PROBLEM TO BE SOLVED: To realize stable steering support control.SOLUTION: A drive support ECU calculates a target lateral position, a target yaw angle, a target yaw ratio, and a target curvature to be a target value for a feed forward control level based on a target track function (S15, S16). The drive support ECU calculates a feedback control level with deviation between a target value calculated at a time before the current time by delay time Δt and detected value at the current time (an actual lateral position, an actual yaw angle and an actual yaw ratio). The drive support ECU sets a target control level including the feedback control level and the feed forward control level (S17 to S19), and executes steering control with the target control level (S20).SELECTED DRAWING: Figure 5

    【課題】 安定した操舵支援制御を行う。【解決手段】 運転支援ECUは、目標軌道関数に基づいて、フィードバック制御量の目標値となる、目標横位置、目標ヨー角、目標ヨーレート、および、フィードフォワード制御量の目標値となる目標曲率を演算する(S15,S16)。運転支援ECUは、現在時刻よりも遅延時間Δtだけ前に算出された目標値と、現在時刻における検出値(実横位置、実ヨー角、実ヨーレート)との偏差を用いたフィードバック制御量を演算する。運転支援ECUは、フィードバック制御量とフィードフォワード制御量とを含んだ目標制御量を設定し(S17〜S19)、この目標制御量にて操舵制御を行う(S20)。【選択図】 図5


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    Title :

    STEERING SUPPORT APPARATUS


    Additional title:

    操舵支援装置


    Contributors:
    FUJII SHOTA (author)

    Publication date :

    2018-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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