PROBLEM TO BE SOLVED: To cause a vehicle to shift toward left and right relative to a target course of an operation support without changing the target course, thus satisfying the wish of a driver who intends to drive the vehicle, in an operation support apparatus used for controlling operation support torque on the basis of a target steering angle of the operation support.SOLUTION: A support apparatus performs: computing a target steering angle θt for causing a vehicle to travel along a target course, and setting a steering angle θ to a reference steering angle θs (S40) in the case of estimating that a magnitude of a difference between the steering angle θ and the target steering angle θt is less than a reference value θ0; computing an indicator value Idsi indicating an intension of steering of a driver, where the indicator value is a sum of: a first product of a post-correction steering angle θ-θs and steering torque T; a second product of a temporal integration value dθ of the post-correction steering angle and the steering torque T; and a third product of the post-correction steering angle and a temporal integration value dT of the steering torque T (S70); and correcting the target steering angle θt on the basis of the indicator value Idsi so as to correct target operation support torque Tdt in accordance with the intension of steering of the driver (S100, S120).SELECTED DRAWING: Figure 2
【課題】運転支援の目標操舵角に基づいて運転支援トルクを制御する運転支援装置において、運転支援の目標コースを変更することなく目標コースに対し左右にシフトさせて車両を走行させようとする運転者の希望を充足する。【解決手段】車両を目標コースに沿って走行させるための目標操舵角θtが演算され、操舵角θと目標操舵角θtとの差の大きさが基準値θ0未満であると推定されたときの操舵角θが基準操舵角θsに設定され(S40)、修正後の操舵角θ−θsと操舵トルクTとの第一の積、修正後の操舵角の時間微分値dθと操舵トルクTとの第二の積、及び修正後の操舵角と操舵トルクTの時間微分値dTとの第三の積の和として運転者の操舵の意図を示す指標値Idsiが演算され(S70)、目標運転支援トルクTdtが運転者の操舵の意図に則して修正されるように指標値Idsiに基づいて目標操舵角θtが修正される(S100及び120)。【選択図】図2
VEHICULAR OPERATION SUPPORT APPARATUS
車両用運転支援装置
2017-03-30
Patent
Electronic Resource
Japanese