TURNING CONTROL DEVICE

• Main Authors: TOYAMA EIJI, SAITO SO, KAKIMOTO YUSUKE, MIYAKE JUNYA
• Format: Patent
• Language: English; Japanese
• Published: 28.09.2023
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

To provide a turning control device that can suppress discomfort given to a driver due to change of a vehicle speed for controlling.SOLUTION: A PU 72 calculates target values of turning angles of turning wheels 44 on the basis of a steering angle which is a rotation angle of a steering wheel 12 and a vehicle speed. The PU 72 determines that a state where the steering angle does not vary is a steering-retaining state, and switches the vehicle speed that is used for calculating the target value of the turning angle to a fixed vehicle speed. When the steering angle varies, the PU 72 switches the vehicle speed that is used for calculating the target value from the fixed vehicle speed to a vehicle speed which is renewed accordingly. The PU 72 gradually changes the target value, when switching the vehicle speed.SELECTED DRAWING: Figure 1 【課題】制御用車速の変更に起因して運転者に違和感を与えることを抑制できるようにした転舵制御装置を提供する。【解決手段】ＰＵ７２は、ステアリングホイール１２の回転角である操舵角と車速とに基づき、転舵輪４４の転舵角の目標値を算出する。ＰＵ７２は、操舵角の変化がない場合、保舵状態であるとして、転舵角の目標値の算出に用いる車速を固定車速に切り替える。ＰＵ７２は、操舵角が変化する場合、目標値の算出に用いる車速を固定車速から都度更新される車速に切り替える。ＰＵ７２は、切り替えがなされる場合、目標値を徐変させる。【選択図】図１