To inhibit a feeling of discomfort from being given to an occupant of a vehicle when a steering angle changes suddenly.SOLUTION: An automatic driving control device (200) includes: a track generation unit (230) for determining a target track and a target speed of a vehicle according to vehicle status information indicating a present status of the vehicle and a planned route; and a track follow-up control unit (240) for generating a steering angle command value and a driving force command value of the vehicle according to the target track and the target speed, and a present position and a present speed of the vehicle, and supplying them to a steering angle control device and a driving unit control device of the vehicle. The track generation unit or the track follow-up control unit executes restriction processing to restrict an upper limit of a rate of change in a steering angle of the vehicle when the present vehicle speed is equal to or lower than a predetermined threshold to be smaller than when the present vehicle speed is higher than the threshold.SELECTED DRAWING: Figure 2

    【課題】操舵角が急激に変化して、車両の搭乗者に違和感を与えてしまうことを抑制する。【解決手段】自動運転制御装置(200)は、車両の現在の状況を表す車両状況情報と予定ルートとに応じて、車両の目標軌道及び目標速度を決定する軌道生成部(230)と;目標軌道及び目標速度と車両の現在位置及び現在車速とに応じて、車両の操舵角指令値と駆動力指令値とを生成して、車両の操舵角制御装置及び駆動部制御装置に供給する軌道追従制御部(240)と;を備える。軌道生成部又は軌道追従制御部は、現在車速が予め定めた閾値以下の場合に現在車速が閾値よりも大きい場合に比べて車両の操舵角の変化率の上限を小さく制限する制限処理を実行する。【選択図】図2


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    Title :

    AUTOMATIC DRIVING CONTROL DEVICE AND AUTOMATIC DRIVING CONTROL METHOD OF VEHICLE


    Additional title:

    車両の自動運転制御装置及び自動運転制御方法


    Contributors:

    Publication date :

    2019-08-01


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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