To provide a retreat control device for an automatic operation vehicle, which is able to improve a degree of freedome in selection of a retreat place when the vehicle travels for retreat.SOLUTION: In a case where such a failure that a steering angle of a steering wheel cannot be switched automatically during automatic operation travel, a retreat place where the automatic operation vehicle is retreated is determined, and a yaw rate required to retreat the automatic operation vehicle toward the determined retreat place is obtained (step S26). In a case where a required yaw rate cannot be caused due to controlling of a torque distribution rate by a differential control mechanism, braking torque is caused to act on an inner ring of the left and right wheels by a brake mechanism (steps S32, S33).SELECTED DRAWING: Figure 5

    【課題】退避走行する際における退避場所の選択自由度を向上させることができる自動運転車両の退避制御装置を提供する。【解決手段】自動運転走行中に操舵輪の転舵角を自動で切り替えることができないフェールが生じた場合に、自動運転車両を退避させる退避場所を決定し、決定された退避場所に向けて自動運転車両を退避させるために要求されるヨーレートを求め(ステップS26)、差動制御機構によりトルク分配率を制御することにより要求されるヨーレートを生じることができない場合には、ブレーキ機構により左右輪のうちの内輪に制動トルクを作用させる(ステップS32,S33)ように構成されている。【選択図】図5


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    Title :

    RETREAT CONTROL DEVICE FOR AUTOMATIC OPERATION VEHICLE


    Additional title:

    自動運転車両の退避制御装置


    Contributors:

    Publication date :

    2018-12-06


    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



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