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Lane departure suppression device

A restraining device and lane technology, which is applied in the field of devices for restraining vehicles from leaving the lane, can solve problems such as driver incoordination, and achieve the effect of restraining the sense of incongruity

Active Publication Date: 2020-03-06
DENSO CORP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, as described above, if the timing of the vehicle starting to operate due to the assist torque is too early, it will give the driver a sense of discomfort.

Method used

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  • Lane departure suppression device
  • Lane departure suppression device
  • Lane departure suppression device

Examples

Experimental program
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Effect test

Deformed example 1

[0074] For example, it can also be used with image 3 The processing sequence shown is different, and step S7 is executed first compared with steps S2 to S6, and when the lateral position of the host vehicle C reaches the pre-torque control start position D2, steps S2 to S6 are executed to determine the pre-torque ramp. Degree α.

Deformed example 2

[0076] In the above-described embodiment, the main control unit 731 determines the target steering angle, then determines the assist torque based on the target steering angle, and outputs an assist torque command value representing the assist torque to the EPS-ECU 81 . However, the target steering angle may be used as the main control amount, and a command value indicating the target steering angle may be output to the EPS-ECU 81 as a main control signal. In this case, the EPS-ECU 81 performs a process of determining the assist torque based on the target steering angle.

Deformed example 3

[0078] In the above-described embodiment, the pre-torque command value for generating the pre-torque with the hysteresis width Hys is output when the position of the host vehicle C becomes the yaw start position D1. However, even if the pre-torque generated when the host vehicle C reaches the yaw start position D1 is less than or equal to the hysteresis width Hys, if it is greater than 0, the assist rotation will not be performed at all until the host vehicle C reaches the yaw start position D1. Compared with the case where the moment is generated, the own vehicle C can be deflected as early as possible after the position of the own vehicle C becomes the yaw start position D1.

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Abstract

The present invention provides a lane departure suppressing device equipped with a vehicle equipped with a steering angle changing mechanism (83) for changing the steering angle and a motor (82) for operating the steering angle changing mechanism (83), comprising: a main controller A section (731) that outputs a main control amount indicating an assist torque for causing a change in the steering angle of the motor (82) after the position of the vehicle reaches the yaw start position at which the vehicle starts to yaw in order to suppress the vehicle from leaving the lane and a pre-control unit (732) that outputs a steering angle changing mechanism (83) for causing the motor (82) to generate the steering angle change mechanism (83) when the position of the vehicle is located on the center side of the lane compared with the deflection start position. There is a pre-control signal of the pre-control amount of the assist torque below the friction torque until the main control part (731) outputs the main control signal.

Description

technical field [0001] The present invention relates to a lane departure suppressing device, and more particularly to a device for suppressing a vehicle from leaving a lane by operating a steering angle changing mechanism. Background technique [0002] There is known a device that suppresses a vehicle from leaving a lane by operating a steering angle changing mechanism that is a mechanical mechanism that changes a steering angle. For example, in Patent Document 1, a motor for operating a steering angle changing mechanism is used to generate an assist torque for moving the vehicle toward the lane center position. In addition, in Patent Document 1, if the position of the vehicle is within a predetermined range of dead zone set near the center of the lane, the assist torque is set to a size that cannot be perceived by the driver. When the motor generates an assist torque of this magnitude, the vehicle slowly moves toward the center position of the lane. [0003] The device di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D101/00B62D111/00B62D113/00B62D119/00B62D137/00
CPCB60W10/20B60W2520/105B60W2520/10B62D15/025B60W2520/14B60W2540/18B60W30/12B60W2420/403B62D6/00B62D5/0463B62D6/02B62D6/10
Inventor 达川淳平衣笠荣信奥田裕宇二
Owner DENSO CORP
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