Driving assist controller for vehicle
View Patent ↗Feed-forward control amounts of an electric motor, which are necessary for a vehicle to travel along the target course under the feed-forward control, are calculated on the basis of the road shape. The prediction time is variably set to be shorter as the present displacement between the target course and the vehicle position becomes larger, the position after elapse of the prediction time is defined as a forward gaze point, and the feedback control amounts of the electric motor, which are necessary for the vehicle to travel along the target course under the feedback control, are calculated on the basis of the traveling state of the vehicle so as to zero the displacement between the target course and the vehicle trajectory in the forward gaze point. The electric motor current value is then calculated from the driver steering torque, feed-forward control amounts, and feedback control amounts.
1. A driving assist controller for a vehicle, comprising:
a target course specifying unit configured to specify a target course along which a vehicle equipped with the driving assist controller is to travel using input signals from at least a camera;
a vehicle trajectory specifying unit configured to specify a trajectory of the vehicle;
a forward gaze point specifying unit configured to specify a position after an elapse of a prediction time, which is variably set according to a present displacement between the target course and the vehicle position, as a forward gaze point; and
a controller configured to control the vehicle such that the vehicle travels along the target course in response at least to a displacement between the target course in the forward gaze point and the estimated trajectory of the vehicle,
wherein the forward gaze point specifying unit dynamically specifies the prediction time based on at least two pre-determined vehicle conditions.
2. The driving assist controller for a vehicle according to claim 1 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter as the substantially present displacement between the target course and the vehicle position becomes larger.
3. The driving assist controller for a vehicle according to claim 1 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter as a lane width of a travel lane becomes narrower.
4. The driving assist controller for a vehicle according to claim 2 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter as a lane width of a travel lane becomes narrower.
5. The driving assist controller for a vehicle according to claim 1 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter as a curve radius of a travel lane becomes smaller.
6. The driving assist controller for a vehicle according to claim 2 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter as a curve radius of a travel lane becomes smaller.
7. The driving assist controller for a vehicle according to claim 3 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter as a curve radius of a travel lane becomes smaller.
8. The driving assist controller for a vehicle according to claim 4 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter as a curve radius of a travel lane becomes smaller.
9. The driving assist controller for a vehicle according to claim 1 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter when an oncoming vehicle is present in a travel lane.
10. The driving assist controller for a vehicle according to claim 2 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter when an oncoming vehicle is present in a travel lane.
11. The driving assist controller for a vehicle according to claim 3 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter when an oncoming vehicle is present in a travel lane.
12. The driving assist controller for a vehicle according to claim 4 , wherein the forward gaze point specifying unit specifies the prediction time to be shorter when an oncoming vehicle is present in a travel lane.
13. The driving assist controller for a vehicle according to claim 1 , wherein the controller controls an electric power steering motor.
14. The driving assist controller for a vehicle according to claim 2 , wherein the controller controls an electric power steering motor.
15. The driving assist controller for a vehicle according to claim 3 , wherein the controller controls an electric power steering motor.
16. The driving assist controller for a vehicle according to claim 4 , wherein the controller controls an electric power steering motor.
17. The driving assist controller for a vehicle according to claim 1 , wherein the pre-determined condition comprises at least one of a substantially present displacement between the target course and the vehicle position becoming larger, a lane width of a travel lane becoming narrower, a curve radius of a travel lane becoming smaller, and an oncoming vehicle being present in a travel lane.
18. The driving assist controller for a vehicle according to claim 1 , wherein the controller controls a feedback control on the basis of the travel state of the vehicle so as to zero the displacement between the target course in the forward gaze point and the estimated trajectory of the vehicle.