To provide a vehicle travelling control device that can appropriately transmit a situation of steering control to a driver in driving-support control and automatic-driving control in order for an own vehicle to follow a target course accurately.SOLUTION: The vehicle travelling control device sets a target course on which an own vehicle 1 travels, calculates a feed-forward target steering angle δtff at which the own vehicle 1 is made to travel along a shape of the target course, calculates a target steering angle δt on the basis of the feed-forward target steering angle δtff, and controls a steering system 3 of the own vehicle 1; while calculates deviations of the own vehicle 1 with respect to the target course, calculates feedback control amounts by which the own vehicle 1 is made to travel so that the deviations with respect to the target course are eliminated, calculates yaw moments Mz to be added to the own vehicle 1 on the basis of the feedback control amounts, and controls braking/driving force distributions of wheels (between left and right wheels) on the basis of the yaw moments Mz.SELECTED DRAWING: Figure 3
【課題】運転支援制御や自動運転制御においてドライバに操舵制御の状況を適切に伝達し、目標コースに対して精度良く追従する。【解決手段】自車両1が走行する目標コースを設定し、目標コースの形状に沿って自車両1を走行させるフィードフォワード目標操舵角δtffを算出し、フィードフォワード目標操舵角δtffに基づいて目標操舵角δtを算出し、自車両の自車両1の操舵系3を制御する一方、自車両1の目標コースに対するズレ量を算出し、該目標コースに対するズレ量が無くなるように自車両1を走行させるフィードバック制御量を算出し、フィードバック制御量に基づいて自車両1に付加するヨーモーメントMzを算出し、該ヨーモーメントMzに基づき車輪(左右輪間)の制駆動力配分を制御する。【選択図】図3
VEHICLE TRAVELLING CONTROL DEVICE
車両の走行制御装置
01.11.2018
Patent
Elektronische Ressource
Japanisch
VEHICLE TRAVELLING CONTROL DEVICE AND VEHICLE TRAVELLING CONTROL METHOD
Europäisches Patentamt | 2025
|Europäisches Patentamt | 2019
|VEHICLE TRAVELLING CONTROL METHOD AND TRAVELLING CONTROL DEVICE
Europäisches Patentamt | 2022
|VEHICLE TRAVELLING CONTROL METHOD AND TRAVELLING CONTROL DEVICE
Europäisches Patentamt | 2022
|