Vehicle driving support control device
In a driving support system of a vehicle, there is provided a structure that, even during operating a control based on a machine input, a driver's sense of incongruity can be reduced as much as possible and/or the steering of the driver be can reflected. The vehicle is equipped with a steering assist mechanism and a braking-driving force distribution mechanism of right and left wheels. In operations of the inventive device, a steering assist torque, applied by the steering assist mechanism, is controlled to a target value determined with reference to a target steering torque to achieve the target route, determined without depending on steering of a driver, and a driver's steering torque; and a braking-driving force difference between the right and left wheels is controlled to a target value based on a steering angle of the driver.
1. A driving support control device of a vehicle equipped with a steering assist mechanism and a braking-driving force distribution mechanism of right and left wheels, comprising:
a target route determiner which determines a target route of the vehicle in the driving support control without depending on steering of a driver;
a steering assist torque determiner which determines a target value of a steering assist torque to achieve a target steering torque determined based on the target route with reference to the target steering torque and a steering torque of the driver;
a right and left wheels' braking-driving force difference determiner which determines a target value of a braking-driving force difference between the right and left wheels based on a steering angle of the driver;
a steering assist torque controller which controls the steering assist torque applied by the steering assist mechanism to the target value of the steering assist torque;
a right and left wheels' braking-driving force difference controller which controls the braking-driving force difference between the right and left wheels applied by the braking-driving force distribution mechanism of the right and left wheels to the target value of the braking-driving force difference between the right and left wheels,
wherein the target route determiner comprises a target arrival position determiner which determines a target arrival position of the vehicle without depending on the steering of the driver, and determines the target route based on the target arrival position and a driver's driving characteristic value representing a driving characteristic of the driver,
wherein the target route determiner comprises a target candidate route generator which generates two or more target route candidates based on the target arrival position of the vehicle, and a used target route selector which selects a target route to be actually used among the two or more target route candidates based on the driver's driving characteristic value.
2. The device of claim 1 , wherein the magnitude of the target value of the braking-driving force difference between the right and left wheels is changed based on a driver's driving characteristic value representing a driving characteristic of the driver.
3. The device of claim 2 , further comprising a driver's driving characteristic value estimator which estimates the driver's driving characteristic value.
4. The device of claim 1 , the used target route selector selects the target route to be actually used based on a driving skill of the driver determined based on the driver's driving characteristic value.
5. The device of claim 4 , wherein, when the driving skill level of the driver is high, a target route in which a magnitude of the target steering torque becomes larger is selected as compared with when the driving skill level of the driver is low.
6. The device of claim 1 , wherein the steering assist torque determiner comprises a target displacement amount determiner which determines a target displacement amount of the vehicle based upon the target route, and a target steering torque computer which computes the target steering torque which realizes the target displacement amount.
7. The device of claim 6 , wherein the target steering torque is set to a steering torque in assuming that the target displacement amount is realized by an ideal driver model.
8. The device of claim 1 , wherein the steering assist torque is a value obtained by deducting the steering torque of the driver from the target steering torque.