ROUTE GENERATION DEVICE AND TRAVEL SUPPORT CONTROL DEVICE

• Main Authors: NISHIWAKI KAZUHIRO, MANABE HIROKI, SATAKE TOSHIHIDE
• Format: Patent
• Language: English; Japanese
• Published: 27.10.2022
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

To provide a route generation device which improves the riding comfort of a vehicle in a case of returning a vehicle to an original lane in the suspension of lane change and performs proper travel support according to the travel state, and provide a travel support control device using the same.SOLUTION: A travel support control device comprises: a route generation device having a target route generation unit which generates a target route of a vehicle, a lateral position target value setting unit which sets a lateral position target value, a movement time calculation unit which calculates movement time taken to reach the lateral position target value from a current position of the vehicle, and a target route correction unit which calculates a corrected target route obtained by correcting the target route; and a steering amount calculation unit which calculates a steering amount from the corrected target route. The travel support control device corrects the target route for returning to an original lane according to a travel state in suspension of lane change, designs a route so as to achieve a desired lateral acceleration or a lateral position deviation amount according to the travel state by performing steering control of the vehicle such that the vehicle follows the route, and performs travel support of returning to the original lane.SELECTED DRAWING: Figure 2 【課題】車線変更の中断時に車両を元車線へ復帰させる場合における車両の乗り心地を改善し、走行状況に応じた適切な走行支援を行う経路生成装置及びそれを用いた走行支援制御装置を提供することを目的としている。【解決手段】走行支援制御装置は、車両の目標経路を生成する目標経路生成部、横位置目標値を設定する横位置目標値設定部、現在の車両の位置から横位置目標値に到達するまでの移動時間を演算する移動時間演算部及び目標経路を補正した補正目標経路を演算する目標経路補正部からなる経路生成装置と、補正目標経路から操舵量を演算する操舵量演算部と、により構成され、車線変更中断時に走行状態に応じて元車線へ復帰するための目標経路を補正し、車両がその経路へ追従するように車両の操舵制御を行うことで、走行状況に応じて、所望の横加速度または横位置逸脱量になるように経路を設計し、元車線へ復帰する走行支援を行う。【選択図】図２