PROBLEM TO BE SOLVED: To provide a vehicle position control device which can change a position of a vehicle in a horizontal direction at a speed change which a driver feels smooth.SOLUTION: An index which is defined on the basis of a time change rate of a visual sensibility amount being a sensibility amount at which a driver visually grasps a distance up to an object, and indicated by a horizontal direction speed of a vehicle and a horizontal direction distance being a moving distance of the vehicle from a reference position is set as a horizontal direction K. A value which is obtained by differentiating the horizontal direction Kat an inclination calculation position by the horizontal direction distance is set as an inclination when a control start condition is established, a target horizontal direction Kwith respect to the horizontal direction is calculated with the horizontal direction Kat the inclination calculation position as an intercept (S506), a target horizontal direction speed is calculated from the target horizontal direction Kand the horizontal direction distance (S507), a gear horizontal direction distance at a sequential time is calculated on the basis of the target horizontal direction speed (S509), and control related to a steering angle of the vehicle is performed so that the horizontal direction speed of the vehicle becomes the target horizontal direction distance.SELECTED DRAWING: Figure 3
【課題】運転者が滑らかと感じる速度変化で、車両の横方向の位置を変化させることができる車両位置制御装置を提供する。【解決手段】運転者が物体までの距離を視覚的に把握する感覚量である視覚的感覚量の時間変化率に基づいて定まり、車両の横方向速度と、基準位置からの車両の移動距離である横方向距離とにより表される指標を横方向KdBとし、制御開始条件が成立した場合に、傾き算出位置における横方向KdBを横方向距離で微分した値を傾きとし、傾き算出位置における横方向KdBを切片として、横方向距離に対する目標横方向KdBを算出し(S506)、目標横方向KdBと横方向距離とから、目標横方向速度を算出し(S507)、目標横方向速度に基づいて、逐次の時間における目標横方向距離を算出し(S509)、車両の横方向距離が目標横方向距離となるように、車両の操舵角に関する制御を行う。【選択図】図3
VEHICLE POSITION CONTROL DEVICE
車両位置制御装置
2016-12-15
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B62D MOTOR VEHICLES , Motorfahrzeuge |
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