PROBLEM TO BE SOLVED: To provide a vehicular motion control method capable of keeping a travel plan consistent, stabilizing a vehicular motion even under a condition where risks continue changing, thus improving a sense of security felt by the driver.SOLUTION: A vehicular motion control method applied to control a vehicular motion on the basis of the recognitions of surroundings and status of the vehicle itself, includes: calculating a risk-potential integration value that is a change amount of a risk potential per unit time calculated from a physical relation between the vehicle itself and an obstacle existing surroundings of the vehicle itself (step S103); and controlling a vehicular motion of the vehicle itself so that the risk-potential integration value is equal to a target value (steps S107-S108).SELECTED DRAWING: Figure 3

    【課題】走行計画に一貫性を持たせ、リスクが変化し続ける状況であっても、車両運動を安定させてドライバーの安心感の向上を図ることができる車両の運動制御方法を提供すること。【解決手段】外界認識と自車両状態認識とに基づいて車両運動を制御する車両の運動制御方法において、自車両と、自車両の周囲に存在する障害物との物理的相対関係から算出されたリスクポテンシャルの単位時間当たりの変化量であるリスクポテンシャル微分値を算出し(ステップS103)、このリスクポテンシャル微分値が目標値となるように、自車両の車両運動を制御する(ステップS107〜ステップS108)構成とした。【選択図】図3


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    Title :

    VEHICULAR MOTION CONTROL METHOD AND VEHICULAR MOTION CONTROL APPARATUS


    Additional title:

    車両の運動制御方法及び車両の運動制御装置


    Contributors:

    Publication date :

    2018-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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



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