Control apparatus of self-driving vehicle

Abstract

The invention provides a control apparatus of a self-driving vehicle with a self-driving capability. The control apparatus includes a target torque calculation unit 451for calculating target torques of the four drive wheels 1FL, 1FR, 1RL and 1RR in accordance with an action plan; a rotational speed sensors 32a for detecting slip condition of the four drive wheels 1FL, 1FR, 1RL and 1RR; yaw sensor32b for detecting change of yaw angle of the vehicle body; the target torque correction unit 453 for correcting target torques calculated by the target torque calculation unit 451 by, in response to detection by the rotational speed sensors 32a of slip condition of, for example, the right front wheel 1FR, decreasing target torque of the slipping wheel 1FR, and in response to detection by the yaw sensor 32b thereafter of change of vehicle body yaw angle (yaw deviation [delta][alpha]) of or greater than predetermined value [delta][alpha]1, increasing target torque of right rear wheel 1RR locatedon same left-right side as and opposite front-rear end from the slipping wheel 1FR and decreasing target torque of the left rear wheel 1RL located on opposite right-left side and opposite front-rearend from the slipping wheel 1FR; and the driving control unit 46 for controlling the motors 2 in accordance with target torques corrected by the target torque correction unit 453.

Description

Technical field [0001] The invention relates to a control device for an automatic driving vehicle. Background technique [0002] Conventionally, in an electric vehicle in which four motors independently drive the four wheels of front, rear, left, and right as the driving wheels, when the driving wheels are slipping, a device for recovering from the slipping state is realized by controlling the torque of each motor. Such a device is described in Patent Document 1, for example. In the device described in Patent Document 1, when a slip of any one of the drive wheels is detected, the torque of the slipping drive wheel is reduced, and the reduced torque is added to the other drive wheels that are not slipping. On the torque. [0003] However, when the yaw angle of the vehicle body changes after skidding, the driving stability of the vehicle is impaired, so some countermeasures are preferably taken. However, the device described in Patent Document 1 is only configured to determine whe...

AI Technical Summary

Problems solved by technology

However, the device described in Patent Document 1 is only configured to determine whether the driving wheel is slipping, and to control the torque of each motor according to the determination result, and the device described in Patent Document 1 cannot fully ensure that the yaw angle of the vehicle body after slipping occurs. The driving stability of the vehicle when changing

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