To provide a turning control device that suppress influence of disturbance input to a wheel from a road surface in an independent turning vehicle on a vehicle operation.SOLUTION: A target vehicle operation calculation unit 66 calculates a target vehicle operation (target yaw angle ψ_com) based on a vehicle speed and a handle angle. A target turning angle calculation unit 67 calculates a target turning angle δi_com of each wheel from the target vehicle operation. When the target vehicle operation is deviated from an actual vehicle operation (actual yaw angle ψ_act) acquired from a vehicle operation detection unit 55, a disturbance input wheel determination unit 68 determines that disturbance has been input to one more wheels. When it is determined that the disturbance has been input, the disturbance input wheel determination unit 68 determines, based on the turning angle deviation amount Δδi between a target turning angle δi_com of each wheel and an actual turning angle δi_act, the wheel to which the disturbance has been input. A final target turning angle calculation unit 69 selects one or more wheels to be controlled so as to suppress influence of the disturbance on the vehicle operation and calculates a final target turning angle δ'i_com for the controlled wheel after correction.SELECTED DRAWING: Figure 4

    【課題】独立転舵車両において路面から車輪に入力された外乱による車両動作への影響を抑制する転舵制御装置を提供する。【解決手段】目標車両動作演算部66は、車速とハンドル角とに基づき目標車両動作(目標ヨー角ψ_com)を演算する。目標転舵角算出部67は、目標車両動作から各車輪の目標転舵角δi_comを算出する。外乱入力判定部68は、目標車両動作と、車両動作検知部55から取得した実車両動作(実ヨー角ψ_act)とが乖離したとき、一つ以上の車輪に外乱が入力されたと判定する。外乱入力輪判定部68は、外乱が入力されたと判定された場合、各車輪の目標転舵角δi_comと実転舵角δi_actとの転舵角ずれ量Δδiに基づき、外乱入力輪を判定する。最終目標転舵角算出部69は、外乱による車両動作への影響を抑制するように一輪以上の制御輪を選定し、制御輪について補正後の最終目標転舵角δ´i_comを算出する。【選択図】図4


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    Titel :

    TURNING CONTROL DEVICE AND TURNING SYSTEM


    Weitere Titelangaben:

    転舵制御装置及び転舵システム


    Beteiligte:
    MORITA YOSHIFUMI (Autor:in) / OZU YUMA (Autor:in) / TAKAHASHI TOMOYA (Autor:in) / SATO TAKAFUMI (Autor:in) / SUZUKI YUDAI (Autor:in)

    Erscheinungsdatum :

    05.12.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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