure, first, a release determination time is obtained from the arousal level estimated by the arousal level estimation unit 8 (step S201). Specifically, as shown in FIG. 6, the hand release determination time is shortened step by step as the awakening level decreases.

  Subsequently, it is determined whether or not the time during which the actual steering torque detected by the steering torque sensor 22 is continuously lower than the preset torque determination threshold has exceeded the above-mentioned release determination time (step S202). Here, the torque determination threshold is set to a value lower than the steering torque applied when the driver normally holds the steering wheel, for example.

  If it is determined that the time during which the actual steering torque is continuously lower than the torque determination threshold has exceeded the release determination time, it is determined that the driver is performing the release operation as if the steering operation has not been performed for a certain period of time. Then, the determination result is sent to the control mode setting unit 9 (step S203). On the other hand, when it is determined that the time during which the actual steering torque is continuously lower than the torque determination threshold value does not exceed the release determination time, it is determined that the driver is not performing the release operation, and the determination result is set to the control mode. The data is sent to the setting unit 9 (step S204).

  FIG. 7 is a flowchart showing a procedure of lane departure warning mode setting processing executed by the control mode setting unit 9.

  In the figure, first, it is determined from the determination result of the release control unit 23 whether or not the driver is performing a release operation (step S111), and when it is determined that the driver is performing a release operation, it is shown in FIG. Processing similar to that in steps S102 to S107 is executed.

  That is, when the driver is carrying out the driving operation while the lane keeping assist mode is being executed, the control mode is switched from the lane keeping assist mode to the lane departure warning mode. In addition, when the driver is driving by hand while the lane keeping assist mode is not being executed, the control mode is set to the lane departure warning mode.

  As described above, in the present embodiment, the release determination time is shortened as the driver's awakening level decreases, and it is determined whether or not the driver is performing the release operation using this release determination time. If it is determined that the driver is driving alone, the control mode is automatically switched from the lane keeping assist mode to the lane departure warning mode. Therefore, even if it is easy for the vehicle to depart from the lane, the driver will take a driving action to avoid the lane departure by performing the steering operation by firmly grasping the steering wheel by the departure warning sound generated at that time. The driver's awakening level is suppressed. As a result, it is possible to reliably prevent lane departure of the host vehicle due to the driver's falling asleep.

  In the present embodiment, it is determined whether or not the hand-off operation has been performed by shortening the hand release determination time according to the decrease in the driver's arousal level, but is not limited to this method, and the hand release determination time is made constant. The torque determination threshold value may be increased as the awakening level is decreased, and it may be determined whether the hand-off operation has been performed.

  FIG. 8 is a block diagram showing a schematic configuration of the third embodiment of the steering assist device according to the present invention. In the figure, the same or equivalent elements as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the figure, a steering assist device 30 of the present embodiment includes an ECU 31 instead of the ECU 2 in the first embodiment. The steering assist device 30 further includes a vehicle speed sensor 32 that detects the actual vehicle speed of the host vehicle.

  The ECU 31 includes an upper limit vehicle speed setting unit 33 in addition to the arousal level estimation unit 8, the control mode setting unit 9, the lane keeping support control unit 10, and the lane departure warning control unit 11. The upper limit vehicle speed setting unit 33 sets an upper limit vehicle speed within a vehicle speed range in which the lane maintenance support control by the lane maintenance support control unit 10 is possible. Specifically, as shown in FIG. 9, the upper limit vehicle speed setting unit 33 sets the upper limit vehicle speed P to be lowered stepwise as the arousal level estimated by the arousal level estimation unit 8 decreases. Data on the upper limit vehicle speed P is sent to the control mode setting unit 9 and the lane keeping support control unit 10.

  FIG. 10 is a flowchart showing the procedure of the lane departure warning mode setting process executed by the control mode setting unit 9.

  In the figure, first, it is determined whether or not the actual vehicle speed of the host vehicle detected by the vehicle speed sensor 32 is higher than the upper limit vehicle speed set by the upper limit vehicle speed setting unit 33 (step S121). If it is determined that it is higher than that, the same processing as steps S102 to S107 shown in FIG. 2 is executed.

  That is, as shown in FIG. 9, when the lane keeping assist mode is being executed and the actual vehicle speed Q of the host vehicle is higher than the upper limit vehicle speed P used when the lane keeping assist mode is being executed, the control mode is The lane keeping support mode is switched to the lane departure warning mode. Further, when the actual vehicle speed Q of the host vehicle is higher than the upper limit vehicle speed P in the state where the lane keeping support mode is not executed, the control mode is set to the lane departure warning mode.

  As described above, in the present embodiment, the lower the driver's awakening level, the lower the upper limit vehicle speed used when the lane keeping assist mode is executed, and the actual vehicle speed of the host vehicle becomes higher than the upper limit vehicle speed. The control mode is automatically switched from the lane keeping support mode to the lane departure warning mode. Therefore, even if the host vehicle is likely to depart from the lane, the driver will perform a steering operation to avoid the lane departure by the departure warning sound generated at that time, so that a decrease in the driver's arousal level is suppressed. Become. Thereby, it is possible to reliably prevent the vehicle from departing from the lane due to the driver's sleep.

  In the present embodiment, the upper limit vehicle speed is set only according to the driver's arousal level. However, in addition to this, for example, a peripheral monitoring sensor for detecting the vehicle situation around the own vehicle is provided, and the driver's awakening level and the own vehicle are detected. You may set an upper limit vehicle speed according to the surrounding vehicle condition. In this case, the control mode is switched from the lane keeping assist mode to the lane departure warning mode in consideration of not only the driver's arousal level but also the number of other vehicles around the host vehicle.

  FIG. 11 is a block diagram showing a schematic configuration of the fourth embodiment of the steering assist device according to the present invention. In the figure, the same or equivalent elements as those in the first and third embodiments are denoted by the same reference numerals, and the description thereof is omitted.

  In the figure, a steering assist device 40 of this embodiment includes an ECU 41 instead of the ECU 2 in the first embodiment. The ECU 41 includes a target vehicle speed setting unit 42 that sets a target vehicle speed of the host vehicle, a vehicle speed of the host vehicle, in addition to the arousal level estimation unit 8, the control mode setting unit 9, the lane keeping support control unit 10, and the lane departure warning control unit 11. And a vehicle speed control unit 43 that automatically controls the vehicle. A brake actuator 44 that applies a braking force to each wheel of the host vehicle is connected to the vehicle speed control unit 43.

  As shown in FIG. 12, the target vehicle speed setting unit 42 sets a target vehicle speed R (see a broken line) that gradually decreases as the arousal level estimated by the arousal level estimation unit 8 decreases. The vehicle speed control unit 43 controls the brake actuator 43 so that the vehicle speed of the host vehicle becomes the target vehicle speed R set by the target vehicle speed setting unit 42.

  FIG. 13 is a flowchart showing the procedure of the lane departure warning mode setting process executed by the control mode setting unit 9.

  In the figure, first, it is determined whether or not the actual vehicle speed of the host vehicle detected by the vehicle speed sensor 32 is lower than the lower limit vehicle speed used when the lane keeping support mode is executed (step S131). When it is determined that the speed is lower than the vehicle speed, the same processing as steps S102 to S107 shown in FIG. 2 is executed.

  That is, as shown in FIG. 12, when the lane keeping assist mode is being executed and the actual vehicle speed Q of the host vehicle is lower than the lower limit vehicle speed S used when the lane keeping assist mode is being executed, the control mode is The lane keeping support mode is switched to the lane departure warning mode. When the actual vehicle speed Q of the host vehicle is lower than the lower limit vehicle speed S in a state where the lane keeping support mode is not executed, the control mode is set to the lane departure warning mode.

  In the above, the vehicle speed control unit 43 and the brake actuator 44 of the ECU 41 constitute vehicle speed control means for controlling the vehicle speed of the host vehicle to be the target vehicle speed.

  As described above, in the present embodiment, automatic control is performed so that the vehicle speed of the host vehicle decreases as the driver's awakening level decreases, and the actual vehicle speed of the host vehicle is lower than the lower limit vehicle speed used when the lane keeping assist mode is executed. When this happens, the control mode is automatically switched from the lane keeping support mode to the lane departure warning mode. Therefore, even if the host vehicle is likely to depart from the lane, the departure warning sound generated at that time causes the driver to perform a steering operation to avoid the lane departure so that a decrease in the driver's arousal level is suppressed. Become. As a result, it is possible to reliably prevent lane departure of the host vehicle due to the driver's falling asleep. Further, since the vehicle speed of the host vehicle is forcibly reduced as the driver's awakening level becomes lower, the safety can be further improved.

  In this embodiment, when the actual vehicle speed of the host vehicle is lower than the lower limit vehicle speed in the vehicle speed range in which the lane keeping assistance control unit 10 can perform the lane keeping assistance control, the control mode is deviated from the lane keeping assistance mode. Although the alarm mode is switched, another threshold value set in advance may be used instead of the lower limit vehicle speed, and the actual vehicle speed may be compared with the threshold value.

  Although several preferred embodiments of the steering assist device according to the present invention have been described above, the present invention is not limited to the above-described embodiments. For example, in the above-described embodiment, the control mode is switched from the lane keeping support mode to the lane departure warning mode according to the driver's arousal level (sleepiness). Switching from the support mode to the lane departure warning mode may be performed.

  In the above embodiment, the steering actuator 5 is controlled so that the host vehicle travels while maintaining the lane when performing control such that the lane keeping support control unit 10 performs the lane keeping support mode. However, the present invention is not limited to this, and the lane keeping assist mode may be implemented by brake control or driving force control of each wheel.

1 is a block diagram showing a schematic configuration of a first embodiment of a steering assist device according to the present invention. It is a flowchart which shows the procedure of the lane departure warning mode setting process performed by the control mode setting part shown in FIG. It is a figure which shows the timing which a control mode switches from a lane maintenance assistance mode to a lane departure warning mode by the control mode setting part shown in FIG. It is a block diagram which shows schematic structure of 2nd Embodiment of the steering assistance apparatus concerning this invention. It is a flowchart which shows the procedure of the release operation determination process performed by the release control determination part shown in FIG. It is a figure which shows an example of the hand release determination time set by the hand release determination part shown in FIG. 6 is a flowchart showing a procedure of lane departure warning mode setting processing executed by a control mode setting unit shown in FIG. 4. It is a block diagram which shows schematic structure of 3rd Embodiment of the steering assistance apparatus concerning this invention. It is a figure which shows an example of the upper limit vehicle speed set by the upper limit vehicle speed setting part shown in FIG. 8, and the timing which a control mode switches from a lane maintenance assistance mode to a lane departure warning mode by a control mode setting part. It is a flowchart which shows the procedure of the lane departure warning mode setting process performed by the control mode setting part shown in FIG. It is a block diagram which shows schematic structure of 4th Embodiment of the steering assistance apparatus concerning this invention. It is a figure which shows an example of the target vehicle speed set by the target vehicle speed setting part shown in FIG. 11, and the timing which a control mode switches from a lane maintenance assistance mode to a lane departure warning mode by a control mode setting part. It is a flowchart which shows the procedure of the lane departure warning mode setting process performed by the control mode setting part shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Steering assistance apparatus, 2 ... ECU, 3 ... Face recognition camera (state detection means), 5 ... Steering actuator (lane maintenance assistance control means), 6 ... Alarm device (lane departure warning control means), 8 ... Awakening level estimation Parts (state detection means), 9 ... control mode setting part (control mode changing means), 10 ... lane keeping support control part (lane keeping support control means), 11 ... lane departure warning control part (lane departure warning control means), DESCRIPTION OF SYMBOLS 20 ... Steering assistance apparatus, 21 ... ECU, 22 ... Steering torque sensor (control mode change means), 23 ... Hand release determination part (control mode change means), 30 ... Steering assistance apparatus, 31 ... ECU, 32 ... Vehicle speed sensor (vehicle speed) Detecting means), 33 ... upper limit vehicle speed setting section (control mode changing means), 40 ... steering assist device, 41 ... ECU, 42 ... target vehicle speed setting section (control mode changing means), 43 ... vehicle speed control section (vehicle) Control means), 44 ... brake actuator (speed control unit).

Claims (3)

In the steering assist device that assists the steering operation by the driver,
Lane maintenance support control means for controlling the steering so that the host vehicle travels while maintaining the lane,
Lane departure warning control means for generating a departure warning when there is a possibility that the host vehicle will depart from the lane;
State detection means for detecting the state of the driver;
Vehicle speed detection means for detecting the actual vehicle speed of the host vehicle;
A control mode for switching a control mode from a lane keeping support mode for executing the lane keeping support control means to a lane departure warning mode for executing the lane departure warning control means according to the state of the driver detected by the state detecting means. Change means,
The control mode changing means is configured to set a support upper limit vehicle speed used in the lane keeping support mode according to the state of the driver, and an actual vehicle speed of the host vehicle detected by the vehicle speed detecting means is the support determining whether greater than the upper limit vehicle speed, the when the actual vehicle speed of the vehicle is higher than said supporting upper limit vehicle speed, wherein the benzalkonium switches the control mode from the lane keeping assist mode to the lane departure warning mode A steering assist device. In the steering assist device that assists the steering operation by the driver,
Lane maintenance support control means for controlling the steering so that the host vehicle travels while maintaining the lane,
Lane departure warning control means for generating a departure warning when there is a possibility that the host vehicle will depart from the lane;
State detection means for detecting the state of the driver;
Vehicle speed control means for controlling the vehicle speed of the host vehicle to be the target vehicle speed;
Vehicle speed detection means for detecting the actual vehicle speed of the host vehicle;
A control mode for switching a control mode from a lane keeping support mode for executing the lane keeping support control means to a lane departure warning mode for executing the lane departure warning control means according to the state of the driver detected by the state detecting means. Change means,
The control mode changing means includes means for setting the target vehicle speed according to the state of the driver, and whether or not the actual vehicle speed of the host vehicle detected by the vehicle speed detecting means is lower than a preset vehicle speed threshold. A steering assist device that determines and switches the control mode from the lane keeping assist mode to the lane departure warning mode when the actual vehicle speed of the host vehicle is lower than the vehicle speed threshold . The control mode changing means is configured not to return the control mode to the lane keeping assist mode after the control mode is switched from the lane keeping assist mode to the lane departure warning mode. The steering assist device according to claim 1 or 2 .

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