Autonomous driving control device
An autonomous driving control device includes a steering determination unit that determines whether a driver has operated a steering unit while driving with an actuator controlled in a first control mode, an operation speed calculation unit that calculates at least one of a deviation speed, which is the change rate of deviation between a target steering angle during autonomous driving and an actual steering angle, and a steering speed, which is the change rate of the actual steering angle, and a control mode switching unit that, when it is determined that the driver has operated the steering unit, changes an instruction value to be output to the actuator from a first target control amount in the first control mode to a second target control amount in the second control mode at a change rate corresponding to at least one of the deviation speed and the steering speed described above.
1 . An autonomous driving control device comprising:
a steering unit configured to be operated by a driver;
steered wheels configured to be steered in response to an operation of the steering unit;
an actuator configured to generate a steering force to steer the steered wheels; and
a detection unit configured to detect an operation amount of the steering unit, the autonomous driving control device being configured to be able to switch between a first control mode and a second control mode, the first control mode being a mode in which the actuator is controlled for driving without a need for the driver to operate the steering unit, the second control mode being a mode in which the actuator is controlled for driving in such a way that a steering force required to operate the steering unit is smaller than in the first control mode, wherein:
the autonomous driving control device includes a controller that controls the actuator, the controller including,
a steering determination unit configured to determine that the driver has operated the steering unit while driving with the actuator controlled in the first control mode,
an operation speed calculation unit configured to calculate a speed that is at least one of a deviation speed and a steering speed, the deviation speed being a change rate of deviation between a target steering angle during autonomous driving and an actual steering angle that is based on an operation amount detected by the detection unit, the steering speed being a change rate of the actual steering angle, and
a control mode switching unit configured to change, when the steering determination unit determines that the driver has operated the steering unit, an instruction value to be output to the actuator from an instruction value corresponding to a first target control amount of the actuator determined according to the first control mode to an instruction value corresponding to a second target control amount of the actuator determined according to the second control mode at a change rate corresponding to a speed that is at least one of the deviation speed and the steering speed calculated by the operation speed calculation unit.
2 . The autonomous driving control device according to claim 1 , wherein:
the actuator is configured to generate a reaction force in opposition to a steering force of the steering unit applied by the driver; and
the first control mode has the reaction force that is higher than the second control mode.
3 . The autonomous driving control device according to claim 1 , wherein:
the actuator is configured to generate the steering force to steer the steered wheels; and
the first control mode has the steering force that is higher than the second control mode.
4 . The autonomous driving control device according to claim 1 , wherein:
the first control mode is configured to determine the first target control amount by multiplying a deviation between the target steering angle and the actual steering angle by a first gain;
the second control mode is configured to determine the second target control amount by multiplying a deviation between the target steering angle and the actual steering angle by a second gain smaller than the first gain; and
the control mode switching unit is configured to change a gain from the first gain to the second gain at a change rate corresponding to a speed that is at least one of the deviation speed and the steering speed.
5 . The autonomous driving control device according to claim 1 , wherein the control mode switching unit is configured, based on a correlation obtained in advance between the deviation speed or the steering speed and an operation amount of the steering unit when the driver operates the steering unit, to determine a change rate of the instruction value so that, when the steering unit is operated at the deviation speed or the steering speed, the second target control amount is achieved at a point when the operation amount is reached.