To enable making a lateral move amount of a vehicle greater, in avoiding the vehicle from colliding with an obstacle by turning of the vehicle by steering by a driver.SOLUTION: An integral control device 80 comprises: a time acquisition part 81 that acquires a collision prediction time; a target acquisition part 82 that acquires a lateral acceleration target value; and a control part 84 that when steering is performed under a situation where the collision prediction time is below a determination prediction time, executes turning support control of outputting an instruction for turning a rear wheel 10R to a turning device 30 for a rear wheel. The control part 84 executes in-phase processing of outputting an instruction for turning the rear wheel 10R in the same direction same as a turning direction of a front wheel 10F to the turning device 30 for a rear wheel, as turning support control; and when a difference between an actual value of lateral acceleration and the lateral acceleration target value becomes larger than a difference determination value during executing of the in-phase processing, executes reversed-phase processing of outputting an instruction for turning the rear wheel 10R in the reverse direction of the turning direction of the front wheel 10F to the turning device 30 for a rear wheel.SELECTED DRAWING: Figure 1
【課題】運転者の操舵による車両の旋回によって車両と障害物との衝突を回避する場合において、車両の横方向への移動量をより大きくできるようにすること。【解決手段】統合制御装置80は、衝突予測時間を取得する時間取得部81と、横加速度目標値を取得する目標取得部82と、衝突予測時間が判定予測時間以下である状況下で操舵が行われている場合、後輪10Rを転舵させる指令を後輪用転舵装置30に出力する旋回支援制御を実施する制御部84とを備える。制御部84は、旋回支援制御として、前輪10Fの転舵方向と同じ方向に後輪10Rを転舵させる指令を後輪用転舵装置30に出力する同相処理を実行し、同相処理の実行中に横加速度の実値と横加速度目標値との差分が差分判定値よりも大きくなると、前輪10Fの転舵方向と逆方向に後輪10Rを転舵させる指令を後輪用転舵装置30に出力する逆相処理を実行する。【選択図】図1
VEHICLE TURNING SUPPORT DEVICE AND VEHICLE TURNING SUPPORT PROGRAM
車両の旋回支援装置、及び、車両の旋回支援プログラム
2022-04-04
Patent
Elektronische Ressource
Japanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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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