To suppress, even if disturbance is applied to a vehicle running by an automatic steering control and a yaw is likely to occur, staggering of the vehicle, and to accomplish an excellent travelling performance.SOLUTION: In an automatic steering control, when a disturbance is determined and a change amount f (Δθm) in a rotational angle of an EPS motor 8 is small (S5), a yaw rate yaw detected by a yaw rate sensor 13 is read (S7), and a yaw rate change amount f(Δy) is calculated on the basis of the yaw rate yaw (S8). Then, when the yaw rate change amount f(Δy) is out of an allowable yaw change range ±f(yo) (S9), a determination is made such that there is an impact of the disturbance by a bump steer, and a control amount corresponding to a counter torque Tα that cancels a change amount of a tow angle θs by the bump steer is added to feed-forward control by the automatic steering control. Thereby, the change amount of the tow angle θs is canceled, and thus staggering occurred on an own vehicle M is suppressed.SELECTED DRAWING: Figure 3

    【課題】自動操舵制御による走行中に車両が外乱を受けてヨーが発生し易い状況であっても、車両のふらつきを抑制し、良好な走行性能を得ることができるようにする。【解決手段】自動操舵制御において、外乱を判定するに際し、EPSモータ8の回転角変化量f(Δθm)が大きく変動していない場合(S5)、ヨーレートセンサ13で検出したヨーレートyawを読込み(S7)、このヨーレートyawに基づいてヨーレート変化量f(Δy)を算出する(S8)。そしてこのヨーレート変化量f(Δy)が許容ヨー変化域±f(yo)から外れている場合は(S9)、バンプステアによる外乱の影響を受けていると判定し、自動操舵制御のフィードフォワード制御に、バンプステアによるトー角θsの変化量を打ち消すカウンタトルクTαに対応する制御量を加算する。これにより、トー角θsの変化量が打ち消され、自車両Mに発生するふらつきが抑制される。【選択図】図3


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    Title :

    VEHICULAR AUTOMATIC STEERING CONTROL APPARATUS


    Additional title:

    車両の自動操舵制御装置


    Contributors:

    Publication date :

    2020-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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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