Driving assistance device, driving assistance method, and program
To increase steering angle followability of automatic steering, provided is a driving assistance device for executing collision avoidance control of controlling a steering angle of an own vehicle such that the own vehicle travels along a target trajectory which enables the own vehicle to avoid a collision with an obstacle. The driving assistance device includes: a setting unit configured to set a target steering angle, and to set a target steering torque for matching the steering angle with the target steering angle; a cancellation unit configured to set a cancellation torque which cancels a total steering torque obtained by summing a driver steering torque and a steering assist torque set based on the driver steering torque; and a control unit configured to execute steering control of controlling the steering angle based on a torque control amount obtained by adding the target steering torque to the cancellation torque.
1. A driving assistance device for executing collision avoidance control of controlling, when an obstacle which is highly likely to collide with an own vehicle is detected in a region located on a front side and front lateral sides of the own vehicle, a steering angle of the own vehicle so that the own vehicle travels along a target trajectory which enables the own vehicle to avoid the collision with the obstacle without deviating from a traveling lane, the driving assistance device comprising:
a target steering torque setting unit configured to set a target steering angle required to cause the own vehicle to travel along the target trajectory, and to set a target steering torque for matching a steering angle of the own vehicle with the target steering angle under a state in which a driver steering torque generated through one of a holding operation or a steering operation of a steering wheel by a driver of the own vehicle is not generated;
a cancellation torque setting unit configured to set a cancellation torque being a torque in a direction of canceling a total steering torque obtained by summing the driver steering torque and a steering assist torque set based on the driver steering torque; and
a steering control unit configured to execute steering control of controlling the steering angle of the own vehicle based on a torque control amount obtained by adding the target steering torque to the cancellation torque.
2. The driving assistance device according to claim 1 ,
wherein the cancellation torque setting unit includes:
a basic cancellation torque setting unit configured to set a basic cancellation torque for completely canceling the total steering torque; and
a gain setting unit configured to set a cancellation gain corresponding to a magnitude of the driver steering torque, and
wherein the cancellation torque setting unit is configured to set the cancellation torque by multiplying the basic cancellation torque by the cancellation gain.
3. The driving assistance device according to claim 2 , wherein the gain setting unit is configured to set the cancellation gain such that the cancellation gain decreases as the driver steering torque increases.
4. The driving assistance device according to claim 2 , wherein the gain setting unit is configured to set the cancellation gain to 0 when a state in which the driver steering torque is equal to or higher than a predetermined threshold torque continues for a predetermined threshold time or longer.
5. The driving assistance device according to claim 2 , wherein the gain setting unit is configured to set the cancellation gain such that the cancellation gain decreases as a separation amount between the target steering torque and the driver steering torque increases, and to set the cancellation gain to 0 when the separation amount exceeds a predetermined threshold value.
6. The driving assistance device according to claim 5 , wherein the gain setting unit is configured to set the cancellation gain to 0 also when a state in which the separation amount is equal to or smaller than the predetermined threshold value continues for a predetermined threshold time or longer.
7. The driving assistance device according to claim 2 , wherein the gain setting unit is configured to set the cancellation gain to 1 when the driver steering torque changes to increase and decrease within a predetermined torque range.
8. A driving assistance method of executing collision avoidance control of controlling, when an obstacle which is highly likely to collide with an own vehicle is detected in a region located on a front side and front lateral sides of the own vehicle, a steering angle of the own vehicle so that the own vehicle travels along a target trajectory which enables the own vehicle to avoid the collision with the obstacle without deviating from a traveling lane, the driving assistance method comprising:
setting a target steering angle required to cause the own vehicle to travel along the target trajectory, and setting a target steering torque for matching a steering angle of the own vehicle with the target steering angle under a state in which a driver steering torque generated through one of a holding operation or a steering operation of a steering wheel by a driver of the own vehicle is not generated;
setting a cancellation torque being a torque in a direction of canceling a total steering torque obtained by summing the driver steering torque and a steering assist torque set based on the driver steering torque; and
executing steering control of controlling the steering angle of the own vehicle based on a torque control amount obtained by adding the target steering torque to the cancellation torque.
9. A non-transitory computer readable medium comprising a program for causing a computer of a driving assistance device for executing collision avoidance control of controlling, when an obstacle which is highly likely to collide with an own vehicle is detected in a region located on a front side and front lateral sides of the own vehicle, a steering angle of the own vehicle so that the own vehicle travels along a target trajectory which enables the own vehicle to avoid the collision with the obstacle without deviating from a traveling lane, to execute a process of:
setting a target steering angle required to cause the own vehicle to travel along the target trajectory, and setting a target steering torque for matching a steering angle of the own vehicle with the target steering angle under a state in which a driver steering torque generated through one of a holding operation or a steering operation of a steering wheel by a driver of the own vehicle is not generated;
setting a cancellation torque being a torque in a direction of canceling a total steering torque obtained by summing the driver steering torque and a steering assist torque set based on the driver steering torque; and
executing steering control of controlling the steering angle of the own vehicle based on a torque control amount obtained by adding the target steering torque to the cancellation torque.