PROBLEM TO BE SOLVED: To achieve both responsiveness of following control of an own vehicle and stability of vehicle control when performing steering control for allowing the own vehicle to following-travel along a traveling lane.SOLUTION: A vehicle steering control device 1 sets a forward watch point distance according to traveling lane information and a traveling state of an own vehicle; calculates a first feedback gain for allowing the own vehicle to following-travel along the traveling lane on the basis of the forward watch point distance and the traveling state of the own vehicle; and calculates a second feedback gain for correcting lateral displacement of the own vehicle at a current point on the basis of the first feedback gain and a stability parameter. Further the device calculates a target yaw rate from the first feedback gain, the second feedback gain, the lateral displacement of the forward watch point, and the lateral displacement at the current point, and calculates a steering angle of the own vehicle according to the target yaw rate.SELECTED DRAWING: Figure 1
【課題】自車両を走行車線に沿って追従走行させるための操舵制御を実行する際に、自車両の追従制御の応答性と車両制御の安定性とを両立させる。【解決手段】本発明の車両の操舵制御装置1は、走行車線情報と自車両の走行状態とに応じて前方注視点距離を設定し、この前方注視点距離と自車両の走行状態とに基づいて、自車両を走行車線に沿って追従走行させるための第1フィードバックゲインを算出し、第1フィードバックゲインと安定性パラメータとに基づいて、現在点における自車両の横変位を補正するための第2フィードバックゲインを算出する。そして、第1フィードバックゲインと第2フィードバックゲインと前方注視点横変位と現在点横変位とを用いて目標ヨーレートを算出し、この目標ヨーレートに応じて自車両の操舵角を算出する。【選択図】図1
VEHICLE STEERING CONTROL DEVICE AND VEHICLE STEERING CONTROL METHOD
車両の操舵制御装置及び車両の操舵制御方法
2016-06-20
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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