To upgrade the precision in lateral position control of a vehicle.SOLUTION: A vehicle controller of an embodiment includes a travel information acquisition unit that acquires the speed of a vehicle, a target steering angle determination unit that determines a target steering angle at which the vehicle is traveled along a target route, and a control unit that controls the steering angle of the vehicle so that the steering angle becomes equal to the target steering angle. When the speed of the vehicle is larger than a threshold, the target steering angle determination unit determines the target steering angle, at which the center of gravity of the vehicle tracks the target route, on the basis of a dynamic model representing a motion of a vehicle according to an equation of motion. When the speed of the vehicle is smaller than the threshold, the target steering angle determination unit determines the target steering angle, at which the center point of a rear shaft of a vehicle tracks the target route, on the basis of a geometrical model representing a motion of a vehicle according to a geometrical relationship.SELECTED DRAWING: Figure 1

    【課題】車両の横位置制御の精度を向上させる。【解決手段】一態様の車両制御装置は、車両の速度を取得する走行情報取得部と、車両を目標経路に沿って走行させる目標操舵角を決定する目標操舵角決定部と、目標操舵角になるように車両の操舵角を制御する制御部と、を備える。目標操舵角決定部は、車両の速度が閾値よりも速い場合には、運動方程式によって車両の運動を表す動力学モデルに基づいて車両の重心点を目標経路に追従させる目標操舵角を決定し、車両の速度が閾値よりも遅い場合には、幾何学的関係によって車両の運動を表す幾何学モデルに基づいて車両の後軸中心点を目標経路に追従させる目標操舵角を決定する。【選択図】図1


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    Title :

    VEHICLE CONTROLLER


    Additional title:

    車両制御装置


    Contributors:

    Publication date :

    2023-10-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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