PROBLEM TO BE SOLVED: To properly detect even an adjustment value abnormality of a camera such as, for example, an infinite point deviation, a rotation deviation, and an optical axis deviation, and to perform accurately-stabilized lane keep control by using image information from the camera.SOLUTION: When a control execution condition is established, a vehicle lane keep control device sets a target course on the basis of recognized road information, controls an electric power steering motor 12 by outputting a signal to a motor drive part 21 so as to travel along the target course, calculates an operation ratio RL of lane keep control within a set time, detects a ratio (turning curvature gain ratio RG) of a turning curvature κ which is recognized by a front recognition device 31 when a driver turns to the left, and a turning curvature κ which is recognized by the front recognition device 31 when the driver turns clockwise in the case that the operation ratio RL of the lane keep control is not larger than a threshold RLC, detects a camera abnormality by comparing the turning curvature gain ratio RG and the threshold RGC, records the existence of the camera abnormality when the abnormality is detected, and indicates the front recognition device 31 to execute camera adjustment.
【課題】たとえ無限遠点ずれや回転ずれの光軸ずれ等のカメラの調整値異常であっても適切に検出し、カメラからの画像情報を用いて精度良く安定したレーンキープ制御を行う。【解決手段】制御実行条件が成立する際に、認識した道路情報を基に目標コースを設定し、該目標コースに沿って走行するようにモータ駆動部21に信号出力して電動パワーステアリングモータ12を制御し、設定時間内におけるレーンキープ制御の作動割合RLを算出し、レーンキープ制御の作動割合RLが閾値RLC以下の場合に、ドライバが左旋回する場合に前方認識装置31で認識した旋回曲率κとドライバが右旋回する場合に前方認識装置31で認識した旋回曲率κとの比率(旋回曲率ゲイン比率RG)を検出し、旋回曲率ゲイン比率RGと閾値RGCとを比較してカメラ異常を検出し、異常を検出した場合はカメラ異常であることを記録し、カメラ調整の実行を前方認識装置31に指示する。【選択図】図3
VEHICLE LANE KEEP CONTROL DEVICE
車両のレーンキープ制御装置
2015-07-06
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |