Vehicle control device

Abstract

The invention provides a vehicle control device capable of determining a driver's intention to intervene in steering. An ECU (40) includes a deviation calculating circuit, an assist control circuit, an automatic steering control circuit including an intervention determination switching circuit, an adder (42), a current command value calculating circuit, and a motor control signal calculating circuit. The intervention determination switching circuit includes a count amount calculating circuit, an adder (83), an immediately-preceding count amount output circuit, a switching determination circuit, and an output switching circuit. The count amount calculating circuit calculates a count amount having a positive value or a negative value based on a steering torque absolute value th calculated byan absolute value switching circuit. The adder calculates a total count amount Ca that is the total sum of a presently calculated count amount C and an immediately-preceding count amount Co calculated in an immediately-preceding calculation cycle. The switching determination circuit determines a driver's intention to intervene in steering, based on whether the total count amount Ca is equal to orgreater than a count amount threshold value Tc.

Description

[0001] The disclosure of the Japanese patent application No.2016-164750 submitted on August 25, 2016 and the Japanese patent application No.2016-203862 submitted on October 17, 2016, including its description, drawings and abstract, the present invention, All are incorporated herein by reference. technical field [0002] The present invention relates to a vehicle control device. Background technique [0003] As an example of an automatic driving system among vehicle steering devices, there is a steering device equipped with a lane departure prevention assist system that prevents a running vehicle from leaving a lane (for example, Japanese Patent Application Laid-Open No. 2009-214680). Japanese Unexamined Patent Application Publication No. 2009-214680 discloses that during execution of the control related to the lane departure prevention assist system, the control related to the lane departure prevention assist system is interrupted according to the steering state of the driv...

AI Technical Summary

Problems solved by technology

[0004] However, if the driver is holding the steering wheel, even if the driver does not intend to intervene in the steering by the lane departure prevention assist system, the steering torque will be applied to the steering wheel.

Therefore, when it is determined whether or not the driver intends to intervene in the steering based on whether the steering torque is equal to or greater than the threshold value, it may not be possible to accurately determine whether the driver has the intention to intervene in the steering.

For example, although the driver has no intention to intervene in steering manipulation, the steering torque generated by the driver holding the steering wheel may be misjudged as the driver's intention to intervene in steering manipulation

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