To efficiently and surely control a turning angle of a turning wheel to a target turning angle by controlling turning torque in consideration of a relation between a turning direction of the turning wheel by driving support and a turning direction of the turning wheel by self-aligning torque.SOLUTION: A vehicular driving support device comprises a control device that performs driving support by controlling a turning device so that a steering angle becomes equal to a target steering angle (θlkat) at which a vehicle is made to travel along a target traveling line. The control device, when a turning direction of a turning wheel by self-aligning torque (SAT) of the turning wheel is different from a turning direction of the turning wheel by driving support (S100), controls the turning device on the basis of the sum of target turning torque (Tadt) for making the steering angle equal to the target steering angle and target modification torque (Tfft) for reducing influences of the self-aligning torque (SAT) (S110), and when the two turning directions are identical, controls the turning device on the basis of the target turning torque (Tadt).SELECTED DRAWING: Figure 2

    【課題】運転支援による転舵輪の転舵方向とセルフアライニングトルクによる転舵輪の転舵方向との関係を考慮して転舵トルクを制御することにより転舵輪の転舵角を効率的に且つ確実に目標転舵角に制御する。【解決手段】操舵角が、車両を目標走行ラインに沿って走行させるための目標操舵角(θlkat)になるように転舵装置を制御することにより運転支援を行う制御装置を有し、制御装置は、転舵輪のセルフアライニングトルク(SAT)による転舵輪の転舵方向が運転支援による転舵輪の転舵方向と異なるときには(S100)、操舵角を目標操舵角にするための目標転舵トルク(Tadt)と、セルフアライニングトルク(SAT)の影響を低減するための目標修正トルク(Tfft)と、の和に基づいて転舵装置を制御し(S110)、上記二つの転舵方向が同一であるときには、目標転舵トルク(Tadt)に基づいて転舵装置を制御する。【選択図】図2


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    Titel :

    VEHICULAR DRIVING SUPPORT DEVICE


    Weitere Titelangaben:

    車両の運転支援装置


    Beteiligte:
    KUNIHIRO YOJI (Autor:in) / IRIE AKIRA (Autor:in) / MIZOO SHUN (Autor:in) / INOUE TAKESHI (Autor:in) / KOSHIRO TAKAHIRO (Autor:in) / AKATSUKA HISAYA (Autor:in) / SHIODA MASAKI (Autor:in)

    Erscheinungsdatum :

    19.12.2019


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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