To stably control a steering angle by reducing an adverse effect of noise, and raise a control speed of the steering angle dependent on a change in a tilt angle.SOLUTION: A vehicle controller 1 includes: a tilt angle detection unit 11 that detects a tilt angle of an automobile; a filter unit 12 that performs filter processing on the tilt angle detected by the tilt angle detection unit 11; and a steering control unit 13 that controls the steering angle of the automobile on the basis of the tilt angle on which the filter processing is performed by the filter unit 12. When a direction of a tilt of the tilt angle detected by the tilt angle detection unit 11 does not change, the filter unit 12 sets an intensity, at which noise is removed through the filter processing, to a first intensity that is strong. When the direction of the tilt of the tilt angle detected by the tilt angle detection unit 11 has changed, the filter unit 12 changes the intensity, at which noise is removed through the filter processing, to a second intensity that is weaker than the first intensity. When the direction of the tilt of the tilt angle has changed, a control speed of a steering angle dependent on a change in the tilt angle is raised.SELECTED DRAWING: Figure 1
【課題】ノイズの影響を低減して安定した操舵角の制御を行いつつ、傾斜角の変化に対する操舵角の制御速度を速める。【解決手段】自動車の傾斜角を検出する傾斜角検出部11と、傾斜角検出部11で検出された傾斜角に対しフィルタ処理を実行するフィルタ部12と、フィルタ部12でフィルタ処理を実行された傾斜角に基づいて、自動車の操舵角を制御する操舵制御部13とを備えた車両制御装置1で、傾斜角検出部11で検出された傾斜角の傾斜の方向が変化していないときは、フィルタ部12はフィルタ処理のノイズを除去する強度を強い第1強度とし、ノイズの影響を低減して安定した操舵角の制御を行う。傾斜角検出部11で検出された傾斜角の傾斜の方向が変化したときは、フィルタ部12はフィルタ処理のノイズを除去する強度を第1強度よりも弱い第2強度に切り替え、傾斜角の傾斜の方向が変化したときに傾斜角の変化に対する操舵角の制御速度を速める。【選択図】図1
VEHICLE CONTROLLER
車両制御装置
2021-10-14
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
VEHICLE CONTROLLER, VEHICLE, VEHICLE CONTROLLER OPERATION METHOD, AND PROGRAM
European Patent Office | 2021
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