Vehicular steering assistance control device
The purpose of the present invention is to obtain assistance for traveling in an appropriate position, through steering assistance control, when a driver intends to travel in a position offset either to the left or to the right from the center of a traffic lane. Provided is a vehicular steering assistance control device for controlling a host vehicle so that the vehicle travels in a predetermined position of a traffic lane, wherein the amount of steering control is adjusted according to the driver's intentions.
1. An apparatus comprising:
a vehicular steering assistance control device that is configured to control a host vehicle to travel in a predetermined position in a traffic lane, wherein
the vehicular steering assistance control device is configured to adjust a steering control amount in accordance with an intention of a driver, and
the adjustment of the steering control amount in accordance with the intention of the driver, includes calculation of the predetermined position being a goal in the traffic lane, and calculation of the steering control amount for moving to the predetermined position being the goal in the traffic lane that has been calculated.
2. The apparatus according to claim 1 , comprising:
means for detecting in which position the host vehicle is present in the traffic lane;
means for detecting which way the host vehicle is facing with respect to the traffic lane;
means for detecting a velocity of the host vehicle;
means for detecting a steering direction of the host vehicle;
means for detecting a steering intention of the driver; and
an actuator configured to automatically control steering of the host vehicle.
3. The apparatus according to claim 2 , wherein
the means for detecting which way the host vehicle is facing with respect to the traffic lane, includes: means for detecting a position in which the host vehicle is traveling from both ends of the traffic lane in which the host vehicle is traveling and an orientation of the host vehicle with respect to the traffic lane, from a center line, a carriageway marking, a curb, or a guardrail segmenting the traffic lane, with an outside recognition sensor including a camera or radar; or means for detecting the position in which the host vehicle is traveling and the orientation of the host vehicle with respect to the traffic lane with collation of GPS information and geographic information.
4. The apparatus according to claim 1 , wherein
the adjustment of the steering control amount in accordance with the intention of the driver, includes adjustment of the steering control amount with automatic control to avoid deviation from the traffic lane, without a steering intention of the driver for a traffic lane change, a right or left turn, or a collision avoidance action.
5. The apparatus according to claim 1 , wherein
the adjustment of the steering control amount in accordance with the intention of the river, includes adjustment of the steering control amount in accordance with duration of a steering intention of the driver.
6. The apparatus according to claim 1 , comprising:
a display device configured to notify the driver that the steering control amount has been adjusted in accordance with the intention of the driver.
7. The apparatus according to claim 1 , wherein
the adjustment of the steering control amount in accordance with the intention of the river, includes detection of an obstruction on a periphery of the host vehicle with an outside recognition device including a camera or radar and a communication device, and adjustment of the steering control amount in accordance with a result of a position relationship between the obstruction and the host vehicle.
8. The apparatus according to claim 1 , wherein
the adjustment of the steering control amount in accordance with the intention of the driver, includes disablement of the adjustment of the steering control amount in accordance with the intention of the driver, in a case where a system determines that traveling cannot be performed safely in a position close to either a left or a right in a roadway, in preference to the intention of the driver.
9. An apparatus comprising:
a vehicular steering assistance control device that is configured to control a host vehicle to travel in a predetermined position in a traffic lane, wherein
the vehicular steering assistance control device is configured to adjust a steering control amount in accordance with an intention of a driver, and
the adjustment of the steering control amount in accordance with the intention of the driver, includes disablement of the adjustment of the steering control amount in accordance with the intention of the driver, in a case where a system determines that traveling cannot be performed safely in a position close to either a left or a right in a roadway, in preference to the intention of the driver.
10. The apparatus according to claim 9 , comprising:
means for detecting in which position the host vehicle is present in the traffic lane;
means for detecting which way the host vehicle is facing with respect to the traffic lane;
means for detecting a velocity of the host vehicle;
means for detecting a steering direction of the host vehicle;
means for detecting a steering intention of the driver; and
an actuator configured to automatically control steering of the host vehicle.
11. The apparatus according to claim 10 , wherein
the means for detecting which way the host vehicle is facing with respect to the traffic lane, includes: means for detecting a position in which the host vehicle is traveling from both ends of the traffic lane in which the host vehicle is traveling and an orientation of the host vehicle with respect to the traffic lane, from a center line, a carriageway marking, a curb, or a guardrail segmenting the traffic lane, with an outside recognition sensor including a camera or radar; or means for detecting the position in which the host vehicle is traveling and the orientation of the host vehicle with respect to the traffic lane with collation of GPS information and geographic information.
12. The apparatus according to claim 9 , wherein
the adjustment of the steering control amount in accordance with the intention of the driver, includes adjustment of the steering control amount with automatic control to avoid deviation from the traffic lane, without a steering intention of the driver for a traffic lane change, a right or left turn, or a collision avoidance action.
13. The apparatus according to claim 9 , the adjustment of the steering control amount in accordance with the intention of the driver, includes calculation of the predetermined position being a goal in the traffic lane, and calculation of the steering control amount for moving to the predetermined position being the goal in the traffic lane that has been calculated.
14. The apparatus according to claim 9 , wherein
the adjustment of the steering control amount in accordance with the intention of the driver, includes adjustment of the steering control amount in accordance with duration of a steering intention of the driver.
15. The apparatus according to claim 9 , comprising:
a display device configured to notify the driver that the steering control amount has been adjusted in accordance with the intention of the driver.
16. The apparatus according to claim 9 , wherein
the adjustment of the steering control amount in accordance with the intention of the driver, includes detection of an obstruction on a periphery of the host vehicle with an outside recognition device including a camera or radar and a communication device, and adjustment of the steering control amount in accordance with a result of a position relationship between the obstruction and the host vehicle.