To provide a vehicle travelling control device that enables a vehicle to be quickly parked in parallel while advancing, even in a narrow parking space.SOLUTION: A vehicle travelling control device 10 mounted on an independently-turned vehicle 100 whose three or more tires 91-94 can be independently turned, controls travelling of the vehicle 100. A steering instruction part 11 instructs turn during normal travelling. A pivot turn instruction part 12 instructs a pivot turn by which the other tires are driven with any one tire as a center of turn when turning the vehicle, using a target instruction value. A turning angle control part 15 and a braking/driving power control part 16 obtain vehicle characteristics from a vehicle characteristics storage device 20. In accordance with a center of the pivot turn instructed by the pivot turn instruction part 12, the turning angle control part 15 individually turns the tires 91-94, and the braking/driving power control part 16 individually brakes and drives the tires 91-94. The turning angle control part 15 and the braking/driving power control part 16 calculate turning angles and driving directions of the tires from the target instruction value, and make the vehicle pivot-turn.SELECTED DRAWING: Figure 1

    【課題】狭い駐車スペースでも素早く前進縦列駐車を可能とする車両走行制御装置を提供する。【解決手段】車両走行制御装置10は、三輪以上のタイヤ91-94が独立して転舵可能な独立転舵車両100において車両100の走行を制御する。旋回指示部11は、通常走行中の旋回を指示する。信地旋回指示部12は、車両の転向時にいずれか一つのタイヤを旋回中心として他のタイヤを駆動させる信地旋回を目標指示値により指示する。転舵角制御部15及び制駆動力制御部16は、車両特性記憶装置20から車両特性を取得する。信地旋回指示部12から指示された信地旋回の中心に応じて、転舵角制御部15は各タイヤ91-94を個別に転舵させ、制駆動力制御部16は各タイヤ91-94を個別に制駆動させる。転舵角制御部15及び制駆動力制御部16は、目標指示値から各タイヤの転舵角及び駆動方向を算出し、車両を信地旋回させる。【選択図】図1


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    Title :

    VEHICLE TRAVELLING CONTROL DEVICE


    Additional title:

    車両走行制御装置


    Contributors:

    Publication date :

    2023-05-24


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge



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