JP2013244767A - Lane departure warning device, vehicle mounted with the same, and method for controlling the same - Google Patents

Abstract

A lane departure warning device capable of performing a steering intervention in a natural manner without causing a driver to feel negative, using a vibration of a steering wheel to warn of a lane departure state of a vehicle, a vehicle equipped with the lane departure warning device, And a control method thereof.
When a warning is generated in accordance with a lane departure state of a vehicle, a so-called LDWS includes a motor that vibrates a steering wheel to generate a warning vibration. 11 is provided with an LDWSCU 6 that changes the rotational state of 11 and applies a steering torque N1 in a direction to correct the lane departure state to the steering wheel 5.
[Selection] Figure 3

Description

  The present invention relates to a lane departure warning device that warns a driver that a vehicle has deviated from the lane by vibrating the steering wheel when the vehicle deviates from the lane, a vehicle equipped with the lane departure alarm device, and the vehicle It relates to a control method.

  If a large vehicle such as a truck deviates from the lane, it can lead to a serious accident. Therefore, a device called a lane departure warning device (hereinafter referred to as LDWS) or a lane keeping support device (hereinafter referred to as LKAS) is mounted on the vehicle.

  In general, LDWS detects a white line (lane) using a camera (video or image acquisition device), and the left and right positions of the host vehicle deviate from the center between the white lines and try to deviate from the white line. It is a system that performs some kind of alarm. This alarm can be visual (such as an instrument panel indicator), audible (such as an alarm buzzer), or tactile (such as vibrating a steering wheel).

  However, this LDWS is particularly contrary to the direction of reflexive correction when the driver reacts excessively and performs more than necessary correction steering when the steering wheel is vibrated and a tactile warning is given. On the other hand, there is a problem that a dangerous state is caused when steering in the direction is performed.

  Therefore, if the current risk of the host vehicle is high, the current risk is communicated to the driver by vibrating multiple vibrators at positions corresponding to the current risk direction, and if the future risk is high There is an apparatus for transferring a future risk to a driver by sequentially moving vibrators to be oscillated so as to prompt a driving operation in a direction to avoid a future risk (see, for example, Patent Document 1).

  This device can avoid the risk by informing the driver of the risk of the host vehicle in an easily understandable manner. However, it has not been possible to solve the problem of giving a driver a sense of sensation when the steering wheel is vibrated to give a tactile warning.

  On the other hand, LKAS is a system that detects a white line (running lane) using a camera (video or image acquisition device) and works on the power steering device so that the left and right positions of the host vehicle are in the center between the white lines. Yes.

  Therefore, when the amount of deviation of the driving lane of the vehicle is large, a warning is given to the driver by vibrating the steering mechanism, and the speed of the steering operation over the period from when the alarm starts until a predetermined time elapses. There is a device that controls the steering reaction force so that the steering operation becomes heavier for the driver as the value of is larger (see, for example, Patent Document 2).

Since a general LKAS including this device actively intervenes in steering more than LDWS, a steering feeling as a human machine interface (HMI) for a driver is very important. Steering intervention by LKAS is often unintentional or unintentional movement of the driver, which not only adversely affects the steering feeling evaluation, but inadvertent steering intervention is taken away from the driver or kicked back. It may be misunderstood and the steering wheel operation is performed on the opposite side in opposition to the support by LKAS, which may cause further deviation.

JP 2008-112466 A JP 2002-59857 A

  The present invention has been made in view of the above-described problems, and an object of the present invention is to steer a driver in a natural manner without using a vibration of a steering wheel for warning a vehicle lane departure state. A lane departure warning device capable of performing intervention, a vehicle equipped with the same, and a control method thereof.

  A lane departure warning device according to the present invention for solving the above-described object includes a warning vibration generation motor that generates a warning vibration by vibrating a steering wheel when an alarm is generated according to a lane departure state of a vehicle. In the lane departure warning device provided in the steering wheel, during the generation of the warning vibration, the rotation state of the motor for generating the warning vibration is changed to apply a steering torque in a direction for correcting the lane departure state to the steering wheel. It is configured with a device.

  According to this configuration, when the vehicle departs from the lane, alarm vibration is generated to warn the driver of the lane departure state, and at least one of the rotation angular velocity, the rotation axis direction, and the rotation direction of the alarm vibration generating motor is generated. Can be applied to the steering wheel to correct the lane departure state. Thereby, it can suppress that a vehicle deviates from a lane, without giving a driver discomfort and discomfort.

  The lane departure warning device referred to here is called a so-called LDWS (Lane Departure Warning System), which is one of the ring part outside the steering wheel, the central boss part, or the spoke part connecting the ring part and the boss part. Alternatively, the device is arranged on the steering shaft, and the device vibrates the steering wheel by rotating the alarm vibration generating motor and rotating the weight.

Further, in the above lane departure warning device, comprising: an unbalance weight that is rotated by the warning vibration generating motor; and a tilting device that tilts the unbalance weight together with the warning vibration generating motor,
The alarm vibration generating motor and the unbalanced weight are arranged so that the tilt axis directions thereof are substantially in the radial direction of the steering wheel, and the alarm vibration is generated by the tilt device during the generation of the alarm vibration. Steering that corrects the lane departure state by a gyro effect generated by changing the rotation axis of the unbalanced weight during the generation of the alarm vibration when the generating motor is tilted and the rotation axis of the unbalanced weight is tilted. Torque can be applied to the steering wheel.

  On the other hand, in the above lane departure warning device, the unbalance weight that is rotated by the warning vibration generating motor is disposed so that the rotation axis direction of the unbalance weight is substantially the radial direction of the steering wheel, and the control device In addition, it is provided with means for changing the rotation angular velocity of the alarm vibration generating motor for each rotation angle and changing the rotation angular velocity of the unbalance weight for each rotation angle during the generation of the alarm vibration. A steering torque that corrects the lane departure state can be applied to the steering wheel by a difference in centrifugal force generated by the changing rotational angular velocity.

  On the other hand, in the lane departure warning device described above, the rotating shaft of the rotor constituting the warning vibration generating motor is arranged to be the same as the rotating shaft of the steering wheel, and the warning vibration of the warning vibration is set in the control device. Means for changing at least one of the rotation angular velocity and / or rotation angle of the alarm vibration generating motor for each rotation direction during generation and changing at least one of the rotation angular velocity and / or rotation angle of the unbalance weight for each rotation direction The steering torque that corrects the lane departure state can be applied to the steering wheel by left and right subtraction generated by changing the reaction force of the weight received by the steering wheel from left to right.

  In addition, a vehicle of the present invention for solving the above object is configured by mounting the lane departure warning device described above. According to this configuration, it is possible to perform a steering intervention that does not give the driver a sense of discomfort in a natural manner by using the vibration of the steering wheel that is performed as a warning by the lane departure warning device.

  In addition, the control method of the lane departure warning device of the present invention for solving the above-mentioned object is that when the alarm is generated according to the lane departure state of the vehicle, the alarm vibration generation motor generates the alarm vibration, In the control method of the lane departure warning device that vibrates the steering wheel, during the generation of the warning vibration, the rotation state of the warning vibration generating motor is changed to apply a steering torque to the steering wheel, and the lane departure state is changed. It is a method characterized by correcting.

  According to this method, the remodeling range of the conventional lane departure warning device can be reduced, and the lane keeping assist device can be realized in a pseudo manner only by the alarm vibration generating motor attached to the steering wheel, thereby reducing the cost. Further, the alarm vibration as the lane departure warning device can be utilized as it is in the steering torque of the lane keeping assist device, so that an unnatural steering feeling can be prevented from being given to the driver. Accordingly, it is possible to prevent the driver from performing a steering operation on the side opposite to the direction in which the lane departure state is corrected reflectively due to an unnatural steering operation intervention.

  According to the present invention, when the vehicle is in a lane departure state, it is possible to perform steering intervention that does not give the driver a sense of discomfort by using the vibration of the steering wheel as a warning. In particular, a steering torque can be simply applied to the steering wheel using a warning vibration that occurs when the vehicle is not in a lane departure state for a vehicle that is not equipped with a lane keeping assist device.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the vehicle carrying the lane departure warning apparatus of 1st Embodiment which concerns on this invention, (a) shows the top view of a vehicle, (b) is the lane departure warning apparatus provided in the steering wheel. Indicates. It is a figure which shows control of the lane departure warning apparatus of 1st Embodiment which concerns on this invention. 1 is a perspective view showing a lane departure warning device according to a first embodiment of the present invention. It is a flowchart which shows the control method of the lane departure warning apparatus of 1st Embodiment which concerns on this invention. It is a perspective view which shows the lane departure warning apparatus of 2nd Embodiment which concerns on this invention. It is a flowchart which shows the control method of the lane departure warning apparatus of 2nd Embodiment which concerns on this invention. It is sectional drawing which shows the lane departure warning apparatus of 3rd Embodiment concerning this invention. It is a flowchart which shows the control method of the lane departure warning apparatus of 3rd Embodiment concerning this invention. It is the schematic which shows the vehicle carrying the lane departure warning apparatus of 4th Embodiment concerning this invention.

  Hereinafter, a lane departure warning device according to an embodiment of the present invention, a vehicle equipped with the lane departure warning device, and a control method thereof will be described with reference to the drawings. Note that, as an embodiment, a large vehicle such as a truck will be described as an example, but the present invention can also be applied to a general vehicle.

  First, a lane departure warning device according to a first embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1A, the lane departure warning device (hereinafter referred to as LDWS) 10 includes a cab 2, a body 3, and a chassis (not shown) and a large vehicle 1 such as a so-called cab-over type truck. It is mounted on.

  When the LDWS 10 of the vehicle 1 travels by steering the front wheel 4 with a steering wheel (also referred to as a steering wheel) 5, a lane departure warning control device (hereinafter referred to as LDWSCU) 6 is operated by a steering wheel angle sensor (steering angle detection device). 7. It is determined from the detection signals of the camera (lane detection device) 8 and the vehicle speed sensor (vehicle state detection device) 9 whether the vehicle 1 has deviated from the lane (white line) L1.

  Next, when a state in which the vehicle 1 deviates from the lane L1 (hereinafter referred to as a lane departure state) is detected, the LDWSCU 6 detects an alarm vibration generating motor (inside the steering wheel 5) as shown in FIG. (Hereinafter referred to as a motor) 11, the unbalanced weight 12 is rotated, and an alarm vibration is generated in the steering wheel 5 to warn the driver of the lane departure state.

  In this embodiment, a method of determining the lane departure state from the detection signals of the steering angle sensor 7, the camera 8, and the vehicle speed sensor 9 will be described as an example. However, the present invention is not limited to this, and for example, a laser A method of detecting a lane departure state of a well-known technique, including a method using a radar such as a radio wave type or a radio wave type, can be used.

  The steering wheel 5 having the outer ring portion 5a, the central boss portion 5b, and the spoke portion 5c connecting the ring portion 5a and the boss portion 5b will be described as an example, but the present invention is not limited to this. For example, the present invention can be applied to a horn button for sounding a horn in the boss portion 5b, a device having an air bag, and a device having a car audio or a hands-free phone in the spoke portion 5c.

  In addition, as shown in FIG. 2, the LDWS 10 includes a known technology actuator (rotating shaft tilting device) 13 that is operated by the LDWSCU 6. Further, as shown in FIG. 3, the LDWS 10 includes an inclined shaft portion 14 that becomes an inclined shaft of the motor 11 when the actuator 13 is operated.

  The actuator 13 is a device that tilts the rotation axis A2 of the motor 11 and the unbalanced weight 12 about the tilt axis A3 of the tilt shaft portion 14, and an actuator of a known technique can be used.

  Here, it supplements about FIG. The rotation axis of the steering wheel 5 is A1, the rotation axis direction is the x direction, and the vertical plane in the rotation axis direction is the yz plane. In the state of FIG. 3, the radial direction of the steering wheel 5 is the y direction. In addition, the alternate long and short dash line in the figure indicates the axis, and the white arrow indicates the operation direction of each device and the torque applied to each device.

  The motor 11 and the unbalanced weight 12 are placed in the spoke portion 5c of the steering wheel 5 so that the axial direction of the inclined axis A3 of the motor 11 and the unbalanced weight 12 substantially coincides with the y direction that is the radial direction of the steering wheel 5. Deploy.

  Preferably, the axial direction of the tilt axis A3 substantially coincides with the y direction, which is the radial direction of the steering wheel 5, and the rotation axis A2 of the motor 11 and the unbalance weight 12 is substantially parallel to the rotation axis A1 of the steering wheel 5. In other words, the motor 11 and the unbalance weight 12 may be arranged in the spoke portion 5c of the steering wheel 5 so that the rotation axis direction of the rotation axis A2 of the motor 11 and the unbalance weight 12 is the x direction. .

  In this embodiment, the at least one motor 11 and the unbalance weight 12 are arranged in the spoke part 5c. However, it is sufficient that the rotation axis A2 can be arranged away from the rotation axis A1, for example, the motor 11 and the ring part 5a You may provide the structure which arrange | positions the unbalance weight 12, and the some motor 11 and the unbalance weight 12 in the spoke part 5c.

  Next, a control method of the LDWS 10 according to the first embodiment of the present invention will be described with reference to FIG. First, based on the signals detected by the steering angle sensor 7, the camera 8, and the vehicle speed sensor 9, the LDWSCU 6 performs step S110 for detecting a lane departure state. As described above, a well-known technique can be used for this step S110.

  Next, when it is detected in step S110 that the vehicle is in a lane departure state, the LDWSCU 6 next performs step S120 in which a corrected steering torque N1 that is a steering torque for correcting the lane departure state is calculated. This step S120 is a step of acquiring the corrected steering torque N1 in the direction for correcting the deviation of the vehicle 1 from the lane L1 shown in FIG. 1A detected in step S110.

  Next, as shown in FIG. 4, step S130 for driving the motor 11 is performed. According to this step S130, when the vehicle 1 detects a lane departure state, the motor 11 is driven, and the unbalanced weight 12 rotates in the rotational direction N2, thereby generating a warning vibration in the steering wheel 5. . This can warn the driver that the vehicle 1 is in a lane departure state.

  Next, step S140 for operating the actuator 13 is performed. In step S140, the actuator 13 is operated in an arbitrary direction, and the rotation axis A2 of the motor 11 and the unbalance weight 12 is inclined in the inclination direction N3. Then, since the motor 11 and the unbalance weight 12 continue to rotate in the rotation direction N2, the gyro effect is generated, and the corrected steering torque N1 detected in step S120 can be applied to the steering wheel 5. On the other hand, when the corrected steering torque N1 is in the reverse direction, the rotation axis A2 is inclined in the direction opposite to the inclination direction N3.

  If step S140 is completed, it will return to step S110 and the same process will be performed until it stops detecting the lane departure state of the vehicle 1 by step S110.

  If the vehicle lane departure state is no longer detected in step S110, then step S150 for stopping the motor 11 is performed, and this control method is completed. In step S150, the motor 11 may be stopped, but at the same time as the motor 11 is stopped, the actuator 13 is operated to set the rotation axis A2 of the motor 11 and the unbalance weight 12 to the initial state, that is, the rotation of the rotation axis A2. It is desirable to return so that the axial direction is the x direction.

In this embodiment, the corrected steering torque N1 due to the gyro effect is optimized for the rotational speed of the motor 11 in step S130 and the inclination angular speed of the rotational axis A2 of the motor 11 and the unbalance weight 12 in step S140. Although the control is performed at the optimum rotational speed and the inclination angular velocity as shown in FIG. By controlling each speed to be constant, the control method can be simplified and the cost can be reduced. However, when optimally applying the corrected steering torque N1 due to the gyro effect, it is desirable to control at the optimum steering speed.

  According to the above control method, it is possible to apply the corrected steering torque N1 due to the gyro effect to the steering wheel 5 by inclining the motor 11 and the unbalance weight 12 while the alarm vibration is generated.

  The drive or stop pattern of the motor 11 in step S130 and step S150 and the inclination or stop pattern of the rotation axis A2 associated therewith can be arbitrarily set and determined by a test.

  Next, a lane departure warning device according to a second embodiment of the present invention will be described with reference to FIG. The LDWS 20 does not have the actuator 13 shown in FIG. 1 and includes a motor 21 and an unbalanced weight 22 as shown in FIG. 5, and further includes a motor rotation angle sensor 23.

  The motor 21 and the unbalanced weight 22 are arranged in the spoke portion 5c so that the axial direction of the rotation axis A4 of the motor 21 and the unbalanced weight 22 substantially coincides with the y direction that is the radial direction of the steering wheel 5. .

  Preferably, the axial direction of the rotation axis A4 substantially coincides with the y direction, which is the radial direction of the steering wheel 5, and the axial direction of the rotation axis A4 of the motor 21 and the unbalance weight 22 is tangent to the outer periphery of the steering wheel 5. It may be arranged so that it does not coincide with the tangential direction of A5. At this time, the axial direction of the rotational axis A4 between the motor 21 and the unbalanced weight 22 intersects or is approximately orthogonal to the axial direction of the rotational axis A1 of the steering wheel 5.

  In this embodiment, at least one motor 21 and the unbalanced weight 22 are arranged in the spoke part 5c. For example, the configuration in which the motor 21 and the unbalanced weight 22 are arranged in the ring part 5a, or the spoke part 5c A plurality of motors 21 and unbalance weights 22 may be provided.

  Next, a control method of the LDWS 20 according to the second embodiment of the present invention will be described with reference to FIG. In addition, about the step similar to the control method shown in FIG. 4, the description is abbreviate | omitted using the same code | symbol.

  As shown in FIG. 6, when step S120 is completed, next, step S210 for driving the motor 21 at the rotational angular velocity N4 is performed. Next, when the motor rotation angle sensor 23 performs step S220 for detecting the rotation angle θ of the motor 21, next, step S230 for driving the motor 21 at the rotation angular velocity N5 is performed.

  In the process from step S210 to step S230, the rotational angular velocity N4 or N5 of the unbalance weight 22 is changed for each rotation angle θ, and the centrifugal forces N6 and N7 generated in the unbalance weight 22 are changed by the rotation angle θ. This is a process, and the difference between the centrifugal force N6 and the centrifugal force N7 becomes the corrected steering torque N1.

Specifically, for example, when the corrected steering torque N1 is generated counterclockwise in FIG. 5, the rotational angular velocity N4 of the unbalance weight 22 is larger than N5, that is, rotated at a high speed in step S210, and in step S230. The corrected steering torque N1 in the left direction as a whole can be generated by the difference between the centrifugal forces N6 and N7 that are generated when rotating at a low speed. On the other hand, when generating the reverse correction steering torque, it is rotated at a low speed in step S210, and is rotated at a high speed in step S230.

  The rotation angle θ is preferably set to 180 degrees at most, that is, it is sufficient that the rotation angular velocity can be switched at every half rotation. In this embodiment, the rotational angular velocity N4 or N5 of the motor 21 is controlled. However, the motor 21 may be controlled based on the rotational speed.

  When step S230 is completed, the process returns to step S110 and the same process is performed until the lane departure state of the vehicle 1 is not detected in step S110. If the lane departure state of the vehicle is not detected in step S110, next, step S240 for stopping the motor 21 is performed, and this control method is completed.

  According to the above control method, it is possible to apply to the steering wheel 5 the corrected steering torque N1 due to the difference in centrifugal force generated by changing the rotational angular velocity or the rotational speed of the motor 21 for each rotational angle.

  Next, a lane departure warning device according to a third embodiment of the present invention will be described with reference to FIG. This LDWS 30 replaces the motor 11 and the unbalanced weight 12 of the LDWS 10 of the first embodiment shown in FIG. 3, and, as shown in FIG. 7, a motor having a steering shaft 5d of the steering wheel 5 as a rotation axis ( The motor 31 includes a rotor weight (rotor) 32 and a stator (stator) 33 joined to the boss portion 5 c of the steering wheel 5. The rotation axis of the rotor weight 32 coincides with the rotation axis A1 of the steering wheel 5.

  When the LDWS 30 detects a lane departure state, the LDWSCU 6 can cause the steering wheel 5 to generate an alarm vibration by causing a current to flow through the stator 33 and rotating the rotor weight 32.

  Next, a control method of the LDWS 30 according to the third embodiment of the present invention will be described with reference to FIG. In addition, about the step similar to the control method shown in FIG. 4, the description is abbreviate | omitted using the same code | symbol.

  As shown in FIG. 8, when the process up to step S120 is completed, the LDWSCU 6 next sends a current to the stator 33 to perform step S310 for driving the rotor weight 32 at the rotation angle N8. Next, the LDWSCU 6 applies a current to the stator 33 to perform step S320 for driving the rotor weight 32 at the rotation angle N9.

  In the process from step S310 to step S320, by changing the rotation angle N8 and N9 of the rotor weight 32 for each left and right rotation direction, the reaction force of the rotation of the rotor weight 32 received by the steering wheel 5 is changed left and right. This is a step of controlling to apply torque in an arbitrary direction by left and right subtraction.

  Specifically, for example, when the corrected steering torque N1 is generated counterclockwise in FIG. 7, the rotation angle N8 of the rotor weight 32 is larger than N9, that is, the rotor weight 32 is rotated largely in step S310, and is rotated slightly in step S320. Thus, the corrected steering torque N1 in the left direction as a whole can be generated by the difference in reaction force generated. On the other hand, when generating the corrected steering torque in the reverse direction, it is rotated slightly in step S310 and is largely rotated in step S320.

  When step S320 is completed, the process returns to step S110 and the same process is performed until the lane departure state of the vehicle 1 is not detected in step S110. If the lane departure state of the vehicle is not detected in step S110, next, step S330 for stopping the rotor weight 32 is performed, and this control method is completed.

  In this embodiment, the control for changing the rotation angles N8 and N9 for each horizontal rotation direction is performed. However, the control for changing the rotation angular velocity for each horizontal rotation direction may be performed. Further, although the above control method can be controlled without an angle sensor, an angle sensor may be provided to control the rotation angle to an optimum angle.

  According to the above control method, the correction steering torque N1 due to the difference in the reaction force of the rotation of the rotor weight 32 is obtained by changing the rotation angular velocity or the rotation angle of the rotor weight 32 for each left and right rotation during the generation of the warning vibration. It can be applied to the steering wheel 5.

  The LDWS 10, 20, and 30 of the first to third embodiments described above use a control method in which the direction and magnitude of the corrected steering torque N1 are controlled by the LDWSCU 6, but as a simple method, the corrected steering torque is used. By indicating only the direction of N1 generation and not controlling the magnitude of the torque, the system including the controller can be simplified.

  The conditions such as the period and magnitude of the alarm vibration, the weights of the unbalance weights 12 and 22 and the rotor weight 32, and other conditions such as the steering gear ratio for each vehicle 1, the necessary steering torque, the inertia of the steering wheel 5 and the like. Since it changes depending on conditions, the optimum value shall be determined by experiment.

  According to the LDWS 10, 20, and 30 of the first to third embodiments, when the vehicle 1 is in a lane departure state, the vibration of the steering wheel 5 that is performed as a warning is used in a natural manner. Steering intervention can be performed without any discomfort to the driver. Further, the range of modification on the side of the steering wheel 5 can be reduced, and only the motor 11, 21, or 31 attached to the steering wheel 5 can be used to realize an action like a lane keeping support device in a pseudo manner, thereby reducing costs. it can.

  The vehicle 1 equipped with the LDWS 10, 20, and 30 of the first to third embodiments can warn the driver of the lane departure state of the vehicle 1 by vibrating the steering wheel 5. Steering torque that corrects the lane departure state can be applied without causing the driver to feel an unnatural steering feeling using vibration.

  Next, another form of vehicle in which the LDWS of any of the first to third embodiments is mounted will be described with reference to FIG. The vehicle 40 includes an LDWS 41 and a lane keeping assist device (hereinafter referred to as LKAS) 42 of a well-known technology.

  In this embodiment, the ECU (control device) 45 determines a lane departure state from detection signals from the steering angle sensor 7, the camera 8, and the vehicle speed sensor 9, and applies an appropriate torque to the EPS (electric steering assist device) 43. Steering control such as generating lanes and assisting lane keeping. As a result, lane keeping running can be performed with a light steering operation.

The LDWS 41 is one of the LDWSs 10, 20, or 30 of the first to third embodiments described above. In some cases, the steering torque that can be generated together with the alarm vibration may not be so large. Therefore, in this embodiment, the steering torque that can be generated together with the alarm vibration of the LDWS 41 is supplemented, and full-scale lane maintenance support is performed by the LKAS 42.

  Thus, when LDWS 41 and LKAS 42 are used together and the vehicle 40 is in a lane departure state, a warning vibration is generated in the steering wheel 5 by the LDWS 41 to warn the driver of the lane departure state and an auxiliary lane departure. An auxiliary steering torque for correcting the state can be applied to the steering wheel 5, and full-scale lane keeping support can be performed by the LKAS 42. As a result, lane keeping support can be performed without giving the driver a sense of incongruity.

  Note that the LKAS 42 of the present invention preferably performs control to separate the steering torque for correcting the generated lane departure state from the steering of the driver or the steering reaction force.

  Since the valve device of the present invention can perform steering intervention that does not cause the driver to feel negative in the natural form by using the vibration of the steering wheel to warn of the lane departure state of the vehicle, the lane keeping assist device in particular. It can be used for vehicles not equipped with.

1, 40 Vehicle 2 Cab 3 Body 4 Front wheel 5 Steering wheel (handle)
5a Ring part 5b Boss part 5c Spoke part 5d Steering shaft 6 LDWSCU (Control device for lane departure warning device)
7 Handle angle sensor (steering angle detector)
8 Camera (Video or image acquisition device; Lane departure detection device)
9 Vehicle speed sensor (vehicle condition detection device)
10, 20, 30, 41 LDWS (lane departure warning device)
11, 21, 31 Motor (alarm vibration generating motor)
12, 22 Unbalanced weight 13 Actuator (rotating shaft tilting device)
32 Rotor weight (rotor)
33 Stator
42 LKAS (Lane Maintenance Support Device)
43 EPS (Electric steering assist device)

Claims (6)

In a lane departure warning device provided with an alarm vibration generating motor that vibrates a steering wheel and generates a warning vibration when the warning is generated according to a lane departure state of the vehicle,
A lane departure characterized by comprising a control device that changes the rotational state of the alarm vibration generation motor during the generation of the alarm vibration and applies a steering torque in a direction to correct the lane departure state to the steering wheel. Alarm device. An unbalance weight that is rotated by the alarm vibration generating motor, and a tilting device that tilts the unbalance weight together with the alarm vibration generating motor,
The alarm vibration generating motor and the unbalanced weight are arranged such that the tilt axis directions thereof substantially coincide with the radial direction of the steering wheel,
2. The control device according to claim 1, further comprising means for inclining the rotating shaft of the unbalance weight by inclining the alarm vibration generating motor by the tilting device during the generation of the alarm vibration. Lane departure warning device. An unbalanced weight that is rotated by the alarm vibration generating motor is disposed so that a rotation axis direction of the unbalanced weight substantially coincides with a radial direction of the steering wheel,
The control device includes means for changing a rotation angular velocity of the alarm vibration generating motor for each rotation angle and changing a rotation angular velocity of the unbalance weight for each rotation angle during generation of the alarm vibration. The lane departure warning device according to claim 1. The rotating shaft of the rotor constituting the alarm vibration generating motor is arranged to be the same as the rotating shaft of the steering wheel,
During the generation of the alarm vibration, the control device changes at least one of the rotation angular velocity or the rotation angle of the alarm vibration generating motor for each rotation direction, so that at least the rotation angular velocity or the rotation angle of the unbalance weight is changed. The lane departure warning device according to claim 1, further comprising means for changing one for each rotation direction.   A vehicle comprising the lane departure warning device according to any one of claims 1 to 4. In the control method of the lane departure warning device for generating the warning vibration and vibrating the steering wheel when the warning is generated according to the lane departure state of the vehicle,
A control method for a lane departure warning device, wherein a rotation state of the warning vibration generation motor is changed during the generation of the warning vibration, a steering torque is applied to the steering wheel, and the lane departure state is corrected. .