PROBLEM TO BE SOLVED: To suppress a rapid change in the amount of control of turning torque by automatic steering control when steering with the intervention of a driver is performed, while suppressing the deterioration of the followability of an actual steering angle with respect to a target steering angle due to disturbance.SOLUTION: When steering intervention is performed during the execution of automatic steering control, a driving support device determines a P control amount based on nonlinear characteristics instead of linear characteristics, and calculates an I control amount by using a coefficient C according to the characteristics of a solid line instead of the coefficient C according to the characteristics of a broken line. In an angle deviation range R1, the P control amount based on the nonlinear characteristics is determined so that the amount of increase of the absolute value of the P control amount with respect to the amount of increase of the absolute value of an angle deviation Δθ becomes smaller than that of the P control amount based on the linear characteristics. The coefficient C according to the characteristics of the solid line shows 1 in an angle deviation range R2, and becomes closer to zero as the absolute value of the angle deviation Δθ becomes greater in the angle deviation range R1. The I control amount when the steering intervention is performed is calculated based on an integrated value calculated while the current value of the angle deviation Δθ is multiplied by the coefficient C.SELECTED DRAWING: Figure 2
【課題】外乱による目標舵角に対する実舵角の追従性の低下を抑制しつつ、運転者の介入による操舵が行われているときに自動操舵制御による転舵トルクの制御量の急変を抑制する。【解決手段】運転支援装置は、自動操舵制御の実行中に操舵介入が行われているときには、線形特性に代えて非線形特性に基づいてP制御量を決定し、破線の特性に従う係数Cに代えて実線の特性に従う係数Cを用いてI制御量を算出する。非線形特性に基づくP制御量は、角度偏差範囲R1では、線形特性に基づくP制御量と比べて、角度偏差Δθの絶対値の増加量に対するP制御量の絶対値の増加量が小さくなるように決定される。実線の特性に従う係数Cは、角度偏差範囲R2では1を示し、角度偏差範囲R1では角度偏差Δθの絶対値が大きいほどゼロに近くなる。操舵介入が行われているときのI制御量は、この係数Cを角度偏差Δθの今回値に乗じつつ算出される積算値に基づいて算出される。【選択図】図2
DRIVING SUPPORT DEVICE FOR VEHICLE
車両の運転支援装置
2018-07-19
Patent
Elektronische Ressource
Japanisch
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