To achieve effective suppression of rudder angle excess by second steering control while effectively suppressing insufficient rudder angle by first steering control.SOLUTION: A drive support device 1 executes collision avoidance control which controls a rudder angle θs so that an own vehicle 100 drives along a target track Rt capable of avoiding collision with an obstacle OB without deviating a driving lane LA1 upon detection of the object OB in a front region. The drive support device 1 includes steering control sections 10, 60 for executing first steering control which is turned back for increasing a rudder angle θs to avoid collision and executes second steering control including turning-back for decreasing the rudder angle θs to prevent deviation from a driving lane LA1, and damping control sections 10, 60 for executing damping control for applying a steering resistance force calculated on the basis of a rudder angular velocity dθs/dt to a steering wheel. The damping control sections 10, 60 execute damping control during execution of second steering control.SELECTED DRAWING: Figure 4
【課題】第1操舵制御にて舵角不足を効果的に抑制しつつ、第2操舵制御にて舵角過剰を効果的に抑制する。【解決手段】運転支援装置1は、前方領域に障害物OBを検出した場合に、自車両100が走行車線LA1を逸脱せずに障害物OBとの衝突を回避できる目標軌道Rtに沿って走行するように、舵角θsを制御する衝突回避制御を実施する。運転支援装置1は、衝突を回避するために舵角θsを増加させる切り増し操舵である第1操舵制御を実行するとともに、走行車線LA1から逸脱することを防止するために舵角θsを減少させる切り戻し操舵を含む第2操舵制御を実行する操舵制御部10,60と、舵角速度dθs/dtに基づいて演算した操舵抵抗力を転舵輪に付与するダンピング制御を実行するダンピング制御部10,60とを備える。ダンピング制御部10,60は、第2操舵制御の実行中にダンピング制御を実行する。【選択図】図4
DRIVE SUPPORT DEVICE, DRIVE SUPPORT METHOD, AND PROGRAM
運転支援装置、運転支援方法及び、プログラム
2023-09-20
Patent
Elektronische Ressource
Japanisch
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