MOTION CONTROL METHOD OF VEHICLE AND MOTION CONTROL DEVICE OF VEHICLE

• Main Author: NEMOTO HIDEAKI
• Format: Patent
• Language: English; Japanese
• Published: 08.03.2018
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLES IN GENERAL; VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR

PROBLEM TO BE SOLVED: To provide a motion control method of a vehicle which can properly transmit the difficulty of the continuation of automatic drive to a driver, and can impart an intention of changeover to manual drive to the driver.SOLUTION: In a motion control method of a vehicle for controlling a vehicle motion on the basis of external environment recognition and own-vehicle state recognition, during automatic drive with a risk potential which is calculated from a physical relative relationship between an own vehicle and an obstacle existing around the own vehicle as a control target, a continuation possibility of the automatic drive is predicted and determined. When it is determined that the continuation possibility of the automatic drive is low due to an approach to an automatic drive continuation difficult point, a risk potential target value is switched and set to an approach traveling target value which is deviated from a normal traveling target value (steps S301 to S305), and the vehicle motion of the own vehicle is controlled so that the risk potential coincides with the approach traveling target value.SELECTED DRAWING: Figure 5 【課題】自動運転の継続が困難な状態をドライバーに適切に伝達し、手動運転への切り替わりの心づもりを与えることができる車両の運動制御方法を提供すること。【解決手段】外界認識と自車両状態認識とに基づいて車両運動を制御する車両の運動制御方法において、自車両と、自車両の周囲に存在する障害物との物理的相対関係から算出されたリスクポテンシャルを制御目標にしての自動運転中、自動運転の継続可能性を予測判断し、自動運転継続困難地点への接近によって自動運転の継続可能性が低いと予測判断されると、リスクポテンシャル目標値を、通常走行用目標値とは乖離した接近走行用目標値に切り替え設定し（ステップＳ３０１〜ステップＳ３０５）、リスクポテンシャルが接近走行用目標値に一致するように、自車両の車両運動を制御する構成とした。【選択図】図５