A steering controller includes: a generation part that generates a vehicle model indicating a relationship between a velocity, a steering angle, a lateral deviation, an azimuth deviation of a vehicle, and a curvature; a calculation part that calculates, as an optimal steering angle, a steering angle that minimizes an output value of an evaluation function including an estimated lateral deviation and an estimated azimuth deviation calculated on the basis of a vehicle model, the steering angle, a change amount of the steering angle, a first weighting coefficient, a second weighting coefficient, a third weighting coefficient, and a fourth weighting coefficient; a second acquisition part that acquires a required acceleration; and an updating part that updates at least one weighting coefficient among the first weighting coefficient, the second weighting coefficient, the third weighting coefficient, and the fourth weighting coefficient according to the required acceleration.
STEERING CONTROLLER AND STEERING CONTROL METHOD
2024-03-14
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
STEERING CONTROLLER, ELECTRIC POWER STEERING CONTROLLER AND STEERING CONTROL METHOD
European Patent Office | 2019
|STEERING CONTROLLER, STEERING CONTROL METHOD, AND STEERING CONTROL PROGRAM
European Patent Office | 2022
|STEERING CONTROLLER, STEERING CONTROL METHOD, AND STEERING CONTROL SYSTEM
European Patent Office | 2020
|