PROBLEM TO BE SOLVED: To shift to manual operation while maintaining normal steering characteristic which a driver performs when the driver makes overriding in steering during automatic steering, with no discomfort imparted to the driver.SOLUTION: During automatic operation, θH-TH Lissajous waveform of steering system is calculated, and the θH-TH Lissajous waveform of the steering system is compared with θH-TH characteristic given by driver's inputting when the automatic operation is performed, and based on the comparison result, the fact that steering input from the driver has occurred when the automatic operation is being performed is determined, as an override determination value. The override determination value is corrected so as to agree with the θH-TH Lissajous waveform of the steering system. A steering torque by driver inputting is compared with the corrected override determination value, for determining releasing of automatic operation.SELECTED DRAWING: Figure 3

    【課題】自動操舵中にドライバが操舵のオーバーライドをしたときに、ドライバに違和感を与えることなく、ドライバが操舵する通常時の操舵力特性を維持して手動運転に移行させる。【解決手段】自動運転において、操舵系のθH−THリサージュ波形を算出し、該操舵系のθH−THリサージュ波形と自動運転作動時におけるドライバ入力によるθH−TH特性とを比較し、該比較結果に基づいて自動運転作動時にドライバによる操舵入力が生じたことを判定するオーバーライド判定値が操舵系のθH−THリサージュ波形上に一致するように補正し、ドライバ入力による操舵トルクと、補正されたオーバーライド判定値とを比較して自動運転の解除の判定を行う。【選択図】図3


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    Title :

    AUTOMATIC OPERATION CONTROL DEVICE OF VEHICLE


    Additional title:

    車両の自動運転制御装置


    Contributors:

    Publication date :

    2017-03-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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