PROBLEM TO BE SOLVED: To provide a vehicle control device which can smoothly park a vehicle while changing the speed of the vehicle in accordance with various kinds of parking spaces and peripheral environment of the vehicle by an easy operation by a driver.SOLUTION: A vehicle control device comprises: a periphery monitoring part which searches for a parking space in which a vehicle can be parked on the basis of an output of a sensor which is provided to the vehicle and monitors the periphery of the vehicle; a steering control part which sets a guide path for the vehicle to the parking space, calculates the position and attitude of the vehicle, and executes steering angle control of the vehicle; and a braking/driving control part which executes braking/driving control of the vehicle in such a manner that the vehicle travels along the guide path. When starting of automatic parking is instructed by a driver of the vehicle, the steering control part shifts the steering control of the vehicle from an assist mode to assist steering force of the driver to an automatic steering mode which does not require steering of a steering wheel by the driver, and the braking/driving control part shifts braking/driving control of the vehicle from a torque control to control the torque of the vehicle to a speed control to control the speed of the vehicle.SELECTED DRAWING: Figure 3

    【課題】運転者の簡単な操作により、様々な駐車スペースや車両の周辺環境にあわせて車両速度を変更しながらスムーズに車両を駐車させることができる車両制御装置を得る。【解決手段】車両に設けられて車両の周辺をモニタするセンサからの出力に基づいて、車両を駐車することができる駐車スペースを検索する周辺監視部と、駐車スペースへの車両の誘導経路を設定し、車両の位置姿勢を演算するとともに、車両の舵角制御を行う操舵制御部と、誘導経路に沿って車両が走行するように、車両の制駆動制御を行う制駆動制御部と、を備え、車両の運転者により、自動駐車の開始が指示された場合に、操舵制御部は、車両の舵角制御を、運転者の操舵力を補助するアシストモードから、運転者によるハンドルの操舵を必要としない自動操舵モードに移行し、制駆動制御部は、車両の制駆動制御を、車両のトルクを制御するトルク制御から、車両の速度を制御する速度制御に移行する。【選択図】図3


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    Titel :

    VEHICLE CONTROL DEVICE AND VEHICLE CONTROL DEVICE


    Weitere Titelangaben:

    車両制御装置および車両制御方法


    Beteiligte:
    AKASHI YOHEI (Autor:in) / SATAKE TOSHIHIDE (Autor:in) / HIGASHI MICHITOSHI (Autor:in) / TAKEUCHI YU (Autor:in)

    Erscheinungsdatum :

    2016-08-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge



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