Vehicle drive control device
A vehicle drive control device includes a drive lane detector, a drive assist unit, and a curve road steering assist unit. The drive lane detector detects a drive lane of a subject vehicle. The drive assist unit performs drive assist control to assist the subject vehicle in lane keep driving in the drive lane. The curve road steering assist unit performs steering assist for assisting the subject vehicle in turning along a curve of a curve road if the drive lane is the curve road and if the drive assist control performed by the drive assist unit is discontinued during driving on the curve road.
1. A vehicle drive control device comprising:
a drive lane detector that detects a drive lane of a subject vehicle;
a drive assist electronic control unit (ECU) that performs drive assist control to assist the subject vehicle in lane-keeping in the drive lane; and
a curve road steering assist ECU that performs steering assist for assisting the subject vehicle in turning along a curve of a curve road when the drive lane is the curve road and when the drive assist control performed by the drive assist ECU is discontinued during driving on the curve road,
wherein
the drive lane detector includes
an imaging unit that obtains a front image indicating a front area ahead of the subject vehicle, and
a lane detector that detects the drive lane from the front image,
the drive assist ECU includes
a lane keep assist ECU that calculates a first steering assist amount for assisting the subject vehicle in the lane keeping in the drive lane detected by the lane detector so as to perform lane keep control as steering assist by using the first steering assist amount, and
the curve road steering assist ECU calculates a second steering assist amount which increases in accordance with an increase in a lateral acceleration of the subject vehicle so as to perform the steering assist by using the second steering assist amount,
the drive assist control performed by the drive assist ECU is discontinued when the lane detector becomes unable to detect the drive lane during driving on the curve road to a degree enough to perform the drive assist control by the drive assist ECU,
the vehicle drive control device further comprising:
a decrease limiter that limits a decrease in a corrected steering assist amount corrected by the first steering assist amount or a decrease in the first steering assist amount until the corrected steering assist amount or the first steering assist amount coincides with the second steering assist amount when the lane detector becomes unable to detect the drive lane to the degree enough to perform the drive assist control by the drive assist ECU.
2. The vehicle drive control device according to claim 1 , wherein, when the decrease limiter limits the decrease in the corrected steering assist amount or the decrease in the first steering assist amount as a result of the lane detector becoming unable to detect the drive lane to the degree enough to perform the drive assist control by the drive assist ECU, the decrease limiter reduces the decrease in the corrected steering assist amount or the decrease in the first steering assist amount per unit time to be smaller decrease as the lateral acceleration is greater.
3. The vehicle drive control device according to claim 1 , wherein the vehicle drive control device switches from the drive assist control performed by the drive assist ECU to the steering assist performed by the curve road steering assist ECU when the drive assist control performed by the drive assist ECU is discontinued during driving on the curve road.
4. A vehicle drive control method comprising steps of:
(i) detecting, by a computer, a drive lane of a subject vehicle;
(ii) performing, by the computer, a drive assist control to assist the subject vehicle in lane-keeping in the drive lane, and calculating a first steering assist amount for assisting the subject vehicle in the lane keeping in the drive lane so as to perform lane keep control as steering assist by using the first steering assist amount; and
(iii) performing, by the computer, a steering assist for assisting the subject vehicle in turning along a curve of a curve road when the drive lane is the curve road and when the drive assist control is discontinued during driving on the curve road, and calculating a second steering assist amount which increases in accordance with an increase in a lateral acceleration of the subject vehicle so as to perform the steering assist by using the second steering assist amount,
wherein the step (iii) comprises:
switching from the drive assist control to the steering assist when the drive assist control is discontinued during driving on the curve road, and
limiting a change in the steering assist amount when the first steering assist amount is switched to the second steering assist amount when switching from the drive assist control to the steering assist.
5. A vehicle drive control device comprising:
a drive lane detector that detects a drive lane of a subject vehicle;
a drive assist electronic control unit (ECU) that performs drive assist control to assist the subject vehicle in lane-keeping in the drive lane; and
a curve road steering assist ECU that performs steering assist for assisting the subject vehicle in turning along a curve of a curve road when the drive lane is the curve road and when the drive assist control performed by the drive assist ECU is discontinued during driving on the curve road,
wherein the vehicle drive control device switches from the drive assist control performed by the drive assist ECU to the steering assist performed by the curve road steering assist ECU when the drive assist control performed by the drive assist ECU is discontinued during driving on the curve road,
wherein
the drive assist ECU includes
a lane keep assist ECU that calculates a first steering assist amount for assisting the subject vehicle in the lane keeping in the drive lane detected by the lane detector so as to perform lane keep control as steering assist by using the first steering assist amount, and
the curve road steering assist ECU calculates a second steering assist amount which increases in accordance with an increase in a lateral acceleration of the subject vehicle so as to perform the steering assist by using the second steering assist amount,
the vehicle drive control device further comprising:
a steering assist amount change limiter that limits a change in the steering assist amount when the first steering assist amount is switched to the second steering assist amount when the vehicle drive control device switches from the drive assist control performed by the drive assist ECU to the steering assist performed by the curve road steering assist ECU.
6. The vehicle drive control device according to claim 5 , wherein
the drive lane detector includes
an imaging unit that obtains a front image indicating a front area ahead of the subject vehicle, and
a lane detector that detects the drive lane from the front image, and
the drive assist control performed by the drive assist ECU is discontinued when the lane detector becomes unable to detect the drive lane during driving on the curve road to a degree enough to perform the drive assist control by the drive assist ECU.
7. The vehicle drive control method according to claim 4 , wherein
the step (i) detects the drive lane from a front image indicating a front area ahead of the subject vehicle, and
the drive assist control is discontinued when the drive lane becomes unable to be detected during driving on the curve road to a degree enough to perform the drive assist control.