To restrict a decrease in traceability with respect to a target travel route by reducing displacement from the target travel route resulting from a predicted vehicle state.SOLUTION: Information about a target travel route along which own vehicle 1 travels on the basis of external-environment information input from an external-environment recognition device is acquired. A physical quantity regarding a target lateral force to be caused in the own vehicle 1 when the own vehicle 1 travels a forward curve toward a target moving point (Xp, Yp) on the target travel route is acquired. Based on the physical quantity regarding the target lateral force and based on stability factor Ap after a reference stability factor A set from a value specific to vehicle specification information of the own vehicle 1 is corrected in accordance with a predicted vehicle state, a control instruction regarding a target steering angle δ when the own vehicle 1 travels the curve is obtained, and the control instruction is output to an actuator relating to steering of the own vehicle 1.SELECTED DRAWING: Figure 3
【課題】予測される車両状態に起因した目標走行経路からの位置ズレを低減して目標走行経路に対するトレース性の低下を抑制する。【解決手段】外界認識装置から入力した外界情報に基づいて自車両1が走行する目標走行経路に関する情報を取得し、自車両1が目標走行経路上の目標移動点(Xp,Yp)へ向けて前方のカーブを走行するときに自車両1に発生させる目標横力に関する物理量を求め、目標横力に関する物理量と、自車両1の車両諸元情報の固有値から設定される基準スタビリティファクタAを予測される車両状態に応じて補正した補正後スタビリティファクタApと、に基づいて、自車両1がカーブを走行するときの目標舵角δに関する制御指令を求め、制御指令を自車両1の操舵に関するアクチュエータへ出力する。【選択図】図3
VEHICLE TRAVEL CONTROL DEVICE, VEHICLE TRAVEL CONTROL METHOD AND VEHICLE TRAVEL CONTROL SYSTEM
車両走行制御装置、車両走行制御方法及び車両走行制御システム
2020-12-03
Patent
Electronic Resource
Japanese
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