PROBLEM TO BE SOLVED: To suppress the generation of incongruity in a behavior of a vehicle when lane follow-up control for generating a yaw rate independently from a handle steering system is switched to control by handle steering.SOLUTION: A vehicle behavior control device comprises: a lane follow-up yaw rate calculation part 204 which calculates a lane follow-up yaw rate on the basis of an estimated traveling route; a vehicle criterion yaw rate calculation part 206 which calculates a vehicle criterion yaw rate on the basis of a tire steering angle which is obtained by multiplying a handle steering angle with a conversion gain; a conversion gain calculation part 210 which calculates a virtual conversion gain in which the handle steering angle is converted to the tire steering angle on the basis of a detected vehicle yaw rate when it is determined that the lane follow-up control is interrupted; a target yaw rate selection part 212 which selects the vehicle criterion vehicle yaw rate which is calculated by using the virtual conversion gain as a target yaw rate; and a motor control part 214 which controls motors 110, 112 of rear wheels 104, 105 on the basis of the target yaw rate.
【課題】ハンドル操舵系とは独立してヨーレートを発生させる車線追従制御が、ハンドル操舵による制御に切り換わる際に、車両の挙動に違和感が発生することを抑止する。【解決手段】車両の挙動制御装置は、推定走行路に基づいて、車線追従ヨーレートを算出する車線追従ヨーレート算出部204と、ハンドル操舵角に変換ゲインを乗算して得られるタイヤ舵角に基づいて、車両規範ヨーレートを算出する車両規範ヨーレート算出部206と、車線追従制御が中断されたことが判定された場合に、検出された車両のヨーレートに基づいて、ハンドル操舵角からタイヤ舵角へ変換する仮想的な変換ゲインを算出する変換ゲイン算出部210と、仮想的な変換ゲインを用いて算出した車両規範ヨーレートを目標ヨーレートとして選択する目標ヨーレート選択部212と、目標ヨーレートに基づいて後輪104,105のモータ110,112を制御するモータ制御部214と、を備える。【選択図】図2
VEHICLE BEHAVIOR CONTROL DEVICE AND VEHICLE BEHAVIOR CONTROL METHOD
車両の挙動制御装置及び車両の挙動制御方法
2016-01-12
Patent
Electronic Resource
Japanese
European Patent Office | 2025
|European Patent Office | 2025
|Vehicle behavior control device and vehicle behavior control method
European Patent Office | 2023
|VEHICLE BEHAVIOR CONTROL DEVICE AND VEHICLE BEHAVIOR CONTROL METHOD
European Patent Office | 2024
|VEHICLE BEHAVIOR CONTROL METHOD AND VEHICLE BEHAVIOR CONTROL DEVICE
European Patent Office | 2024
|