To provide a vehicle control device and an automatic parking system capable of automatically parking a vehicle at a target position without causing unnatural behavior even when an unknown disturbance which hinders the traveling of the vehicle occurs.SOLUTION: An automatic parking control device executes vehicle travel control for calculating a command value of propulsive force on the basis of a driving state detected by a state detection sensor, and controlling a propulsive force generation device in accordance with the command value to automatically move a vehicle to a target position. The automatic parking control device executes additional-command-value varying processing for adding a prescribed additional command value to the command value when the vehicle is stopped due to insufficiency of the propulsive force during the vehicle travel control, and decreasing or keeping the additional command value by a prescribed degree of suppression when the stopped vehicle is started. When executing the additional-command-value varying processing at a first position far from the target position, the automatic parking control device sets the degree of suppression smaller than when executing the additional-command-value varying processing at a second position close to the target position.SELECTED DRAWING: Figure 2

    【課題】車両の進行を妨げる未知外乱が生じた場合であっても、不自然な挙動を招くことなく車両を自動で目標位置に駐車することができる車両制御装置及び自動駐車システムを提供する。【解決手段】自動駐車制御装置は、状態検出センサによって検出された運転状態に基づいて、推進力の指令値を演算し、指令値に従い推進力発生装置を制御して車両を目標位置に自動で移動させる車両走行制御を実行する。車両走行制御の最中に推進力が不足することにより車両が停止した場合、当該指令値に所定の付加指令値を上乗せし、停止中の車両が発進した場合、所定の抑制度合によって当該付加指令値を減少又は維持する付加指令値変動処理を行う。ここで、目標位置から遠い第一位置で付加指令値変動処理を行う場合、自動駐車制御装置は、目標位置から近い第二位置で前記付加指令値変動処理を行う場合と比較して、抑制度合をより小さく設定する。【選択図】図2


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    Titel :

    AUTOMATIC PARKING CONTROL DEVICE AND AUTOMATIC PARKING SYSTEM


    Weitere Titelangaben:

    自動駐車制御装置及び自動駐車システム


    Beteiligte:

    Erscheinungsdatum :

    2020-01-30


    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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