A vehicle travel control device (10) includes: an EPS device (50) turning a wheel (5) of a vehicle (1); and a control device (100) performing autonomous driving control that controls autonomous driving of the vehicle (1). The autonomous driving control includes: calculating a target steering angle (´a) of the wheel (5); and actuating the EPS device (50) to turn the wheel (5) such that a steering angle of the wheel (5) becomes the target steering angle (´a). The calculating the target steering angle (´a) includes: calculating an autonomous driving steering angle (´b) and a target state quantity (ST) required for automatic steering in the autonomous driving; calculating a counter steering angle (´c) required for vehicle stabilization control, based on the target state quantity (ST) without using a steering wheel angle (cps); and calculating a sum of the autonomous driving steering angle (´b) and the counter steering angle (´c) as the target steering angle (´a).
VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD
FAHRZEUGFAHRSTEUERUNGSVORRICHTUNG UND STEUERUNGSVERFAHREN FÜR AUTONOMES FAHREN
DISPOSITIF DE COMMANDE DE DÉPLACEMENT DE VÉHICULE ET PROCÉDÉ DE COMMANDE DE CONDUITE AUTONOME
2019-09-25
Patent
Electronic Resource
English
VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD
European Patent Office | 2018
|VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD
European Patent Office | 2018
|VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD
European Patent Office | 2018
|European Patent Office | 2018
|VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD
European Patent Office | 2018
|