To improve a route track-ability without compromising a vehicle behavior stability when avoiding a stationary article ahead of the vehicle itself with a large steering angle through automatic steering control.SOLUTION: A travel support method controls a vehicle itself so as to pass a stationary article by: determining whether the vehicle itself has stopped before the stationary article ahead of the vehicle itself (S2); steering a steering wheel until a steering amount reaches a given first target steering amount in a direction to avoid the stationary article along a first profile that determines a steering amount of the vehicle itself with respect to an elapsed time while steering the steering wheel of the vehicle itself in a state of the vehicle itself being stopped (S5); starting the vehicle itself forward after the steering amount reaches the first target steering amount; and causing the vehicle itself to travel while steering the steering wheel along a second profile that determines a steering amount with respect to a travel distance (S9).SELECTED DRAWING: Figure 11
【課題】自動操舵制御によって自車両の前方の静止物体を大きな転舵角で回避する際に、車両挙動安定性を低下させずに経路追従性を向上できる。【解決手段】走行支援方法では、自車両の前方の静止物体の手前で自車両が停止したか否かを判定し(S2)、静止物体の手前で自車両が停止したと判定した場合に、自車両が停止している状態で、自車両の操向輪を転舵する間の経過時間に対する自車両の転舵量を定める第1プロファイルに従って、静止物体を回避する方向に転舵量が所定の第1目標転舵量に至るまで操向輪を転舵し(S5)、転舵量が第1目標転舵量に到達した後に、自車両を前方に発進させ、走行距離に対する転舵量を定める第2プロファイルに従って操向輪を転舵しながら自車両を走行させる(S9)ことにより、静止物体を追い越すように自車両を制御する。【選択図】図11
TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS
走行支援方法及び走行支援装置
2021-12-13
Patent
Electronic Resource
Japanese
TRAVEL SUPPORT METHOD FOR TRAVEL SUPPORT APPARATUS, AND TRAVEL SUPPORT APPARATUS
European Patent Office | 2021
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