PROBLEM TO BE SOLVED: To facilitate a driver's gripping of a handle in automatic operation of a vehicle.SOLUTION: A vehicle travel control device includes: an EPS device; a VGRS device; and a control device for conducting automatic operation control. The automatic operation control includes: (1) target steering angle calculation processing for calculating a target steering angle of a wheel; (2) steering control for steering a wheel by operating the EPS device so that a steering angle of the wheel is the target steering angle; and (3) handle angle control for operating the VGRS device in a direction that suppresses change of the handle angle resulting from steering control, on the basis of the target steering angle.SELECTED DRAWING: Figure 7
【課題】車両の自動運転において、ドライバにハンドルを把持させ易くする。【解決手段】車両走行制御装置は、EPS装置と、VGRS装置と、自動運転制御を行う制御装置と、を備える。自動運転制御は、(1)車輪の目標舵角を算出する目標舵角算出処理と、(2)車輪の舵角が目標舵角となるように、EPS装置を作動させて車輪を転舵する転舵制御と、(3)目標舵角に基づいて、転舵制御に起因するハンドル角の変化を抑える方向にVGRS装置を作動させるハンドル角制御と、を含む。【選択図】図7
VEHICLE TRAVEL CONTROL DEVICE AND AUTOMATIC OPERATION CONTROL METHOD
車両走行制御装置及び自動運転制御方法
2018-07-05
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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