Vehicle control device

A vehicle control device, vehicle technology, applied in vehicle components, automatic steering control components, transportation and packaging, etc., can solve problems such as the impact of passenger ride comfort

Pending Publication Date: 2020-10-27
AISIN CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In other words, the situation also

Method used

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Embodiment Construction

[0020] Embodiments of the present invention will be described below based on the drawings. In addition, each drawing used for description is a schematic diagram. In addition, when not specifically mentioned in this specification, a "vehicle" means this vehicle.

[0021] (the overall composition of the vehicle)

[0022] In this embodiment, if figure 1 As shown, the vehicle includes a vehicle control device 1, a peripheral monitoring device 2, a wheel speed sensor 31, acceleration sensors 32, 33, a yaw rate sensor 34, a brake control device 4, a front wheel steering angle control device 5, a rear wheel steering angle control device 6 , EPS control device 7 , and navigation device 8 .

[0023] The peripheral monitoring device 2 includes a camera 21 that captures images ahead of the vehicle. The surrounding monitoring device 2 transmits information on the lane and the position of the vehicle to the vehicle control device 1 based on the imaging data of the camera 21 . The driv...

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PUM

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Abstract

The invention provides a vehicle control device, which can make a vehicle travel along a target route and improve the comfort level of a passenger. The vehicle control device causing a vehicle to travel along a target route includes: a first calculation unit (11) calculating a yaw angle control amount that reduces a yaw angle deviation between an actual yaw angle of the vehicle and a target yaw angle corresponding to the target route; a second calculation unit (12) calculating a lateral control amount that reduces a lateral deviation of the vehicle with respect to the target route; and a setting unit (14) setting a first gain (k1) of the yaw angle control amount and a second gain (k2) of the lateral control amount. The setting unit (14) reduces the first gain and increases the second gainat a current position of the vehicle as a current curvature is larger. The current curvature is a curvature of the target route corresponding to the current position or a curvature of the target routeahead of the current position.

Description

technical field [0001] The present invention relates to vehicle control devices. Background technique [0002] As a vehicle control device, a device equipped with a lane keeping technique for controlling steering of a vehicle so that the vehicle does not leave a travel lane is known. In the lane keeping technology, for example, steering is controlled so that the lateral deviation between the vehicle's target position and the actual position (current position) in the lateral direction perpendicular to the extending direction of the driving lane becomes small. For example, in the lane keeping assist device described in Japanese Patent Application Laid-Open No. 2009-234560, lateral displacement reference positions are provided on both sides in the width direction of the travel lane, and the control is changed according to the positional relationship between the vehicle and the lateral displacement reference positions. Specifically, in this lane keeping assist device, when the ...

Claims

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Application Information

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IPC IPC(8): B60W30/12B60W30/02B60W40/072
CPCB60W30/12B60W30/025B60W40/072B62D15/025B60W2520/14B60W40/114B62D6/005
Inventor 中村友之桥本阳介
Owner AISIN CORP
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