To suppress the induction of an unstable vehicle behavior when the vehicle turns.SOLUTION: Provided is a travel control method by a controller that executes turning control so as to render a vehicular motion of a vehicle itself on the basis of at least one of an operation input by a driver and an instructed input from automatic operation control. The controller executes: calculating a first yaw inertia moment for suppressing a phasic delay of an actual yaw rate that actually occurs to the vehicle itself relative to a target yaw rate occurring to the vehicle itself under the turning control on the basis of a vehicle motion model of the vehicle itself (S3); obtaining information of a road shape of a road where the vehicle itself is predicted to travel (S4); determining whether the road shape is a transient shape in that its curvature changes (S6); calculating a target yaw moment that is generated to the vehicle itself in accordance with target yaw angular acceleration of the turning control and the first yaw inertia moment, in a case where the road shape is the transient shape (S7); and executing the turning control of the vehicle itself on the basis of the target yaw moment (S8).SELECTED DRAWING: Figure 7

    【課題】車両の旋回時における不安定な車両挙動の誘発を抑制する。【解決手段】運転者の操作入力と自動運転制御からの指示入力との少なくとも一方に基づいた自車両の車両運動となるように旋回制御を実行するコントローラの走行制御方法が与えられる。コントローラは、自車両の車両運動モデルに基づいて旋回制御の自車両に発生させる目標ヨーレイトに対して自車両に実際に発生する実ヨーレイトの位相遅れを抑制する第1ヨー慣性モーメントを算出し(S3)、自車両が走行する予定の道路の道路形状の情報を取得し(S4)、道路形状が、曲率が変化する過渡形状であるか否かを判定し(S6)、道路形状が過渡形状である場合に、旋回制御の目標ヨー角加速度と第1ヨー慣性モーメントとに応じて自車両に発生させる目標ヨーモーメントを算出し(S7)、自車両を目標ヨーモーメントに基づいて旋回制御する(S8)。【選択図】図7


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    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



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