Vehicle control device

Abstract

In order to provide a vehicle control device configured to improve accuracy of an automatic follow-up control in an inverted control vehicle, the vehicle control device, which carries out automatic follow-up driving control for the control of the inverted control vehicle to automatically follow up a preceding vehicle, is provided with a communication unit (81) that receives a vehicle speed of the preceding vehicle and driving condition data in regard to a joystick operation amount from the preceding vehicle, a vehicle distance sensor (42) that measures a vehicle distance defined with the preceding vehicle, and a main control ECU (21) that calculates an acceleration command value to follow up the preceding vehicle, wherein the main control ECU (21) is characterized in making either a first acceleration command value calculated on the basis of the vehicle speed of the preceding vehicle measured by the communication unit (81) and the vehicle distance measured by the vehicle distance sensor (42) or a second acceleration command value calculated by the joystick operation amount acquired by the communication unit (81) into a target acceleration command value.

Description

Technical field [0001] The present invention, for example, relates to a vehicle control device that utilizes the attitude control of an inverted pendulum, and more particularly, to a vehicle control device that performs automatic tracking driving in multiple vehicles. Background technique [0002] In recent years, vehicles using the attitude control of an inverted pendulum (hereinafter referred to as an inverted control vehicle) have attracted attention. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2004-129435), transmission of attitude control using an inverted pendulum has been proposed. Device. [0003] On the other hand, in the past, there have been automated driving systems that automatically drive vehicles such as automobiles. In such an automatic driving system, for example, for a plurality of vehicles traveling on a highway, it is considered that it is more preferable to travel in a group of vehicles in a queue rather than individual travel from the sta...

AI Technical Summary

Problems solved by technology

[0009] In this way, the braking start timing of the following vehicle is later than that of the leading vehicle, thereby reducing the accuracy of the automatic tracking control of the following vehicle, and in the worst case, it will be impossible to perform tracking driving.

[0010] In addition, the same problem occurs on the side of the following vehicle when the preceding vehicle accelerates, etc.

[0011] To sum up the above situation, in the preparatory action before the acceleration and braking of the inverted control vehicle, if in order to carry out the reverse direction action, that is, a swinging action performed along the acceleration direction during the braking preparation and along the deceleration direction during the acceleration preparation ( Hereafter, this action is referred to as "reverse action"), while using the inverted control vehicle to carry out automatic tracking driving control, the subsequent vehicle will react to the braking and acceleration preparation actions of the leading vehicle, thus appearing in the automatic tracking driving control of the following vehicle. delay, reducing the precision of the control

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