To reduce an occupant's feeling of strangeness that is caused due to a difference between a deceleration feeling that the occupant feels and deceleration that actually occurs in an own vehicle, when the own vehicle turns in accordance with a shape of a lane.SOLUTION: A travelling control method comprises a step (S2) of obtaining information on a shape of a lane on which an own vehicle travels; a step (S3) of calculating estimated lateral acceleration which is an estimated value of lateral acceleration that occurs in the own vehicle, on the basis of a detected value of a vehicle speed of the own vehicle or a target value and the shape of the lane; and steps (S4-S6) of controlling an attitude of the own vehicle when decelerating the own vehicle so that a downward pitch angle of the own vehicle becomes larger when the estimated lateral acceleration is large compared to when the acceleration is small.SELECTED DRAWING: Figure 6
【課題】車線形状に応じて自車両が旋回する際に、乗員が感じる減速感と自車両に実際に発生する減速度との間に差があることによって生じる乗員の違和感を低減する。【解決手段】走行制御方法では、自車両が走行する車線の車線形状の情報を取得し(S2)、自車両の車速の検出値又は目標値と、車線形状と、に基づいて自車両に生じる横加速度の推定値である推定横加速度を算出し(S3)、推定横加速度が小さい場合よりも大きい場合に、自車両の下向きのピッチ角が大きくなるように、自車両を減速する際の自車両の姿勢を制御する(S4~S6)。【選択図】図6
TRAVELLING CONTROL METHOD AND TRAVELLING CONTROL DEVICE
走行制御方法及び走行制御装置
2023-12-13
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 |
TRAVELLING CONTROL DEVICE, TRAVELLING CONTROL METHOD AND TRAVELLING CONTROL PROGRAM
European Patent Office | 2023
|European Patent Office | 2019
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