To enable a vehicle that can turn front wheels and rear wheels to improve safety of an own vehicle which is travelling on a road having a constant shape in which curvature is not varied.SOLUTION: In a travelling support method, information on a road shape of a road on which an own vehicle is scheduled to travel is obtained and target lateral force that is generated in the own vehicle in order for the own vehicle to travel along the road shape is set (S1), it is determined whether or not the road shape is a constant shape in which curvature is not varied (S6), a target slip angle which is a target value of a slip angle of the own vehicle is calculated so that rear wheel loads which are loads acting on rear wheels increase when it is determined that the road shape is the constant shape more than when it is determined that the road shape is not the constant shape (S4, S5, S7 and S8), and front wheels and the rear wheels are turned so that the target lateral force is generated and the slip angle of the own vehicle is equal to the target slip angle (S9 and S10).SELECTED DRAWING: Figure 8

    【課題】前輪及び後輪の転舵が可能な車両において、曲率が変化しない定常形状を有する道路を走行する場合の自車両の安定性を向上する。【解決手段】走行支援方法では、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、道路形状に沿って自車両が走行するために自車両に生じる目標横力を設定し(S1)、道路形状が、曲率が変化しない定常形状であるか否かを判定し(S6)、道路形状が定常形状であると判定した場合に定常形状でないと判定した場合に比べて、後輪に掛かる荷重である後輪荷重を増加するように、自車両のスリップ角の目標値である目標スリップ角を算出し(S4、S5、S7、S8)、目標横力を発生し且つ自車両のスリップ角が目標スリップ角となるように前輪及び後輪を転舵する(S9、S10)。【選択図】図8


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    Title :

    TRAVELLING SUPPORT METHOD AND TRAVELLING SUPPORT DEVICE


    Additional title:

    走行支援方法及び走行支援装置


    Contributors:
    NIWA YUYA (author)

    Publication date :

    2022-09-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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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