VEHICLE CONTROL DEVICE

• Main Authors: GOTO TAKASHI, SAIJO YUMA, KAWAHARA YASUHIRO, TATEHATA TETSUYA, KATAYAMA SHOTA, YAMAMOTO YUKI, TADA KENTA, HOSODA KOJI, OMURA HIROSHI, NAKAGAMI TAKASHI, HARADA SHOJI
• Format: Patent
• Language: English; Japanese
• Published: 23.05.2019
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL

To provide a vehicle control device capable of making a driver less likely to feel discomfort in a state where driving support is performed in various modes.SOLUTION: A vehicle control device comprises: a peripheral target detection unit 10b; a target travel route calculation unit 10c calculating a target travel route of a vehicle; and a correction travel route calculation unit 10f which calculates a corrected target travel route obtained by correcting the travel route. The correction travel route calculation unit is constructed to set, when the peripheral target detection unit detects a peripheral target to be avoided, an upper limit line of allowable relative speed where the vehicle can travel with respect to the peripheral target, and calculate the correction travel route, based on the upper limit line, a prescribed evaluation function and a prescribed constraint condition. The correction travel route calculation unit has an outer region of own vehicle width as a constraint condition based on an estimated travel route when a current driving condition continues due to the intention of a driver.SELECTED DRAWING: Figure 2 【課題】様々なモードでの運転支援が実行されている状態において、運転者に違和感を与えにくい車両制御装置を提供する。【解決手段】車両制御装置は、周辺物標検出部10bと、車両の目標走行経路を算出する目標走行経路算出部10cと、この目標走行経路を補正した補正走行経路を算出する補正走行経路算出部10fと、を有し、補正走行経路算出部は、周辺物標検出部によって回避すべき周辺物標が検出された場合において、周辺物標に対して車両が走行可能な許容相対速度の上限ラインを設定するように構成されていると共に、上限ライン、所定の評価関数及び所定の制約条件に基づいて補正走行経路を算出するように構成され、補正走行経路算出部は、運転者の意志による現在の運転状況が継続された場合における推定走行経路を中心とする、自車幅よりも外側の領域を、制約条件として備えている。【選択図】図２