TRAVELING CONTROL APPARATUS

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TRAVELING CONTROL APPARATUS

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KUNIHIRO YOJI / KOJO TAKAHIRO / AKATSUKA HISAYA / TOKORO HIROTAKA

A traveling control apparatus that allows lane changing due to a driver's steering intervention while continuing lane maintenance control includes an electronic control unit. The electronic control unit sets a target trace along a lane in which a vehicle is traveling, determines a target steering angle of the vehicle based on the target trace and a lateral position of the vehicle, applies control torque to a steering shaft of the vehicle based on the target steering angle, resets, in response to a change in the lateral position due to the driver's steering intervention which exceeds the control torque and entrance of the vehicle into an adjacent lane, the target trace to the adjacent lane, and determines, using a gradual changing function, in response to the resetting of the target trace, the target steering angle by changing the target steering angle at the time of the resetting.

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Title :

TRAVELING CONTROL APPARATUS

Contributors:

KUNIHIRO YOJI (author) / KOJO TAKAHIRO (author) / AKATSUKA HISAYA (author) / TOKORO HIROTAKA (author)

Publication date :

2022-09-29

Type of media :

Patent

Type of material :

Electronic Resource

Language :

English

Classification :

IPC:

B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06V