PROBLEM TO BE SOLVED: To provide a vehicle trajectory control device capable of meeting a driver's demand for correcting a trajectory without requiring a change in a target trajectory and a large number of operations.SOLUTION: A vehicle trajectory control device: sets a target trajectory of a vehicle on the basis of information on a road ahead of the vehicle; calculates a target pinion angle θplkat corresponding to a target steering angle of a steering wheel to drive the vehicle along the target trajectory; and controls the steering angle of the steering wheel so that the same coincides with the target steering angle. When the vehicle is under trajectory control and all the wheels are in a grip state (S10 and S40), the vehicle trajectory control device: calculates a target yaw rate Yrt on the basis of at least steering operation of a driver (S60); and corrects the target pinion angle θplkat by a correction amount Δθp on the basis of a variation ΔYr between the actual yaw rate Yr and the target yaw rate Yrt of the vehicle so that an actual yaw rate Yr comes close to the target yaw rate Yrt (S70 and S80).
【課題】目標軌跡の変更や多大な演算を要することなく、運転者の軌跡修正の要求を満たすことができる車両用軌跡制御装置を提供する。【解決手段】車両前方の走行路の情報に基づいて車両の目標軌跡を設定し、車両を目標軌跡に沿って走行させるための操舵輪の目標舵角に対応する目標ピニオン角度θplkatを演算し、操舵輪の舵角が目標舵角になるよう制御する軌跡制御を行う車両用軌跡制御装置であって、軌跡制御を行っており全ての車輪がグリップ状態にあるときには(S10、40)、少なくとも運転者の操舵操作に基づいて目標ヨーレートYrtを演算し(S60)、車両の実際のヨーレートYrが目標ヨーレートYrtに近づくよう、これらの偏差ΔYrに基づく修正量Δθpにて目標ピニオン角度θplkatを修正する(S70、80)。【選択図】図2
VEHICLE TRAJECTORY CONTROL DEVICE
車両用軌跡制御装置
2015-08-24
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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