JP2019084951A - Travel assisting system - Google Patents

Abstract

To provide a travel assisting system used in a steering device and is able to restrict influence of recess and projection of a road surface during travel of a vehicle.SOLUTION: A travel assisting system 1 used in a steering device S in which rotational motion of a column shaft 5 is converted into parallel motion of a rack 72 for steering wheels 20A, 20B of a vehicle by means of a rack and pinion mechanism and in which the column shaft 5 is rotationally moved or the rack 72 is parallelly moved, comprises resisting means that determines presence of recess and projection of a road surface 90 on which the vehicle travels and causes force resisting influence of recess and projection on steering for the wheels 20A, 20B.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a travel assist system used for a steering device of a vehicle such as a car.

  In general, a steering apparatus for a vehicle such as an automobile includes a steering wheel steered by a driver and a column shaft to which a rotational movement of the steering wheel is transmitted, and a rack and pinion mechanism for the rotational movement of the column shaft Is converted to the reciprocating motion (parallel motion) of the rack for turning the wheels. In addition, tie rods are attached to both ends of the rack, and the tie rods reciprocate with the rack, so that the tie rods push and pull the knuckle arms attached to them, and steer the wheels by giving steering angles to the wheels. (See Patent Document 1).

  In recent years, an electric power steering assist device has been used to assist the driver in steering the steering wheel. The electric power steering auxiliary device includes, for example, a motor that assists in the rotational movement of the column axis in the steering device or the reciprocating movement of the rack, and the driver steers the steering wheel with light force by assisting the rotational movement of the steering wheel. It can be done.

JP, 2015-137038, A (page 5, FIG. 1)

  However, asperities, steps, and the like may be present on the road surface on which a vehicle such as a car travels. When the vehicle travels on such a road surface, for example, when the wheel gets over the convex portion, the wheel is steered, so that the steering wheel rotates according to the steering of the wheel, and the traveling direction of the vehicle is driving It may change in the direction unintended by the person. At this time, the driver steers the steering wheel with respect to the rotational movement of the steering wheel to steer the wheel, and as a result, tries to return the steering angle of the wheel in the intended traveling direction. There is a problem that the vehicle performs a meandering operation, which impairs comfortable driving.

  The present invention has been made focusing on such a problem, and an object of the present invention is to provide a driving assistance system that can be used in a steering device and can suppress the influence of the unevenness of the road surface when the vehicle travels.

In order to solve the above-mentioned subject, a driving assistance system of the present invention,
It is a travel assisting system used in a steering system in which the rotational motion of a column axis is converted to a parallel motion of a rack that steers the wheels of a vehicle by a rack-and-pinion mechanism, and the column axis is rotated or the rack is translated. ,
It is characterized in that it comprises a resistance means for judging the existence of unevenness of the road surface on which the vehicle travels, and generating resistance against the influence of the unevenness on the turning of the wheel.
According to this feature, it is possible to suppress the influence on the steering of the wheel when the wheel rides on the unevenness of the road surface by judging the existence of the unevenness of the road surface and generating resistance by the resistance means, and for the meandering operation. The swing range can be reduced and comfortable driving can be performed.

The travel assist system includes regeneration detection means for detecting generation of regenerative energy by a motor, and the presence of the unevenness is determined based on detection of generation of the regenerative energy by the regeneration detection means, and the unevenness is the wheel It is characterized in that a resistance is generated by the resistance means against the influence exerted on the steering.
According to this feature, when the wheel turns when the wheel rides on the unevenness of the road surface, the rack moves in parallel, and regenerative energy is generated by the rotation of the motor by this parallel movement. The driving assistance system can determine the presence of the unevenness of the road surface by detecting this regenerative energy, so it is possible to suppress the influence on the steering of the wheel instantaneously.

The traveling assistance system includes: direction detection means for detecting a rotational drive direction of the motor; and rotational drive for the motor detected by the direction detection means based on detection of generation of the regenerative energy by the regenerative detection means. And the resistance means for rotationally driving the motor in the direction opposite to the direction.
According to this feature, the steering of the wheels can be suppressed by rotationally driving the motor in the direction opposite to the rotational driving direction of the motor detected by the direction detection means, and steering of the wheels using the structure of the automatic steering assist device It is possible to suppress the influence of

The travel assist system includes a torque sensor that detects a torsional stress applied to the column axis, and controls the rotational drive of the motor based on the value of the torsional stress detected by the torque sensor.
According to this feature, it is possible to generate an optimum resistance according to the degree of turning of the wheel caused by the wheel riding on the unevenness of the road surface.

The driving assistance system performs imaging processing of an image capturing device capturing an image of a road surface on which the vehicle travels, an image captured by the imaging device, and influence of the unevenness of the road surface on steering of the wheels and timing thereof. Providing a prediction means for predicting
It is characterized in that the resistance means produces resistance against the influence exerted by the unevenness of the road surface traveled by the vehicle predicted by the prediction means on the turning of the wheels.
According to this feature, since the influence of the unevenness on the turning of the wheel and the timing thereof can be predicted by detecting the unevenness of the road surface by the imaging device, it is possible to quickly suppress the influence of the turning. Can.

The travel assist system includes regeneration detection means for detecting generation of regenerative energy by the motor, and the vehicle predicted by the prediction means travels based on detection of generation of the regenerative energy by the regeneration detection means. It is characterized in that the resistance means generates resistance against the influence of the unevenness of the road surface on the turning of the wheels.
According to this feature, by detecting the unevenness of the road surface by the imaging device, it is possible to predict the influence of the unevenness on the turning of the wheel and to prepare for the generation of resistance, which is actually generated by the motor. Since the resistance is actually generated based on the detection of the regenerative energy, it is possible to take measures to quickly suppress the influence on the turning of the wheel.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows the electric-power-steering control apparatus with which the traveling assistance system in Example 1 of this invention is applied. It is a perspective view which shows the internal structure of the steering apparatus in Example 1 of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a conceptual diagram which shows the driving assistance system in Example 1 of this invention. It is a schematic diagram which shows the unevenness | corrugation of the road surface which a vehicle drive | works. (A) is a top view which shows the state which the wheel of the vehicle got on the convex part of the road surface, (b) is a front view similarly. (A) is a top view which shows the state which the wheel of the vehicle got over to the convex part of a road surface, and was steered, (b) is a front view similarly. FIG. 7 is a conceptual diagram showing the operation of the electric power steering control device and the detection / reduction processing (partly) of the travel assist system in the first embodiment of the present invention when the wheels are steered due to the unevenness of the road surface on which the vehicle travels. It is a flowchart which shows the flow of a detection / reduction process of the traveling assistance system in Example 1 of this invention. It is a conceptual diagram which shows the state to which the operation | movement of the electric-power-steering control apparatus with which the traveling assistance system in Example 1 of this invention is applied, and the reduction process of the traveling assistance system was performed. It is a conceptual diagram which shows the traveling assistance system in Example 2 of this invention. It is a conceptual diagram which shows a mode that a road surface is imaged by the imaging device in Example 2 of this invention. It is a flowchart which shows the flow of a prediction / reduction process of the traveling assistance system in Example 2 of this invention. It is a front view which shows the virtual course of the wheel of the vehicle estimated by the arithmetic unit which comprises the traveling assistance system in Example 2 of this invention.

  A mode for carrying out a travel assist system according to the present invention will be described below based on an embodiment.

  The travel assist system according to the first embodiment will be described with reference to FIGS. 1 to 9.

  The traveling assistance system in the first embodiment of the present invention is used for a steering device S in a vehicle such as a car. The steering device S includes a steering wheel 2 steered by the driver, a handle shaft 3 to which the steering wheel 2 is fixed at one end, a torsion bar 4 connected to the other end of the handle shaft 3, and a torsion bar 4 At the left and right ends of the column shaft 5 to which one end is connected, the rack and pinion mechanism 7, the intermediate shaft 6 connecting the other end of the column shaft 5 and the rack and pinion mechanism 7, and the rack 72 (see FIG. 2) Mainly composed of tie rods 8, 8 to which one end is connected and knuckle arms 9, 9 connected to the other ends of tie rods 8, 8, a pair of wheels 20A, 20B are attached to the knuckle arms 9, 9 It is done.

  As shown in FIG. 2, the rack and pinion mechanism 7 mainly includes a pinion 71 and a rack 72 accommodated in the housing 70 and a motor 73 connected to the pinion 71. The rotational movement of the column shaft 5 by steering is transmitted to the pinion 71 via the intermediate shaft 6 and converted into parallel movement of the rack 72. The tie rods 8, 8 whose one ends are connected to the left and right ends of the rack 72 are capable of parallel movement with the rack 72, and push and pull the knuckle arms 9, 9 connected to the other ends of the tie rods 8, 8. , Give a steering angle to the wheels 20A, 20B, and steer the wheels 20A, 20B. The rack-and-pinion mechanism 7 including the pinion 71 and the rack 72 has a well-known configuration, and thus the detailed description will be omitted.

  The steering wheel 2 steered by the driver is fixed to one end of the steering wheel shaft 3, and the torsion bar 4 connected between the other end of the steering wheel shaft 3 and the column shaft 5 has a torsion angle of the torsion bar 4. A torque sensor 40 is connected to detect the amount of torsion (torsion stress) acting on the column shaft 5 based on the torque (see FIG. 3).

  The steering device S includes an electric power steering control device 10. As shown in FIG. 2, the electric power steering control device 10 is a pinion assist type electric power steering control device which assists the rotation of a pinion 71 constituting the turning device S by the assist torque of the motor 73. Further, a vehicle speed sensor (not shown) for detecting a vehicle speed is provided at a predetermined portion of the vehicle. The wheels 20A and 20B correspond to the front wheels of a front wheel steering vehicle, and the wheel 20A is mounted on the right in the traveling direction indicated by the white arrow, and the wheel 20B is mounted on the left in the traveling direction. It shall be explained below.

  The motor 73 is connected at its tip to the pinion 71 via a worm gear 73a formed in a bevel gear shape, and supplies power from the battery 74 to rotate the worm gear 73a to assist the rotational movement of the pinion 71. Output assist torque. The rotational motion of the pinion 71 to which the assist torque is applied is converted to parallel motion by being transmitted to the rack 72. A motor rotation angle sensor for detecting the motor rotation angle is connected to the motor 73.

  Generally, in a basic assist control unit (not shown) that controls the assist torque output by the motor 73 in the electric power steering control device 10, the amount of torsion detected by the torque sensor 40 when the steering wheel 2 is steered by the driver Information such as the motor rotation angle detected by the rotation angle sensor and the vehicle speed detected by the vehicle speed sensor is input, and an assist torque command value for the motor 73 is calculated based on the information. The motor 73 outputs an assist torque for assisting the rotational motion of the pinion 71 transmitted from the column shaft 5 via the intermediate shaft 6 based on the assist torque command value from the basic assist control unit, and the rotation of the pinion 71 By adding an assist torque to the motion, the amount of reciprocating movement converted in the rack 72 is amplified, so it becomes easy to steer the wheels 20A and 20B, and the driver steers the steering wheel 2 with a light force. Can.

  Next, the driving assistance system 1 in the first embodiment will be described. As shown in FIG. 3, the driving assistance system 1 is applied to the electric power steering control device 10, and is connected to the motor 73 constituting the steering device S to detect the generation of regenerative energy by the motor 73. 75 (regeneration detection means), direction detection sensor 76 (direction detection means) for detecting the rotational drive direction of the motor 73, torque sensor 40, regeneration detection sensor 75, direction detection sensor 76, motor 73 The system is mainly composed of the arithmetic unit 77, and controls the assist torque output by the motor 73 to suppress the influence of the unevenness of the road surface 90 (see FIG. 4) when the vehicle is traveling.

  Here, the influence of the unevenness of the road surface 90 when the vehicle travels will be described. As shown in FIG. 4, innumerable concave portions 91 and convex portions 92 may exist on the road surface 90 on which the vehicle travels. For example, as shown in FIG. 5A, the right side of the traveling vehicle may When the inside of the wheel 20A (left side in the traveling direction shown by the white arrow) rides on the convex portion 92, the wheel 20A is inclined outward (right side) by the action of the suspension (not shown) (FIG. 5 (a), (B)).

  At this time, a part of the inside of the wheel 20A riding on the convex part 92 is in a non-contact state with the road surface 90, while the contact area between the outside of the wheel 20A and the road surface 90 is relatively large. The frictional force between the outside of 20A and the road surface 90 becomes large, and as shown in FIGS. 6 (a) and 6 (b), when the wheel 20A passes over the convex part 92, the outside (clockwise with respect to the traveling direction) Turn to).

  As shown in FIG. 7, when the wheels 20A are steered to the outside (clockwise with respect to the traveling direction) under the influence of the unevenness of the road surface 90 when the vehicle is traveling, the electric power steering control device 10 The tie rod 8 connected to the knuckle arm 9 to which the wheel 20A is attached is pulled rightward. At this time, the tie rod 8 connected to the knuckle arm 9 to which the left wheel 20B integrated with the tie rods 8, 8 and the rack 72 is attached is also pushed to the right. As a result, the rack 72 translates to the right, and the translation of the rack 72 is converted to the rotational motion of the pinion 71.

  The rotational movement of the pinion 71 is transmitted to the worm gear 73a of the motor 73, and the worm gear 73a rotates clockwise, whereby regenerative energy is generated in the motor 73.

  Next, detection / reduction processing by the arithmetic device 77 of the travel assist system 1 with respect to the influence of the unevenness of the road surface 90 when the vehicle travels will be described. As shown in FIGS. 7 and 8, the regeneration detection sensor 75 connected to the motor 73 determines whether generation of regenerative energy by the motor 73 has been detected (step Sa1). Then, when generation of regenerative energy by the motor 73 is detected by the regeneration detection sensor 75 in step Sa1, the arithmetic unit 77 receives a detection signal of generation of regenerative energy.

  In step Sa2, the arithmetic unit 77 receives the signal of the rotational drive direction of the motor 73 detected by the direction detection sensor 76 connected to the motor 73. In step Sa3, the arithmetic unit 77 receives the signal of the amount of twist between the handle shaft 3 and the column shaft 5 detected by the torque sensor 40.

  Next, in step Sa4, the arithmetic unit 77 steers the wheels 20A and 20B based on the rotational drive direction of the motor 73 detected by the direction detection sensor 76 and the information on the amount of twist detected by the torque sensor 40. Calculate the resistance torque command value that is the resistance to

  In step Sa5, the arithmetic unit 77 outputs a resistance torque to the motor 73 via the battery 74 so as to rotate the motor 73 by the calculated resistance (see FIG. 9). The resistance torque is for driving the motor 73 to rotate in the direction opposite to the rotational drive direction of the motor 73 detected by the direction detection sensor 76, and the motor 73 that outputs the resistance torque is the resistance means in this embodiment. Configured.

  According to this, based on detection of generation of regenerative energy by the motor 73 by the regeneration detection sensor 75, the driving assistance system 1 performs the motor 73 in the reverse direction of the rotational drive direction of the motor 73 detected by the direction detection sensor 76. By generating the resistance to drive the rotation, the steering of the wheels 20A and 20B due to the unevenness of the road surface 90 during traveling of the vehicle can be stopped only in the initial operation, and further unexpected steering can be suppressed quickly, and meandering operation Can reduce the swing width of the vehicle and make comfortable driving. In addition, it can be said that the traveling assistance system 1 determines the presence of the unevenness of the road surface 90 based on the detection of the generation of the regenerative energy by the motor 73 by the regenerative detection sensor 75.

  Furthermore, by applying the travel assist system 1, it is possible to suppress the influence exerted by the turning of the wheels 20A and 20B using the structure of the existing electric power steering control device 10, and the introduction barrier is low.

  In addition, since the driving assistance system 1 controls the rotational drive of the motor 73 based on the amount of torsion applied to the column shaft 5 detected by the torque sensor 40, it is caused by the wheels 20A and 20B running on the unevenness of the road surface 90. Optimal resistance can be generated according to the degree of turning of the wheels 20A and 20B.

  Next, a travel assist system according to a second embodiment will be described with reference to FIGS. 10 to 13. The same reference numerals are given to the same components as the components shown in the above embodiment, and the redundant description will be omitted.

  The driving assistance system 101 in the second embodiment will be described. As shown in FIG. 10, the driving assistance system 101 is applied to the electric power steering control device 10, and is connected to the motor 73 constituting the turning device S to detect the generation of regenerative energy by the motor 73. 175 (regeneration detection means), a camera 179 (imaging device) for imaging the traveling direction of the road surface 90 on which the vehicle travels, and an arithmetic device 177 (prediction means) connected to the regeneration detection sensor 175, the camera 179, and the motor 73, respectively. The system is mainly configured by controlling the assist torque output from the motor 73 to suppress the influence of the unevenness of the road surface 90 when the vehicle is traveling. The torque sensor 40 is connected to the computing device 177 of the travel assist system 101.

  The arithmetic unit 177 processes the image captured by the camera 179, and based on information such as the amount of torsion detected by the torque sensor 40 and the vehicle speed detected by a vehicle speed sensor not shown (see FIG. 12). ) Can be calculated. Further, the arithmetic unit 177 can perform image processing on the image captured by the camera 179 to determine the presence or absence of the unevenness on the road surface 90, and can calculate the positional relationship between the unevenness and the car.

  For example, as shown in FIG. 11, when the camera 179 picks up the traveling direction of the road surface 90 on which the vehicle is traveling, if the arithmetic unit 177 determines the convex portion 92 present on the road surface 90, From the relationship between the position of the convex portion 92 and the virtual path, it is possible to predict the influence (the direction of turning and the magnitude of the steering angle) which the convex portion 92 has on the turning of the wheels 20A and 20B and the timing thereof. ing. In addition, in FIG. 13, although the virtual course is illustrated only about the wheel 20A of the right side, calculation of a virtual course is performed also about the wheel 20B of the left side.

  Next, the prediction / reduction processing by the calculation device 177 of the auxiliary system 101 for the influence of the unevenness of the road surface 90 when the vehicle is traveling will be described. As shown in FIGS. 11 and 12, in step Sb1, the image of the road surface 90 in the traveling direction of the vehicle indicated by the white arrow captured by the camera 179 is transmitted to the computing device 177.

  In step Sb2, the arithmetic unit 177 performs image processing of the image transmitted from the camera 179, and in step Sb3, the arithmetic unit 177 determines whether the road surface 90 has unevenness. When the unevenness is detected, the process proceeds to step Sb4, and based on information such as the amount of torsion detected by the torque sensor 40 when the steering wheel 2 is steered by the driver, the vehicle speed detected by the vehicle Here, a virtual path 200 (see FIG. 13) assumed in front of the wheel 20A on the right in the traveling direction is calculated.

  Next, in step Sb5, the convex portion 92 is the virtual track of the wheel 20A from the relationship between the position of the unevenness (here, the convex portion 92 shown in FIGS. 12 and 13) and the virtual track by image processing. It is determined whether it exists on 200 or not. If it is determined that the convex portion 92 exists on the virtual path 200, the process proceeds to step Sb6, and the convex portion 92 turns to the wheel 20A from the relationship between the position of the convex portion 92 on the road surface 90 and the virtual path 200. The influence (the direction of turning and the magnitude of the steering angle) to be exerted and the timing thereof are predicted to be in the standby state.

  In step Sb7, the amount of twist between the steering wheel 2 (the handle shaft 3) and the column shaft 5 detected by the torque sensor 40 is received. Next, in step Sb8, the computing device 177 determines the influence of the unevenness of the road surface 90 on the turning of the wheel 20A, the predicted value of the timing, and the information of the amount of twist detected by the torque sensor 40. A resistance torque command value that is a resistance to turning of the wheel 20A is calculated.

  In step Sb9, the battery 74 is driven to rotate the motor 73 by the amount of resistance calculated by the arithmetic device 177 at the timing when the convex portion 92 calculated in step Sb6 influences the turning of the wheel 20A. The resistance torque is output to the motor 73 via

  According to this, the traveling assistance system 1 can predict the influence of the unevenness on the turning of the wheels 20A and 20B and the timing thereof by detecting the unevenness of the road surface 90 with the camera 179. It is possible to quickly suppress the influence of

  Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to these embodiments, and any changes or additions may be made without departing from the scope of the present invention. Be

  For example, in the above embodiment, the travel assisting system 1 has been described as a mode applied to the pinion assist type electric power steering control device 10 in which the motor 73 assists the rotation of the pinion 71 constituting the steering device S. Not limited to this, the automatic steering assist device is a rack assist type that assists the rotation of the rack that constitutes the steering device by the assist torque of the motor, or a column assist type that assists the rotation of the column axis by the assist torque of the motor. The invention may be applied to an electric power steering system.

  In the above embodiment, the wheels 20A and 20B are described as being equivalent to the front wheels in a front wheel steering vehicle, but are equivalent to all wheels in a rear wheel steering vehicle and a four wheel steering vehicle It is also good. In the case of a four-wheel steering vehicle, it is preferable to apply a resistance force in the direction of suppressing the turning of the wheel due to the unevenness regardless of the in-phase method or the anti-phase method.

  Further, the driving assistance system 101 according to the second embodiment senses the unevenness of the road surface 90 with the camera 179 to predict the influence of the unevenness on the turning of the wheels 20A and 20B and the timing thereof to generate resistance. In the preparation state, resistance may be generated based on the fact that generation of regenerative energy is detected by the regenerative detection sensor 175. According to this, it is possible to take measures to more reliably suppress the influence on the turning of the wheels 20A, 20B.

  In the first and second embodiments, the driving assistance system 1 (101) controls the assist torque output from the motor 73, and the resistance torque output to the motor 73 constitutes a resistance means. However, the configuration of the resistance means The invention is not limited to this, and, for example, a braking device for directly applying a frictional force to the column shaft 5, the rack 72, the wheels 20A, 20B, etc. is additionally provided, and this braking device can be used as a resistance means Good.

  Further, the configuration for determining the presence of the unevenness of the road surface 90 is not limited to the configurations of the first and second embodiments, and may be determined by a sensor provided toward the road surface 90, for example.

  In addition, the driving assistance system is not limited to one that is used for a vehicle in which the driver actually operates the steering wheel 2, and may be used for, for example, a vehicle that is automatically traveled by computer control. In this case, even if the object to be applied is not the electric power steering control device, if there is a structure corresponding to a column axis that is converted by parallel movement of the rack 72 by the rack and pinion mechanism, travel assistance is provided. System application is possible.

Reference Signs List 1 travel assist system 2 steering wheel 3 steering wheel shaft 5 column shaft 7 rack and pinion mechanism 8, 8 tie rods 9, 9 knuckle arm 10 electric power steering control device 20A, 20B wheels 40 torque sensor 71 pinion 72 rack 73 motor (resistance means)
74 Battery 75 Regeneration detection sensor (regeneration detection means)
76 Direction Detection Sensor (Direction Detection Means)
77 Arithmetic unit 90 Road surface 91 Concave portion 92 Convex portion 101 Driving assist system 175 Regenerative detection sensor
177 Arithmetic unit (prediction means)
179 Camera (imaging device)
200 virtual track S steering device

Claims (6)

It is a travel assisting system used in a steering system in which the rotational motion of a column axis is converted to a parallel motion of a rack that steers the wheels of a vehicle by a rack-and-pinion mechanism, ,
A driving assistance system characterized by comprising resistance means for judging the existence of unevenness of a road surface on which the vehicle travels, and generating resistance against the influence of the unevenness on the turning of a wheel.   The travel assist system includes regeneration detection means for detecting generation of regenerative energy by a motor, and the presence of the unevenness is determined based on detection of generation of the regenerative energy by the regeneration detection means, and the unevenness is the wheel The driving assistance system according to claim 1, wherein a resistance is generated by the resistance means against an influence exerted on steering.   The traveling assistance system includes: direction detection means for detecting a rotational drive direction of the motor; and rotational drive for the motor detected by the direction detection means based on detection of generation of the regenerative energy by the regenerative detection means. 3. The driving assistance system according to claim 2, further comprising: the resistance means for rotationally driving the motor in the direction opposite to the direction.   The driving assist system includes a torque sensor that detects a torsional stress applied to the column axis, and controls rotational driving of the motor based on the value of the torsional stress detected by the torque sensor. The driving assistance system according to any one of to 3. The driving assistance system performs imaging processing of an image capturing device capturing an image of a road surface on which the vehicle travels, an image captured by the imaging device, and influence of the unevenness of the road surface on steering of the wheels and timing thereof. Providing a prediction means for predicting
The driving assistance system according to claim 1, characterized in that the resistance means generates a resistance against the influence exerted by the unevenness of the road surface traveled by the vehicle predicted by the prediction means on the turning of the wheels. .   The travel assist system includes regeneration detection means for detecting generation of regenerative energy by the motor, and the vehicle predicted by the prediction means travels based on detection of generation of the regenerative energy by the regeneration detection means. The driving assistance system according to claim 5, characterized in that the resistance means generates resistance against the influence exerted by the unevenness of the road surface on the steering of the wheels.

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