To provide a vehicle controller, vehicle control method, and vehicle control system capable of assisting in steering of avoiding an obstacle even when manual steering by a driver is continued.SOLUTION: A vehicle controller 100 is incorporated in a vehicle 40 having a steering actuator 55 which steers wheels. A control unit 30 included in the vehicle controller acquires an avoidance route of the vehicle relative to the object located ahead of the vehicle, which is obtained, based on a positional relationship between the vehicle and the object, and based on speed of the vehicle, When steering by a vehicle driver intervenes in control, the control unit outputs, to the steering actuator, a command for executing steering angle control of forcing the vehicle to follow the avoidance route through autonomous steering. After steering angle control intervenes in the steering by the driver, when the steering by the driver continues over a predetermined time, the control unit outputs, to the steering actuator, a command for changing the steering angle control to assist torque control of assisting in the driver's steering and executing the assist torque control.SELECTED DRAWING: Figure 1
【課題】運転者による手動操舵が継続された場合でも障害物の回避操舵を支援できる車両制御装置、車両制御方法、及び車両制御システムを提供する。【解決手段】車両制御装置100は、車輪を操舵する操舵アクチュエータ55を有する車両40に備えられている。この車両制御装置が備えるコントロール部30は、車両と車両の前方に位置する物体との位置関係と、車両の速度とに基づいて求められた、物体に対する車両の回避経路を取得する。そして、車両の運転者による操舵が介入した際に、回避経路に車両を自動操舵により追従させる舵角制御を実行する指令を操舵アクチュエータに出力し、舵角制御の介入後、運転者による操舵が所定時間継続した場合、舵角制御から運転者の操舵を補助するアシストトルク制御に切り替えて実行する指令を操舵アクチュエータに出力する、ことを特徴とする。【選択図】図1
VEHICLE CONTROLLER, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL SYSTEM
車両制御装置、車両制御方法、及び車両制御システム
2024-07-02
Patent
Electronic Resource
Japanese
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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