PROBLEM TO BE SOLVED: To alleviate a driver's sense of incongruity due to meandering of an own vehicle that accompanies follow-up steering control, and to ensure immediate effectiveness of control.SOLUTION: A steering assistance control apparatus is provided, comprising: a positional deviation calculator that calculates a lateral positional deviation between an own vehicle and a preceding vehicle, based on a detection signal by a sensor; a relative yaw angle calculator that calculates a relative yaw angle, in which the relative yaw angle is an angle formed by a traveling direction of the own vehicle and a traveling direction of the preceding vehicle; a target value calculator that calculates a steering-related control target value, based on the lateral positional deviation and the relative yaw angle; and a steering driver that drives a steering mechanism, based on the control target value.SELECTED DRAWING: Figure 8
【課題】追従操舵制御に伴い自車両がふらつくことによる運転者の違和感の緩和を、制御の即効性を確保しつつ実現する。【解決手段】本発明の操舵支援制御装置は、センサによる検出信号に基づき自車両と先行車両との横方向位置偏差を算出する位置偏差算出部と、自車両の進行方向と先行車両の進行方向とがなす角度である相対ヨー角を算出する相対ヨー角算出部と、横方向位置偏差と相対ヨー角とに基づき、操舵についての制御目標値を算出する目標値算出部と、制御目標値に基づき操舵機構を駆動する操舵駆動部とを備えている。【選択図】図8
STEERING ASSISTANCE CONTROL APPARATUS
操舵支援制御装置
2017-03-30
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |