To provide a vehicle travelling control device that allows a vehicle to travel along a target course without deviating the vehicle from a lane by prompting the driver to operate a steering wheel even when the vehicle passes through a sharp curve and the like without operating the steering wheel while keeping a smooth steering feeling at the time when the vehicle travels by operation of the steering wheel by the driver.SOLUTION: The vehicle travelling control device calculates target steering torque Tδ required for preventing an own vehicle from deviating from a lane on which a target course is set, outputs the torque to a steering control part 40 and controls steering. Further, the device calculates yaw moments Mz to be added to the own vehicle under following travelling control by which the own vehicle is made to follow-travel along the target course, calculates motor torque Trr which is generated by a second motor 17 and motor torque Trl which is generated by a third motor 18 on the basis of the added yaw moments Mz, and outputs the torque to a second motor control part 26 and a third motor control part 27.SELECTED DRAWING: Figure 2
【課題】ドライバがステアリングホイールを操作して走行するときのスムーズな操舵感をそのままに、ステアリングホイールを操作していない状態で、たとえ急カーブ等を通過する際においても、ステアリングホイールの操作を促して車線から逸脱することなく目標コースに沿った車両の走行を可能とする。【解決手段】目標コースが設定される車線からの逸脱を防止する目標操舵トルクTδを算出して操舵制御部40に出力して操舵制御する。また、目標コースに沿って自車両を追従走行させる追従走行制御の自車両に付加するヨーモーメントMzを算出し、付加ヨーモーメントMzに基づき第2モータ17に発生させるモータトルクTrrと第3モータ18に発生させるモータトルクTrlを算出して第2モータ制御部26と第3モータ制御部27に出力する。【選択図】図2
VEHICLE TRAVELLING CONTROL DEVICE
車両の走行制御装置
2018-11-01
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 / B62D MOTOR VEHICLES , Motorfahrzeuge |
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