The invention relates to a vehicle control system and provides a new control law when a travel assist control function which assists vehicle travel as needed basis is applied to a vehicle performing automated driving. A vehicle travel control device executes vehicle travel control such that a vehicle follows a target trajectory. An automated driving control device generates a first target trajectory that is the target trajectory for automated driving of the vehicle. The vehicle travel control device is further configured so as to be able to execute travel assistance control for controlling at least one of steering, acceleration, and deceleration, for the purposes of improving the safety of vehicle travel, reducing the discomfort of the occupant, and stabilizing the behavior of the vehicle, etc. When the operation condition of the travel support control is satisfied, the vehicle travel control device generates a second target trajectory that is a target trajectory for the travel support control. When the cancellation condition is satisfied, the vehicle travel control device cancels both the first target trajectory and the second target trajectory, and decelerates the vehicle.
本发明涉及车辆控制系统,提供将根据需要来辅助车辆行驶的行驶辅助控制功能应用于进行自动驾驶的车辆的情况下的新的控制规则。车辆行驶控制装置以车辆追随目标轨道的方式执行车辆行驶控制。自动驾驶控制装置生成用于车辆的自动驾驶的目标轨道亦即第1目标轨道。车辆行驶控制装置还构成为能够以提高车辆行驶的安全性、减少乘员的不适感以及车辆举动的稳定化等为目的来执行控制转向操纵、加速以及减速中的至少1个的行驶辅助控制。在该行驶辅助控制的工作条件成立的情况下,车辆行驶控制装置生成用于行驶辅助控制的目标轨道亦即第2目标轨道。在放弃条件成立的情况下,车辆行驶控制装置放弃第1目标轨道与第2目标轨道双方,并使车辆减速。
VEHICLE CONTROL SYSTEM
车辆控制系统
2021-04-16
Patent
Electronic Resource
Chinese
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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