To enable making a lateral move amount of a vehicle greater, accompanying execution of automatic turning control.SOLUTION: An integral control device 80 comprises: a time acquisition part 81 that acquires a collision prediction time when a vehicle approaches an obstacle; a lateral movement amount determination part 84 that determines whether a target lateral movement amount is above a lateral movement amount determination value or not; and a control part 86 that when the collision prediction time is below a determination prediction time, executes automatic turning control of outputting an instruction for turning a front wheel 10F to a turning device 20 for a front wheel and outputting an instruction for turning a rear wheel 10R to a turning device 30 for a rear wheel. The control part 86 executes reversed-phase processing in the automatic turning control when it is determined that the target lateral movement amount is equal to or greater than the lateral movement amount determination value.SELECTED DRAWING: Figure 1
【課題】自動旋回制御の実施に伴う車両の横方向への移動量を大きくできるようにすること。【解決手段】統合制御装置80は、車両が障害物に接近している場合、衝突予測時間を取得する時間取得部81と、目標横移動量が横移動量判定値以上であるか否かを判定する横移動量判定部84と、衝突予測時間が判定予測時間以下である場合、前輪10Fを転舵させる指令を前輪用転舵装置20に出力し、且つ、後輪10Rを転舵させる指令を後輪用転舵装置30に出力する自動旋回制御を実施する制御部86とを備える。制御部86は、目標横移動量が横移動量判定値以上であるとの判定がなされている場合、自動旋回制御において、逆相処理を実行する。【選択図】図1
VEHICLE TURNING SUPPORT DEVICE AND VEHICLE TURNING SUPPORT PROGRAM
車両の旋回制御装置、及び、車両の旋回制御プログラム
2022-04-04
Patent
Electronic Resource
Japanese
VEHICLE TURNING SUPPORT DEVICE AND VEHICLE TURNING SUPPORT PROGRAM
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