To provide a vehicle controller capable of inhibiting degradation in lane maintaining performance.SOLUTION: A vehicle controller 1 is intended to perform lane maintaining assistance of an own vehicle OC, and includes: a vehicle speed acquisition unit 11 that acquires a vehicle speed V of the own vehicle OC; a curvature acquisition unit 12 that acquires a curvature K of a travel lane TW of the own vehicle OC; an error acquisition unit 13 that acquires an error e between a reference line CL of the travel lane TW and a forward gaze point FP of the own vehicle OC; a calculation unit 14 that calculates a vehicle body slip angle β of the own vehicle OC on the basis of the vehicle speed V and the curvature K; an error compensation unit 15 that compensates for the error e according to the vehicle body slip angle β, and acquires a post-compensation error e'; and a target yaw rate determination unit 16 that determines a target yaw rate of the own vehicle OC according to the post-compensation error e'.SELECTED DRAWING: Figure 5
【課題】車線維持性能の低下を抑制可能な車両制御装置を提供する。【解決手段】車両制御装置1は、自車両OCの車線維持支援を行うためのものであって、自車両OCの車速Vを取得する車速取得部11と、自車両OCの走行車線TWの曲率Kを取得する曲率取得部12と、走行車線TWの基準線CLと自車両OCの前方注視点FPとの誤差eを取得する誤差取得部13と、車速Vと曲率Kとに基づいて自車両OCの車体スリップ角βを算出する算出部14と、車体スリップ角βに応じて誤差eを補償し、補償後誤差e’を取得する誤差補償部15と、補償後誤差e’に応じて自車両OCの目標ヨーレイトを決定する目標ヨーレイト決定部16と、を備える。【選択図】図5
VEHICLE CONTROLLER
車両制御装置
23.08.2024
Patent
Elektronische Ressource
Japanisch
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