To continue automatic steering along a traveling lane even when traveling on the traveling lane having a gradient angle in a lateral direction in a state that an acquisition level of own vehicle position information is reduced.SOLUTION: Acquisition levels of right and left compartment lines acquired based on traveling environment information from a front recognition device 21 and position information from a positioning satellite are determined (S2, S3). When at least one of the acquisition levels is reduced, an estimated own vehicle position is set by an autonomous navigation and the estimated own vehicle position is map-matched with road map data (S6). A to-lane yaw ange ψ is determined from a relation expression of tanθ=tanσ cosψ on the basis of a cant angle σ within the road map data in the estimated own vehicle and a roll angle θ detected by a three-axis acceleration sensor 15. Target steering torque for steering control is determined on the basis of the to-lane yaw angle ψ and a road azimuth angle of the road map data (S11).SELECTED DRAWING: Figure 2

    【課題】自車位置情報の取得レベルが低下している状態で、横方向の勾配角を有する走行車線を走行している場合であっても、走行車線に沿った自動操舵を継続させることができるようにする。【解決手段】前方認識装置21からの走行環境情報に基づいて取得した左右区画線と測位衛星からの位置情報との取得レベルを判定し(S2,S3)、少なくとも一方の取得レベルが低下している場合、自律航法により推定自車位置を設定し、この推定自車位置を道路地図データにマップマッチングさせる(S6)。そして推定自車位置における道路地図データ内のカント角σと3軸加速度センサ15で検出したロール角θとに基づき対車線ヨー角ψを、tanθ=tanσ・cosψの関係式から求め、対車線ヨー角ψと道路地図データの道路方位角とに基づき操舵制御のための目標操舵トルクを求める(S11)。【選択図】図2


    Access

    Download


    Export, share and cite



    Title :

    STEERING SUPPORT DEVICE OF VEHICLE


    Additional title:

    車両の操舵支援装置


    Contributors:

    Publication date :

    2018-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



    VEHICLE STEERING SUPPORT DEVICE AND STEERING SUPPORT METHOD

    HANDA SATOSHI / SUGAMOTO SHUSAKU / INOUE SATOSHI | European Patent Office | 2024

    Free access

    VEHICLE STEERING SUPPORT DEVICE

    WASHINO SHIGERU / MORIOKA SHOICHIROH / KATAOKA HIROAKI | European Patent Office | 2024

    Free access

    STEERING SUPPORT DEVICE FOR VEHICLE

    MINAMI NOBUARI / KAWAKAMI SEIJI | European Patent Office | 2018

    Free access

    STEERING SHAFT ROTATION SUPPORT DEVICE AND VEHICLE STEERING DEVICE

    NAGASE AKITOSHI / TAKEDA MASAYA | European Patent Office | 2015

    Free access

    STEERING SUPPORT DEVICE OF VEHICLE

    CHIBA TAKASHI / NIKI KEITARO / OTAKE HIROTADA | European Patent Office | 2018

    Free access