To provide a vehicular automatic evacuation control apparatus capable of causing a vehicle to generate a sufficient magnitude of yaw moment even with a low vehicular speed and move to an evacuation zone appropriately in a case where a failure occurs to a steering device while the vehicle is under an automatic operation.SOLUTION: In the case of a steering device abnormality determination part detecting abnormality in a steering device 30 (S2), a drive force distribution control part controls a distribution of drive force to left and right drive wheels 16a, 16b so as to obtain target yaw moment (S11) calculated by a yaw moment calculation part (S6). Therefore, in a case where a failure occurs in the steering device 30 even at a low vehicular speed while a vehicle 10 is under an automatic operation, it is possible to generate a sufficient magnitude of yaw moment in the vehicle, enabling the vehicle 10 to travel to an evacuation zone appropriately.SELECTED DRAWING: Figure 2

    【課題】車両の自動運転中において操舵装置の故障が発生したとき、低車速であっても、充分な大きさのヨーモーメントを車両に発生させることができ、車両を適切に退避領域へ走行させることができる車両の自動退避制御装置を提供する。【解決手段】操舵装置異常判定部(S2)により操舵装置30の異常が検出された場合には、駆動力配分制御部(S11)により、目標ヨーモーメント算出部(S6)により算出された目標ヨーモーメントが得られるように左右の駆動輪16a、16bへの駆動力配分が制御される。このため、車両10の自動運転中において操舵装置30の故障が発生したとき、低車速であっても、充分な大きさのヨーモーメントを車両に発生させることができ、車両10を適切に退避領域へ走行させることができる。【選択図】図2


    Access

    Download


    Export, share and cite



    Title :

    VEHICULAR AUTOMATIC EVACUATION CONTROL APPARATUS


    Additional title:

    車両の自動退避制御装置


    Contributors:

    Publication date :

    2021-03-01


    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



    VEHICULAR AUTOMATIC STEERING CONTROL APPARATUS

    SHIRAISHI HIDEKAZU / AKIYAMA SATORU | European Patent Office | 2020

    Free access

    VEHICULAR AUTOMATIC OPERATION CONTROL APPARATUS

    IKEDA SATOSHI / HASHIMOTO YOHEI | European Patent Office | 2018

    Free access

    VEHICULAR AUTOMATIC DECELERATION CONTROL APPARATUS

    FUKUDA HIROKI / WATANABE YOSHINORI | European Patent Office | 2017

    Free access

    AUTOMATIC-OPERATION VEHICULAR CONTROL APPARATUS

    HATA TAKEMASA / SEKI YUJI / KATO YASUYUKI et al. | European Patent Office | 2018

    Free access

    EVACUATION CONTROL APPARATUS AND EVACUATION CONTROL METHOD

    NIINO HIROAKI / OOOKA MASAO / MIURA TAKESHI et al. | European Patent Office | 2018

    Free access