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Vehicle control device and vehicle control method

A vehicle control device, vehicle technology, applied to the control device, steering control installed on the vehicle, vehicle components, etc., can solve the problem that the control system cannot be used

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  • Abstract
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Problems solved by technology

[0004] This kind of control device and control method has the following problems, that is, this control device and control method re-plan when the moving travel cannot be carried out according to the plan. Immediately re-plan in case of circumstances, etc., so that the original capabilities of the control system including feedback control cannot be exerted

Method used

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  • Vehicle control device and vehicle control method
  • Vehicle control device and vehicle control method
  • Vehicle control device and vehicle control method

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Embodiment Construction

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in description of drawings, the same code|symbol is attached|subjected to the same element, and repeated description is abbreviate|omitted.

[0019] figure 1 It is a schematic configuration diagram of the vehicle control device according to the embodiment of the present invention.

[0020] Such as figure 1 As shown, the vehicle control device according to this embodiment is mounted on a vehicle to control the running of the vehicle, and is applied to an automatic operation system. The vehicle control device 1 includes an ECU 2 . The ECU (Electronic Control Unit: electronic control unit) 2 is an electronic control unit that controls the entire device of the vehicle control device 1 , and is mainly composed of, for example, a computer including a CPU, ROM, and RAM. figure 1 2 shows the functional configuration of the ECU 2 , and the illustration of the comp...

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Abstract

It is possible to provide a vehicle control device and a vehicle control method which can perform an appropriate travel control while sufficiently exhibiting capability of a control system. A feedback control of a vehicle travel is performed according to a preset travel target. In the feedback control, a travel target is regenerated if a control deviation exceeds a preset value such as when a vehicle travel trace is deviated, a tire friction circle is exceeded, or a vehicle acceleration or a jerk exceeds a preset value. This enables a travel control while sufficiently exhibiting the capability of the control system until the control deviation exceeds the preset value. When the control deviation exceeds the preset value, the travel target is regenerated so as to perform a travel control appropriate for a travel environment.

Description

technical field [0001] The present invention relates to a vehicle control device and a vehicle control method for performing running control of a vehicle. Background technique [0002] Conventionally, as techniques for controlling the movement of a mobile body, for example, the following techniques have been disclosed. As described in Japanese Unexamined Patent Publication No. 2004-42148, the mobile robot is made to move autonomously according to the planned path, and when an obstacle is detected on the planned path, re-plan in order to avoid the obstacle. path. [0003] Patent Document 1: JP Unexamined Publication No. 2004-42148 [0004] This kind of control device and control method has the following problems, that is, this control device and control method re-plan when the moving travel cannot be carried out according to the plan. In the event of a situation, etc., the plan is re-immediately, so that the original capabilities of the control system including feedback co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W50/06G08G1/16B60W30/10
CPCB60W30/10B60W40/02B60W2050/0008B60T8/1755B60W2710/207B62D6/006B62D1/28B60W30/02B60W2720/103
Inventor 田口康治
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