Vehicular operation assisting system

摘要

There is provided a system for immediately reflecting an intention of a driver wanting to avoid an obstacle to assistance to an avoidance operation. A vehicular operation assisting system for assisting the avoidance operation made by the driver of a vehicle in avoiding the obstacle includes an avoidance required distance calculating section for periodically calculating an avoidance required distance that is a distance required to avoid the obstacle when the obstacle is detected ahead of the vehicle, an avoidance operation determining section for periodically determining the avoidance operation with respect to the obstacle on the basis of steering maneuvers of the driver and an avoidance operation assisting degree calculating section for periodically calculating an avoidance operation assisting degree per based on the avoidance required distance calculated by the avoidance required distance calculating section and the judgment result of the avoidance operation determining section.

主权项

1. A vehicular operation assisting system for assisting a driver in making an avoidance operation of a vehicle to avoid an obstacle, comprising:
a processor, including: an obstacle detecting section for detecting the obstacle ahead of the vehicle; an avoidance required distance calculating section for periodically calculating a distance required to avoid the detected obstacle; an actuator which applies an assist force to a steering wheel; a steering angle detecting section for detecting a steering angle of the steering wheel; a steering angular velocity calculating section for calculating a steering angular velocity of the steering wheel based on the steering angle; an avoidance operation determining section for:
periodically calculating an avoidance operation amount based on the steering angle and the steering angular velocity of a steering operation made by the driver using: srto=δ×α+dδ/dt×β, where the srto represents the avoidance operation amount and ranges from −1 to +1, and wherein δ is the steering angle, dδ/dt is the steering angular velocity, and α and 62 are coefficients, anddetermining an avoidance operation based on the avoidance operation amount calculated by srto=δ×α+dδ/dt×β regardless of a positional relationship of the vehicle and the obstacle detected by the obstacle detecting section in a right direction and a left direction; and an avoidance operation assisting degree calculating section for periodically calculating an avoidance operation assisting degree based on the calculated distance and the determined avoidance operation; wherein the avoidance operation determining section is configured to increase a value of (δ×α) as the vehicle speed increases, and drive the actuator for applying the assist force to the steering wheel based on a value obtained by adding the calculated avoidance operation assisting degree to a target value which is set based on a steering torque and the vehicle speed.