PROBLEM TO BE SOLVED: To accurately set the stirring center upon starting path tracing control.SOLUTION: A path tracing control system comprises a stirring apparatus, a stirring angle sensor obtaining a stirring angle of wheels relatively to stirring angle center point as a criterion as sensor stirring angle, and a controlling apparatus executing path tracing control. The controlling apparatus calculates a target path, calculates a target stirring angle required for tracing target path by the vehicle depending on rotation radius of the target path, and controls the stirring apparatus so that the sensor stirring angle is to be the target stirring angle. The sensor stirring angle upon start of the path tracing control is the driver's stirring angle. Upon starting the path tracing control, the controlling apparatus obtains the driver's stirring angle and the target stirring angle, and sets a stirring angle center point based on difference between the driver's stirring angle and the target stirring angle.SELECTED DRAWING: Figure 4
【課題】パス追従制御を開始する際に、舵角中点を精度良く設定する。【解決手段】パス追従制御システムは、転舵装置と、舵角中点を基準とした車輪の舵角をセンサ舵角として取得する舵角センサと、パス追従制御を行う制御装置と、を備える。制御装置は、目標パスを算出し、車両が目標パスに追従するために必要な目標舵角を目標パスの旋回半径に応じて算出し、センサ舵角が目標舵角となるように転舵装置を制御する。パス追従制御の開始時のセンサ舵角は、ドライバ舵角である。パス追従制御の開始時、制御装置は、ドライバ舵角と目標舵角を取得し、ドライバ舵角と目標舵角との差に基づいて舵角中点を設定する。【選択図】図4
PATH TRACING CONTROL SYSTEM
パス追従制御システム
2018-11-15
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / 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 |
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