PROBLEM TO BE SOLVED: To prevent a travelling state of a vehicle from being changed rapidly, by controlling travelling after a driver finishes steering control.SOLUTION: A driving support device 10 comprises a turning device 42 for allowing turning wheels 20FL and 20FR to turn, and control devices 14 and 16 configured to perform travelling control by which turning angles of the turning wheels are changed by controlling the turning device. The control devices calculate deviations (Y, φ) between an index value of a target travelling state of a vehicle and an index value of an actual travelling state; calculates target variations Δθlka of turning angles of the turning wheels on the basis of the deviations between the index values; controls the turning device so that variations Δθ are equal to the target variations; and further when either one of the deviations between the index values and the target variations surpass reference values, restricts change rates with time of the turning angles of the turning wheels which are changed by the travelling control.SELECTED DRAWING: Figure 1
【課題】運転者による操舵が終了した後に走行制御により車両の走行状態が急激に変化されることを防止する。【解決手段】転舵輪20FL、20FRを転舵する転舵装置42と、転舵装置の制御によって転舵輪の転舵角を変化させる走行制御を行うよう構成された制御装置14、16と、を有する運転支援装置10であって、制御装置は、車両の目標の走行状態の指標値と実際の走行状態の指標値との偏差(Y、φ)を演算し、指標値の偏差に基づいて転舵輪の転舵角の目標変化量Δθlkaを演算し、転舵輪の転舵角の変化量Δθが目標変化量になるように、転舵装置を制御し、更に指標値の偏差の大きさ及び目標変化量の大きさの一方が基準値を越えるときには、走行制御により変化させる転舵輪の転舵角の時間変化率の大きさを制限する。【選択図】図1
VEHICULAR DRIVING SUPPORT DEVICE
車両用運転支援装置
2018-01-25
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
VEHICULAR DRIVING SUPPORT DEVICE AND VEHICULAR DRIVING SUPPORT METHOD
European Patent Office | 2023
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