Vehicle travel control method and travel control device

Abstract

In the driving control method of a vehicle that detects the target trajectory (OP) that the host vehicle should travel and automatically drives the host vehicle (V) along the detected target trajectory, temporarily sets the host vehicle to the front according to at least the driving lane information. The forward fixation point distance of the fixation point, assuming that the vehicle has traveled the provisionally set forward fixation point distance, estimates the vehicle’s travel trajectory at the forward fixation point consistent with the target trajectory , the maximum value of the lateral displacement (Δd max ) is detected, and after the distance of the front gaze point when the maximum value of the lateral displacement is below the specified value (D) is formally set as the distance of the front gaze point, based on the formally set distance of the front gaze point, the present The vehicle drives automatically.

Description

technical field [0001] The present invention relates to a travel control method and a travel control device for controlling travel of a vehicle. Background technique [0002] In a lane keeping control device that automatically controls the vehicle to travel along a target trajectory, there is known a technique in which when the width of the traveling road is wide, the width of the lateral direction is set larger than when the width of the traveling road is narrow. The position feedback gain provides natural and stable steering assistance on a highway with a wide driving road width, and on the other hand, implements the optimal lane without interfering with the driver's evasive steering on an ordinary road with a narrow driving road width Control is maintained (for example, Patent Document 1). [0003] prior art literature [0004] patent documents [0005] Patent Document 1: (Japanese) Unexamined Patent Publication No. 2015-123929 [0006] The technical problem to be sol...

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Problems solved by technology

[0007] However, in the above-mentioned existing lane keeping control, because it is necessary to calculate the position offset between the vehicle trajectory of the gaze point ahead and the target trajectory, thereby calculating the lateral position feedback control amount, so when entering the intersection and leaving the intersection On ordinary municipal roads at intersections, where the change in curvature radius R is not single, there is a problem that the current lateral position takes a shortcut or detours relative to the target trajectory.

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