Drive assist device
The steering angle is controlled according to a steering angle profile. The steering angle profile is composed of a first steering angle profile that causes the vehicle toward the lane departure direction to be directed toward the lane departure avoidance direction, and a second steering angle profile that is continuous with the first steering angle profile, and the rate of change of the steering angle at the initial steering time in the first steering angle profile, the rate of change of the steering angle and the steering angle at the end of steering in the first steering angle profile, the rate of change of the steering angle and the steering angle at the initial steering time in the second steering angle profile, and the rate of change of the steering angle and the steering angle at the end of steering in the second steering angle profile are set to zero.
1 . A drive assist device comprising a steering device configured to perform steering assist for a steering angle of a vehicle, sensors configured to detect a lateral position of the vehicle, a lateral speed of the vehicle, and a lateral acceleration of the vehicle, and a processor, wherein:
the processor is configured to perform steering assist for controlling the steering angle to follow a steering angle profile indicating a temporal change pattern of a steering angle for avoiding a lane departure;
the steering angle profile includes a first steering angle profile and a second steering angle profile that is continuous with the first steering angle profile and causes a change of the steering angle to a side opposite to the first steering angle profile; and
a rate of change of a steering angle at an initial time of steering in the first steering angle profile, a steering angle at an end of the steering in the first steering angle profile and a rate of change of the steering angle, a steering angle at an initial time of steering in the second steering angle profile and a rate of change of the steering angle, and a steering angle at an end of the steering in the second steering angle profile and a rate of change of the steering angle are set to zero.
2 . The drive assist device according to claim 1 , wherein:
the first steering angle profile is defined as a change pattern for changing the steering angle to cause the vehicle traveling in a lane departure direction to travel in a lane departure avoidance direction; and
the second steering angle profile is defined as a change pattern for changing the steering angle to the side opposite to the first steering angle profile to cause the vehicle traveling in the lane departure avoidance direction to travel in a lane direction.
3 . The drive assist device according to claim 1 , wherein:
the second steering angle profile is a change pattern located on a side opposite to the first steering angle profile across a reference line indicating a zero steering angle; and
the second steering angle profile has a shape in which a height of the first steering angle profile from the reference line indicating the zero steering angle is reduced at the same reduction ratio over an entirety of the first steering angle profile.
4 . The drive assist device according to claim 3 , wherein the first steering angle profile is defined as a change pattern in which the steering angle is a maximum steering angle at a center between the initial time and the end of the steering in the first steering angle profile.
5 . The drive assist device according to claim 3 , wherein assuming that ΔV 1 is a speed difference between a lateral speed of the vehicle at the initial time of the steering in the first steering angle profile and a lateral speed of the vehicle at the end of the steering in the first steering angle profile, and ΔV 2 is a speed difference between a lateral speed of the vehicle at the initial time of the steering in the second steering angle profile and a target lateral speed of the vehicle at the end of the steering in the second steering angle profile, a ratio ΔV 2 /ΔV 1 of the speed difference ΔV 2 to the speed difference ΔV 1 is the same reduction ratio, and the ratio ΔV 2 /ΔV 1 is set in advance.
6 . The drive assist device according to claim 1 , wherein a first lateral acceleration profile indicating a temporal change pattern of the lateral acceleration of the vehicle is created at a start of lane departure avoidance control, a second lateral acceleration profile is created based on the first lateral acceleration profile, the first steering angle profile is created based on the first lateral acceleration profile, and the second steering angle profile is created based on the second lateral acceleration profile.
7 . The drive assist device according to claim 6 , wherein the change pattern of the first lateral acceleration profile is represented by a function of a sixth order or higher.
8 . The drive assist device according to claim 6 , wherein:
when a lateral acceleration of the vehicle at the start of the lane departure avoidance control is zero, the second lateral acceleration profile is created based on the first lateral acceleration profile created based on the lateral acceleration of the vehicle at the start of the lane departure avoidance control;
when the lateral acceleration of the vehicle at the start of the lane departure avoidance control is not zero, another first lateral acceleration profile is created assuming that the lateral acceleration of the vehicle at the start of the lane departure avoidance control is zero, in addition to the first lateral acceleration profile created based on the lateral acceleration of the vehicle at the start of the lane departure avoidance control; and
the second lateral acceleration profile is created based on the other first lateral acceleration profile.