To stabilize a behavior of own vehicle.SOLUTION: A steering amount determination device 1 includes: a distance specification part 121 for sequentially specifying a distance between own vehicle and a preceding vehicle in a vehicle width direction of the own vehicle; a lateral velocity calculation part 122 for calculating lateral velocity of the preceding vehicle in the vehicle with direction on the basis of the change in the specified distance; a first coefficient setting part 123 for increasing a first coefficient by which a first steering amount proportional to the calculated lateral velocity is multiplied when the distance is equal to or less than a first coefficient change threshold, and decreasing the first coefficient when the distance is more than the first coefficient change threshold; a second coefficient setting part 124 for increasing a second coefficient by which a second steering amount proportional to the specific distance is multiplied when the lateral velocity is equal to or more than a second coefficient change threshold, and decreasing the second coefficient when the lateral velocity is less than the second coefficient change threshold; and a steering amount determination part 125 for determining the sum of a value obtained by multiplying the first coefficient set by the first coefficient setting part 123 by the first steering amount and a value obtained by multiplying the second coefficient set by the second coefficient setting part 124 by the second steering amount as an indication steering amount.SELECTED DRAWING: Figure 1
【課題】自車両の挙動を安定させる。【解決手段】操舵量決定装置1は、自車両の車幅方向における、自車両から先行車までの距離を順次特定する距離特定部121と、特定した距離の変化に基づいて、車幅方向における先行車の横速度を算出する横速度算出部122と、距離が第1係数変更閾値以下の場合、算出した横速度に比例する第1操舵量に乗じる第1係数を大きくし、距離が第1係数変更閾値よりも大きい場合、第1係数を小さくする第1係数設定部123と、横速度が第2係数変更閾値以上の場合、特定した距離に比例する第2操舵量に乗じる第2係数を大きくし、横速度が第2係数変更閾値未満の場合、第2係数を小さくする第2係数設定部124と、第1係数設定部123が設定した第1係数を第1操舵量に乗じた値と、第2係数設定部124が設定した第2係数を第2操舵量に乗じた値との和を指示操舵量として決定する操舵量決定部125と、を有する。【選択図】図1
STEERING AMOUNT DETERMINATION DEVICE
操舵量決定装置
18.11.2021
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B62D MOTOR VEHICLES , Motorfahrzeuge |
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