To inhibit a rear end of a vehicle from going beyond a lane.SOLUTION: A steering controller 1 includes a distance identification block 121 that identifies a distance from an outward line of a roadway in a direction opposite to a moving direction of a vehicle V in a direction of a lane width of a lane, in which the vehicle V travels, to a predetermined position of the vehicle V, a limit angle identification block 122 that identifies a limit angle, which keeps the rear end of the vehicle in the direction opposite to the moving direction of the vehicle V from going beyond the outward line of the roadway, on the basis of the distance identified by the distance identification block 121, an azimuth identification block 123 that identifies an azimuth of the vehicle V with a direction perpendicular to the direction of the lane width as a reference, a steering angle designation block 124 that designates a steering angle of the vehicle V so that the azimuth identified by the azimuth identification block 123 gets smaller than the limit angle identified by the limit angle identification block 122, and a steering control block 125 that controls steering of the vehicle V so as to attain the steering angle designated by the steering angle designation block 124.SELECTED DRAWING: Figure 2
【課題】車両の後端部が車線からはみ出すことを抑制する。【解決手段】操舵制御装置1は、車両Vが走行する車線の車線幅方向における車両Vの移動方向と反対方向の車道外側線から車両Vの所定位置までの距離を特定する距離特定部121と、車両Vの移動方向と反対方向の車両の後端部が車道外側線をはみ出さないための制限角を距離特定部121が特定した距離に基づいて特定する制限角特定部122と、車線幅方向に対して垂直な方向を基準とする車両Vの方位角を特定する方位角特定部123と、制限角特定部122が特定した制限角よりも方位角特定部123が特定した方位角が小さくなるように車両Vの操舵角を設定する操舵角設定部124と、操舵角設定部124が設定した操舵角になるように車両Vの操舵制御を行う操舵制御部125と、を備える。【選択図】図2
STEERING CONTROLLER AND STEERING CONTROL METHOD
操舵制御装置及び操舵制御方法
2021-06-10
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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