When a vehicle performs autonomous driving, a steering wheel is composed to be easily gripped by a driver. A vehicle driving control device is provided with an EPS device, a VGRS device, and a control device performs autonomous driving control. The autonomous driving control comprises: (1) a step of target rudder angle calculation process for calculating a target rudder angle of a vehicle wheel; (2) a step of shift control for shifting the vehicle wheel by operating the EPS device such that a rudder angle of the vehicle wheel becomes the target rudder angle; and (3) a step of steering wheel angle control for operating the VGRS device suppressing a change in a steering wheel angle attributing to the shift control in accordance with the target rudder angle.
차량의 자동 운전에 있어서, 드라이버에게 핸들을 파지시키기 쉽게 한다. 차량 주행 제어 장치는, EPS 장치와, VGRS 장치와, 자동 운전 제어를 행하는 제어 장치를 구비한다. 자동 운전 제어는, (1) 차륜의 목표 타각을 산출하는 목표 타각 산출 처리와, (2) 차륜의 타각이 목표 타각이 되도록, EPS 장치를 작동시켜 차륜을 전타하는 전타 제어와, (3) 목표 타각에 의거하여, 전타 제어에 기인하는 핸들각의 변화를 억제하는 방향으로 VGRS 장치를 작동시키는 핸들각 제어를 포함한다.
VEHICLE TRAVEL CONTROL DEVICE AND AUTONOMOUS DRIVING CONTROL METHOD
차량 주행 제어 장치 및 자동 운전 제어 방법
2018-07-04
Patent
Elektronische Ressource
Koreanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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