To enable a vehicle that can turn front wheels and rear wheels to reduce a turning angle required in steering on a road having a transient shape to improve turning-round performance.SOLUTION: In a travelling support method, information on a road shape of a road on which an own vehicle is scheduled to travel is obtained and target lateral force that is generated in the own vehicle in order for the own vehicle to travel along the road shape is set (S1), it is determined whether or not the road shape is a transient shape in which curvature is varied (S6), a target slip angle which is a target value of a slip angle of the own vehicle is calculated so that a turning angle decreases when it is determined that the road shape is the transient shape more than when it is determined that the road shape is not the transient shape (S4, S5, S7 and S8), and front wheels and rear wheels are turned so that the target lateral force is generated and the slip angle of the own vehicle is equal to the target slip angle (S9 and S10).SELECTED DRAWING: Figure 8
【課題】前輪及び後輪の転舵が可能な車両において、過渡形状を有する道路での旋回に要する転舵角を低減して回頭性を向上する。【解決手段】走行支援方法では、自車両が走行する予定の道路の道路形状の情報を取得し、道路形状に沿って自車両が走行するために自車両に生じる目標横力を設定し(S1)、道路形状が、曲率が変化する過渡形状であるか否かを判定し(S6)、道路形状が過渡形状であると判定した場合に過渡形状でないと判定した場合に比べて転舵角が低減するように、自車両のスリップ角の目標値である目標スリップ角を算出し(S4、S5、S7、S8)、目標横力を発生し且つ自車両のスリップ角が目標スリップ角となるように前輪及び後輪を転舵する(S9、S10)。【選択図】図8
TRAVELLING SUPPORT METHOD AND TRAVELLING SUPPORT DEVICE
走行支援方法及び走行支援装置
2022-09-26
Patent
Elektronische Ressource
Japanisch
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