VEHICLE CONTROL DEVICE

• Main Authors: HORIGUCHI AKINOBU, ISHIZUKA YUTA, SUNAKAWA MASAKI, NAKAUCHI MAKOTO, MIZUTANI RYOICHI
• Format: Patent
• Language: English; Japanese
• Published: 01.10.2020
• 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; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL

To provide a vehicle control device which prevents an unstable condition of a behavior of a vehicle from continuing during automatic driving.SOLUTION: A vehicle control device 1 comprises: an automatic driving control part 100 for setting a target vehicle speed and a target steering angle so that a vehicle traces a predetermined target travel trajectory and controlling the vehicle; and a behavior deviation calculation part 40 for calculating a deviation of an index of actual vehicle behavior from a reference index of vehicle behavior. In response to an increase of the deviation, the automatic driving control part corrects at least one of the target vehicle speed and the target steering angle, in such a direction that the vehicle is stabilized.SELECTED DRAWING: Figure 4 【課題】自動運転時に車両の挙動が不安定な状態が継続することを防止した車両制御装置を提供する。【解決手段】車両制御装置１を、車両が所定の目標走行軌跡をトレースするように目標車速及び目標舵角を設定し車両を制御する自動運転制御部１００と、基準となる車両挙動の指標に対する実際の車両挙動の指標の偏差を演算する挙動偏差演算部４０とを備え、自動運転制御部は偏差の増大に応じて目標車速と目標舵角との少なくとも一方を車両が安定化する方向に補正する構成とする。【選択図】図４