PROBLEM TO BE SOLVED: To provide an automatic operation control technique in which vehicle stabilizing control suited for automatic operation is incorporated.SOLUTION: A vehicle is equipped with an EPS device. Automatic operation control includes: target steering angle calculation processing for calculating a target steering angle of a wheel; and steering control for steering the wheel by operating the EPS device so that a steering angle of the wheel is the target steering angle. The target steering angle calculation processing includes: (1) first processing for calculating an automatic operation steering angle and a target state amount requested by automated steering in automatic operation; (2) second processing for calculating a counter steering angle requested by vehicle stabilizing control, on the basis of the target state amount without using steering wheel angle; and (3) third processing for calculating a sum of the automatic operation steering angle and the counter steering angle, as the target steering angle.SELECTED DRAWING: Figure 7
【課題】自動運転に適した車両安定化制御を組み込んだ自動運転制御技術を提供すること。【解決手段】車両は、EPS装置を備える。自動運転制御は、車輪の目標舵角を算出する目標舵角算出処理と、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、を含む。目標舵角算出処理は、(1)自動運転における自動操舵に要求される自動運転舵角と目標状態量を算出する第1処理と、(2)ハンドル角を用いることなく、目標状態量に基づいて、車両安定化制御に要求されるカウンタ舵角を算出する第2処理と、(3)自動運転舵角とカウンタ舵角の和を目標舵角として算出する第3処理と、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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