To prevent the hunting of a steering assisting control at a narrow road.SOLUTION: A controller of a vehicle drive assisting device includes: a boundary detecting unit 15a that detects right and left traffic road boundaries; a limit steering angle detecting unit 15b that detects the limit steering angle which is an amount of steering from a reference steering position So for a vehicle to run along a traffic lane and which is a steering angle to reach the traffic road boundary within a predefined time; an actual steering angle detecting unit 15c that detects the actual steering angle from the reference steering position; a comparing unit 15d that compares the actual steering angle with the limit steering angle; a steering assisting unit 15e that generates steering reaction force in a direction in which the actual steering angle that is caused by a steering operation when the actual steering angle exceeds the limit steering angle is decreased; a determining unit 15f that determines whether a predetermined condition like a narrow road is satisfied or not; and an assist adjusting unit 15g which virtually sets the right and left traffic road boundaries at the center of the traffic lane in the widthwise direction when it is determined that the condition is satisfied, obtains a right limit steering angle and a left limit steering angle based on the right and left traffic road boundaries that are virtually set, and causes the steering assisting unit to generate the steering reaction force.SELECTED DRAWING: Figure 5
【課題】狭幅路での操舵支援制御のハンチングを防止する。【解決手段】左右の走路境界線を検出する境界検出部15aと、車線に沿って走行するための基準操舵位置Soからの操舵量であって、予め定めた時間で走路境界線に達する操舵角度である限度舵角を検出する限度舵角検出部15bと、基準操舵位置からの実舵角を検出する実舵角検出部15cと、実舵角と限度舵角とを比較する比較部15dと、実舵角が限度舵角を超えた場合に操舵したことにより生じた実舵角を減少させる方向に操舵反力を発生させる操舵支援部15eと、狭幅路であるなどの所定の条件の成立を判定する判定部15fと、条件の成立が判定された場合に、車線の左右の走路境界線を車線の幅方向での中央部に仮想的に設定するとともに仮想的に設定された左右の走路境界線に基づいて右限度舵角および左限度舵角を求めて操舵支援部により操舵反力を発生させる支援調整部15gとを有している。【選択図】図5
VEHICLE DRIVE ASSISTING DEVICE
車両の運転支援装置
2024-08-23
Patent
Electronic Resource
Japanese
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