To change hurdle of shift to an override operation according to an automatic driving control state.SOLUTION: The invention is configured to set a steering rection force F according to a steering angle difference θm-θsys between a system steering angle by an automatic driving system and an input steering angle of a correction operation by manual. Therefore, setting can be performed so that, as a steering angle of the manual operation is larger, larger reaction force can be received. In addition, the reaction force becomes larger as an automatization level is higher. Then, when the steering angle difference reaches a prescribed threshold θTh, an override operation is allowed. Therefore, as the automatization level is higher, hurdle to the override can become higher, for easily maintaining the automatic driving.SELECTED DRAWING: Figure 6
【課題】自動運転制御状態に応じて、オーバーライド操作への移行のハードルも変化させる。【解決手段】ステアリング反力Fを、自動運転システムによるシステム舵角と、手動による補正操作の入力舵角との舵角差θm−θsysに応じて設定する。これにより手動操作の舵角が大きくなるほど大きな反力を受けるように設定できる。さらにその反力を、自動化レベルが高いほど大きくなるよう設定する。そして舵角差が所定の閾値θThに達するとオーバーライド運転を許容する。これにより、自動化レベルが高いほど、オーバーライドへのハードルを高く設定でき、自動運転を維持し易い。【選択図】図6
VEHICLE CONTROL DEVICE
車両制御装置
2019-09-19
Patent
Electronic Resource
Japanese
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