To reduce the risk of an own vehicle departing from a lane when giving the vehicle yaw moment.SOLUTION: A travel support method includes the steps of: calculating a target travel track of an own vehicle (S2); calculating a target attitude of the own vehicle on the target travel track (S4); calculating a required yaw moment for realizing the target attitude (S8); calculating a depart buffer distance before the own vehicle departs from a lane boundary of a lane where the own vehicle travels (S9); and generating the required yaw moment by distributing a first yaw moment caused by a steering and a second yaw moment caused by wheel braking at a distribution ratio in accordance with the depart buffer distance, thus increasing the distribution ratio of the second yaw moment proportionately as the depart buffer distance is shortened (S10 through S14).SELECTED DRAWING: Figure 4

    【課題】車両にヨーモーメントを付与する際に自車両が車線から逸脱するリスクを低減する。【解決手段】走行支援方法では、自車両の目標走行軌道を算出し(S2)、目標走行軌道上の自車両の目標姿勢を算出し(S4)、目標姿勢を実現するための要求ヨーモーメントを算出し(S8)、自車両が走行する車線の車線境界を自車両が逸脱するまでの逸脱余裕距離を算出し(S9)、操舵による第1ヨーモーメントと車輪制動による第2ヨーモーメントとを逸脱余裕距離に応じた配分比で配分して要求ヨーモーメントを発生させ、逸脱余裕距離が短いほど第2ヨーモーメントの配分比をより高くする(S10〜S14)。【選択図】図4


    Access

    Download


    Export, share and cite



    Title :

    TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS


    Additional title:

    走行支援方法及び走行支援装置


    Contributors:
    NIWA YUYA (author)

    Publication date :

    2021-12-13


    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



    TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS

    TAKANO HIROYUKI / TAKEDA YUICHI | European Patent Office | 2021

    Free access

    TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS

    NIWA YUYA | European Patent Office | 2021

    Free access

    TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS

    GOTO AKINOBU | European Patent Office | 2020

    Free access

    TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS

    TAMURA SAYURI / FUKUSHIGE TAKASHI / GOTO AKINOBU | European Patent Office | 2021

    Free access

    TRAVEL SUPPORT METHOD AND TRAVEL SUPPORT APPARATUS

    TSUJI MASABUMI / TAYA SATOSHI / KUROKAWA TAKATO et al. | European Patent Office | 2021

    Free access