To provide an automatic steering control device which can decide a suitable steering angle by performing feedforward control and feedback control in combination even if there arises a large displacement between an azimuth angle and a slide angle, an automatic steering control method, an automatic steering program and a vehicle.SOLUTION: An automatic steering control device comprises: a feedback control part 206 for calculating a feedback control amount being a steering angle for correcting a deviation between an azimuth angle measurement value and an azimuth angle target value on the basis of the azimuth angle measurement value being a measurement value of an azimuth angle and the azimuth angle target value for making a vehicle travel on a target track; and a feedforward control part 207 for calculating a feedforward control amount including a first steering angle component for correcting an influence exerted on the steering angle caused by a shape of a road on which the vehicle travels by using a motion model which assumes a slide angle of the vehicle when the vehicle travels so that the center of gravity of the vehicle 100 passes the target track, and a second steering angle component for correcting an influence exerted on the steering angle caused by the deviation between the azimuth angle measurement value and the slide angle.SELECTED DRAWING: Figure 2
【課題】方位角とすべり角との間に大きなずれがある場合でも、フィードフォワード制御とフィードバック制御とを併用して好適な操舵角を決定することができる自動操舵制御装置、自動操舵制御方法、自動操舵プログラム、および車両を提供する。【解決手段】方位角の計測値である方位角計測値と、目標軌道を走行するための方位角目標値とに基づいて、方位角計測値と方位角目標値との偏差を補正する操舵角であるフィードバック制御量を算出するフィードバック制御部206と、車両100の重心が目標軌道を通るように走行した場合の車両のすべり角を想定した運動モデルを用いて、車両が走行する道路の形状による操舵角への影響を補正する第1操舵角成分、および、方位角計測値とすべり角との偏差による操舵角への影響を補正する第2操舵角成分を含むフィードフォワード制御量を算出するフィードフォワード制御部207と、を備える。【選択図】図2
AUTOMATIC STEERING CONTROL DEVICE, AUTOMATIC STEERING CONTROL METHOD, AUTOMATIC STEERING PROGRAM AND VEHICLE
自動操舵制御装置、自動操舵制御方法、自動操舵プログラム、および車両
2021-03-01
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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