PROBLEM TO BE SOLVED: To provide a steering control device configured to suppress the influence of disturbance and allow a vehicle to smoothly follow a target travelling route after switching manual steering control to automatic steering control.SOLUTION: When switching manual steering control to automatic steering control, a steering control device determines whether the degree of deviation (a route difference) of a current travelling route of a vehicle with respect to a target travelling route is equal to or greater than a predetermined threshold. In automatic steering control, a steering angle command value is calculated so as to eliminate the difference between an actual travelling route of the vehicle and the target travelling route. However, when the degree of deviation is equal to or greater than the threshold, the steering control device re-calculates a steering angle command value, which is to be used in steering angle command follow-up control, in accordance with a steering angle and a steering command value at the start of automatic steering control so that an actual steering angle after switching to automatic steering control gradually varies to the steering angle command value.SELECTED DRAWING: Figure 6
【課題】手動操舵制御から自動操舵制御への切り替え後、外乱の影響を抑えて車両を目標走行経路へ滑らかに追従させることができる操舵制御装置を提供する。【解決手段】手動操舵制御から自動操舵制御へ切り替える場合、操舵制御装置は、目標走行経路に対する現在の車両の走行経路の逸脱度(経路差)が所定の閾値以上であるかどうか判定する。自動操舵制御では、実際の車両の走行経路と目標走行経路との差がなくなるように舵角指令値が算出される。ただし、逸脱度が閾値以上である場合、操舵制御装置は、自動操舵制御への切り替え後の実際のステアリング角度を舵角指令値へ徐々に変化させるように、自動操舵制御の開始時のステアリング角度と舵角指令値とに基づいて、舵角指令追従制御で用いる舵角指令値を再計算する。【選択図】図6
STEERING CONTROL DEVICE
操舵制御装置
2018-11-08
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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