PROBLEM TO BE SOLVED: To suppress discomfort of a driver by reducing a change in a steering angle of steering and a change in steering torque when controlling steering so that a vehicle tracks a preceding vehicle.SOLUTION: A drive support method includes: steering steering-wheels 5FL and 5FR in accordance with a steering operation of a driver on a steering wheel 1a that is mechanically separated from the steering-wheels 5FL and 5FR; detecting a first deviation between a lateral position of a preceding vehicle and that of a vehicle (S1); executing first steering control for controlling a steering angle of the steering-wheels 5FL and 5FR so as to decrease the first deviation (S4); detecting a turning curvature of the preceding vehicle (S3); and adding first steering reactive force to the steering wheel to prompt the vehicle to steer for tracking the preceding vehicle on the basis of the turning curvature (S6, S7) in the case of executing the first steering control.SELECTED DRAWING: Figure 1
【課題】車両が先行車両を追従するように操舵制御する際に、ステアリングの操舵角の変化や操舵トルクの変化を低減することにより運転者の違和感を抑制する。【解決手段】操向輪5FL、5FRから機械的に切り離されたとステアリングホイール1aに対する運転者の操舵操作に応じて操向輪5FL、5FRを転舵し、先行車両の横位置と車両の横位置との第1偏差を検出し(S1)、第1偏差が減少するように操向輪5FL、5FRの転舵角を制御する第1転舵制御を実行し(S4)、先行車両の旋回曲率を検出し(S3)、第1転舵制御を実行しているとき、旋回曲率に基づいて車両が先行車両に追従する操舵を促す第1操舵反力をステアリングホイールに加える(S6、S7)。【選択図】図1
DRIVE SUPPORT METHOD AND DRIVE SUPPORT APPARATUS
運転支援方法及び運転支援装置
2017-11-16
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
DRIVE SUPPORT APPARATUS, DRIVE SUPPORT METHOD, AND DRIVE SUPPORT PROGRAM
European Patent Office | 2024
|