To provide a control calculation apparatus which can generate the target trajectory according to the state of deviating, and can suppress that the riding comfort is deteriorated, even if the vehicle deviates from the initial trajectory for the lane change due to disturbance, such as the override. A control calculation apparatus calculates a target value of vehicle control variable, which includes at least a steering angle, for the own vehicle to travel along the target trajectory, based on the traveling state and the target trajectory; and after the generation start of the target trajectory for the lane change, generates the target trajectory for the lane change which passes through a position within a prescribed distance range from the current position of the own vehicle detected based on the traveling state.
CONTROL CALCULATION APPARATUS
2023-10-19
Patent
Elektronische Ressource
Englisch
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 |
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