STEERING DETERMINATION DEVICE AND AUTOMATIC DRIVE SYSTEM

• Main Authors: NISHIMURA NAOKI, AKATSUKA HISAYA, KUWABARA TAKAHIKO, KOSHIRO TAKAHIRO, KUNIHIRO YOJI, MAXIME MOREILLON, FUCHS ROBERT, TAMURA TSUTOMU
• Format: Patent
• Language: English; Japanese
• Published: 04.06.2020
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

To properly determine a steering state of a driver on the basis of steering torque.SOLUTION: A steering determination device 50 determines a steering state of a driver of a vehicle on the basis of the steering torque of a steering shaft. The steering determination device 50 comprises: a torque recognition part 15 for recognizing the steering torque on the basis of a detection result of a torque sensor 5 arranged at the steering shaft; a traveling state recognition part 12 for recognizing the fore-and-aft acceleration of the vehicle, or the left and right acceleration of the vehicle on the basis of a detection result of an acceleration sensor of the vehicle; a threshold setting part 16 for setting a threshold for use in a determination of a steering state on the basis of the fore-and-aft acceleration or the left and right acceleration; and a steering determination part 17 for determining that the driver is in the steering state when the steering torque reaches the threshold or higher. The threshold setting part 16 sets the threshold so that the threshold becomes small as an absolute value of the fore-and-aft acceleration or the left and right acceleration becomes small.SELECTED DRAWING: Figure 1 【課題】ステアトルクに基づいてドライバの操舵状態を適切に判定する。【解決手段】操舵判定装置５０は、車両のドライバの操舵状態をステアリングシャフトのステアトルクに基づいて判定する。操舵判定装置５０は、ステアリングシャフトに設けられたトルクセンサ５の検出結果に基づいて、ステアトルクを認識するトルク認識部１５と、車両の加速度センサの検出結果に基づいて、車両の前後加速度又は車両の左右加速度を認識する走行状態認識部１２と、前後加速度又は左右加速度に基づいて、操舵状態の判定に用いる閾値を設定する閾値設定部１６と、ステアトルクが閾値以上となった場合、ドライバが操舵状態であると判定する操舵判定部１７と、を備える。閾値設定部１６は、前後加速度又は左右加速度の絶対値が小さくなるほど閾値が小さくなるように閾値を設定する。【選択図】図１