To achieve both of follow ability to a target travel locus and stability of a vehicle behavior.SOLUTION: A vehicle travel controller sets information related to a target travel locus and a provisional target movement point on the target travel locus for a vehicle, determines a target yaw rate generated on the vehicle when the vehicle moves to the provisional target movement point from an actual vehicle position, corrects a distance between the actual vehicle position and the provisional target movement point based on the target yaw rate and the actual yaw rate, then, based on a distance after correction, sets the target movement point on the target travel locus.SELECTED DRAWING: Figure 3
【課題】目標走行軌跡への追従性と車両挙動の安定性とを両立させる。【解決手段】本発明の車両走行制御装置は、車両の目標とする目標走行軌跡及び目標走行軌跡上の暫定目標移動点に関する情報を設定し、車両が実車両位置から暫定目標移動点に移動する場合に車両に発生する目標ヨーレートを求め、目標ヨーレート及び実ヨーレートに基づいて実車両位置と暫定目標移動点との距離を補正し、補正後の距離に基づいて目標走行軌跡上に目標移動点を設定する。【選択図】図3
VEHICLE TRAVEL CONTROLLER, 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
2019-09-19
Patent
Elektronische Ressource
Japanisch
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 |
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