Vehicle control device and vehicle control method
A control unit functionally comprises a first steering-torque application control part which commands a steering actuator of a vehicle to execute application of a steering torque determined by a first steering characteristic CH 1 and a second steering-torque application control part which commands the steering actuator of the vehicle to execute application of a steering torque determined by a second steering characteristic CH 2. In a case where the vehicle travels at a curved portion of the lane, the first steering characteristic CH 1 is set such that a first steering-force increase part L 1 is located further toward an allowed right-end point E GR as a vehicle speed becomes higher and the second steering characteristic CH 2 is set such that a magnitude of a torque maintenance part L 4 becomes lower as a radius of curvature of the curved portion of the lane becomes smaller, like CH 2 H-CH 2 L.
1. A vehicle control device for applying a steering force to a steering wheel of a vehicle according to a vehicle traveling condition, comprising:
a steering-force generator to generate the steering force applied to the steering wheel;
a lane detector to detect a lane on which the vehicle travels;
a vehicle-speed detector to detect a vehicle speed; and
a controller to output a command signal to the steering-force generator based on detection results of the lane detector and the vehicle-speed detector,
wherein said controller is configured to functionally comprise a first steering-force application control part for applying a first steering force to the steering wheel by means of said steering-force generator, a second steering-force application control part for applying a second steering force to the steering wheel by means of said steering-force generator, and a curvature-radius calculation part for calculating a radius of curvature of the lane,
said first steering force is determined by a first steering characteristic which is operative to make the vehicle travel at a center of the lane,
said second steering force is determined by a second steering characteristic, which is different from the first steering characteristic, which is operative to prevent the vehicle from deviating from the lane,
in a case where said first steering characteristic and said second steering characteristic are shown by a characteristic diagram having two-dimensional coordinates with a horizontal axis as a position in a width direction of the lane and with a vertical axis as a magnitude of the steering force applied, the first steering characteristic includes a first steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in a width direction of the lane and the second steering characteristic includes a second steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in the width direction of the lane, and
in a case where the vehicle travels at a curved portion of the lane, said first steering characteristic is set such that the position, in the width direction of the lane, of said first steering-force increase part changes according to the vehicle speed detected by said vehicle-speed detector in such a manner that the first steering-force increase part is located further outward in the width direction of the lane as the vehicle speed becomes higher and said second steering characteristic is set such that a magnitude of an upper limit of said second steering-force increase part changes according to the radius of curvature of the lane calculated by said curvature radius calculation part of the controller in such a manner that the magnitude of the upper limit becomes lower as the radius of curvature of the lane becomes smaller.
2. The vehicle control device of claim 1 , wherein said first steering characteristic is set in the case where the vehicle travels at the curved portion of the lane such that the magnitude of said first steering force determined by the first steering characteristic changes according to the vehicle speed detected by said vehicle-speed detector in such a manner that the higher the vehicle speed is, the smaller the magnitude of the first steering force is.
3. The vehicle control device of claim 2 , wherein said first steering characteristic is set in a case where the vehicle travels at the curved portion of the lane at the vehicle speed which is a specified speed or lower such that a decrease degree of the magnitude of said first steering force determined by the first steering characteristic at a center in the width direction of the lane changes according to the vehicle speed detected by said vehicle-speed detector in such a manner that the higher the vehicle speed is, the larger the decrease degree of the magnitude of the first steering force is.
4. The vehicle control device of claim 1 , wherein said second steering characteristic is set in a case where the vehicle travels at the curved portion of the lane which has the radius of curvature between of a first specified curvature radius and a second specified curvature radius such that the magnitude of the second steering force gradually changes according to the radius of curvature calculated by said curvature-radius calculation part of the controller.
5. The vehicle control device of claim 2 , wherein said second steering characteristic is set in a case where the vehicle travels at the curved portion of the lane which has the radius of curvature between of a first specified curvature radius and a second specified curvature radius such that the magnitude of the second steering force gradually changes according to the radius of curvature calculated by said curvature-radius calculation part of the controller.
6. The vehicle control device of claim 3 , wherein said second steering characteristic is set in a case where the vehicle travels at the curved portion of the lane which has the radius of curvature between of a first specified curvature radius and a second specified curvature radius such that the magnitude of the second steering force gradually changes according to the radius of curvature calculated by said curvature-radius calculation part of the controller.
7. The vehicle control device of claim 6 , wherein said second steering characteristic is set in a case where the vehicle travels at the curved portion of the lane which has the radius of curvature smaller than said first specified curvature radius such that the magnitude of said second steering force is zero.
8. The vehicle control device of claim 7 , wherein said second steering characteristic is set in a case where the vehicle travels at the curved portion of the lane which has the radius of curvature larger than said second specified curvature radius such that the magnitude of said second steering force is a specified steering force.
9. The vehicle control device of claim 8 , wherein in a case where said second steering characteristic is shown by a characteristic diagram having two-dimensional coordinates with a horizontal axis as the radius of curve of said curved portion of the lane and with a vertical axis as the magnitude of the second steering force, the second steering characteristic is set in a first specified area which is larger than said first specified curvature radius and a second specified area which is smaller than said second specified curvature radius such that the magnitude of said second steering force smoothly changes in a curved manner according to the radius of curvature of said curved portion of the lane.
10. The vehicle control device of claim 9 , further comprising an operational-force detector to detect a magnitude of an operational force of a driver who operates the steering wheel, wherein said controller is configured to output the command signal to the steering-force generator based on detection results of said lane detector, the vehicle-speed detector, and said operational-force detector, and said controller is configured such that application of said first steering force to the steering wheel which is executed by said first steering-force application control part of the controller is invalidated in a case where the magnitude of the operational force detected by said operational-force detector is a specified operational force or larger.
11. A vehicle control method for applying a steering force to a steering wheel of a vehicle according to a vehicle traveling condition, comprising steps of:
detecting a lane on which the vehicle travels;
detecting a vehicle speed; and
applying the steering force to the steering wheel based on detection results of the lane detection step and the vehicle-speed detection step,
wherein said steering-force application step comprises a first steering-force application sub step of applying a first steering force to the steering wheel, a second steering-force application sub step of applying a second steering force to the steering wheel, and a curvature-radius calculation sub step of calculating a radius of curvature of the lane,
said first steering force is determined by a first steering characteristic which is operative to make the vehicle travel at a center of the lane,
said second steering force is determined by a second steering characteristic, which is different from the first steering characteristic, which is operative to prevent the vehicle from deviating from the lane,
in a case where said first steering characteristic and said second steering characteristic are shown by a characteristic diagram having two-dimensional coordinates with a horizontal axis as a position in a width direction of the lane and with a vertical axis as a magnitude of the steering force applied, the first steering characteristic includes a first steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in a width direction of the lane and the second steering characteristic includes a second steering-force increase part where said magnitude of the steering force gradually increases as said position changes from an inward side to an outward side in the width direction of the lane, and
in a case where the vehicle travels at a curved portion of the lane, said first steering characteristic is set such that the position, in the width direction of the lane, of said first steering-force increase part changes according to the vehicle speed detected by said vehicle-speed detector in such a manner that the first steering-force increase part is located further outward in the width direction of the lane as the vehicle speed becomes higher and said second steering characteristic is set such that a magnitude of an upper limit of said second steering-force increase part changes according to the radius of curvature of the lane calculated by said curvature radius calculation part of the controller in such a manner that the magnitude of the upper limit becomes lower as the radius of curvature of the lane becomes smaller.
12. The vehicle control method of claim 11 , wherein said first steering characteristic is set in the case where the vehicle travels at the curved portion of the lane such that the magnitude of said first steering force determined by the first steering characteristic changes according to the vehicle speed detected by said vehicle-speed detector in such a manner that the higher the vehicle speed is, the smaller the magnitude of the first steering force is.
13. The vehicle control method of claim 12 , wherein said first steering characteristic is set in a case where the vehicle travels at the curved portion of the lane at the vehicle speed which is a specified speed or lower such that a decrease degree of the magnitude of said first steering force determined by the first steering characteristic at a center in the width direction of the lane changes according to the vehicle speed detected by said vehicle-speed detector in such a manner that the higher the vehicle speed is, the larger the decrease degree of the magnitude of the first steering force is.