To cause a vehicle to travel along a target track and improve a driver feeling at the time of starting the vehicle.SOLUTION: An operation control apparatus 10 includes: an acquisition part 121 for acquiring a vehicular weight, a center of gravity position, a vehicular speed, a steering angle, a lateral deviation, an azimuth deviation, and a curvature of a road surface traveled by the vehicle; a generation part 122 for generating a vehicular model representing relationship among the weight, center of gravity position, speed, steering angle, lateral deviation, azimuth deviation, and curvature at a given control interval; and a calculation part 123 for calculating, as an optimal steering angle, a steering angle that maximizes or minimizes an output value of an evaluation function that includes an estimated lateral deviation, an estimated azimuth deviation, a steering angle, which are calculated on the basis of the vehicular model, and a change amount of steering angle from the immediate past control period. Further, the calculation part 123 sets a weighting factor of a term corresponding to a change amount after an initial period has elapsed since the vehicle has started smaller than a weighting factor of a term corresponding to a change amount until the given initial period has elapsed since the vehicle has started.SELECTED DRAWING: Figure 2
【課題】車両を目標軌道に沿って走行させるとともに、車両の始動時のドライバフィーリングを良好にする。【解決手段】運転制御装置10は、車両の重量と、重心位置と、車速と、操舵角と、横偏差と、方位角偏差と、車両が走行する路面の曲率と、を取得する取得部121と、所定の制御周期で、重量と、重心位置と、速度と、操舵角と、横偏差と、方位角偏差と、曲率と、の関係を示す車両モデルを生成する生成部122と、車両モデルに基づいて算出される推定横偏差と、推定方位角偏差と、操舵角と、直前の制御周期からの操舵角の変化量と、を含む評価関数の出力値を最小又は最大にする操舵角を最適操舵角として算出する算出部123と、を有し、算出部123は、車両が発進してから所定の初期期間が経過するまでの間における変化量に対応する項の重み係数よりも、車両が発進してから初期期間が経過した後における変化量に対応する項のみ係数を小さくする。【選択図】図2
OPERATION CONTROL APPARATUS, OPERATION CONTROL METHOD AND, PROGRAM
運転制御装置、運転制御方法及びプログラム
2023-10-05
Patent
Electronic Resource
Japanese
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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