PROBLEM TO BE SOLVED: To execute an automatic drive control by preventing a control over the steering angle of a steering wheel or the like from being executed unnecessarily and a vehicle behavior from getting sensitive.SOLUTION: As a target controlled variable for automatically controlling a pinion angle corresponding to a steering angle of each of front wheels in response to a vehicle locus control parameter, a target controlled variable Δθptj of the pinion angle from a current cycle to a c-th cycle is computed by prediction. When it is determined that a magnitude of the target controlled variable Δθpt1 in the current cycle is smaller than a predetermined reference value P (S320), and that there is a high probability that the target controlled variable Δθptj has a sign identical to a sign for the current cycle and the magnitude thereof increases to be equal to or greater than the reference value P up to the c-th cycle at the latest (S330 to S350), the magnitude of the target controlled variable Δθptj for the current cycle is increasingly corrected to the reference value P (S370).
【課題】舵輪の舵角等の制御が不必要に実行されることや車両の挙動が過敏になることを防止し、自動運転制御を実行すること。【解決手段】車両の軌跡制御のパラメータに応じて、前輪の舵角に対応するピニオン角度を自動的に制御するための目標制御量として、現サイクルから第cサイクルまでのピニオン角度の目標制御量Δθptjを予測により演算し、現サイクルの目標制御量Δθpt1の大きさが予め設定された基準値P未満であり(S320)、目標制御量Δθptjが遅くとも第cサイクルまでに現サイクルの符号と同一の符号にて大きさが基準値P以上に増大する蓋然性が高いと判定されたときには(S330〜350)、現サイクルの目標制御量Δθptjの大きさを基準値Pに増大補正する(S370)。【選択図】図5
AUTOMATIC DRIVE CONTROL METHOD FOR VEHICLE
車両の自動運転制御方法
2015-09-03
Patent
Electronic Resource
Japanese
AUTOMATIC DRIVE CONTROL DEVICE, VEHICLE AND AUTOMATIC DRIVE CONTROL METHOD
European Patent Office | 2017
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