Rudder angle control device and rudder angle control method

Abstract

If the vehicle's position deviates from the target path while traveling along it, the driver must appropriately correct the steering. [Solution] The steering angle control device 161 controls the steering angle of a vehicle to follow a target path and includes a prediction unit 161B1 that predicts the behavior of the vehicle, including the deviation of the vehicle's position and direction from the target path, up to a predetermined time in advance, based on vehicle state quantities indicating the vehicle's motion state and information indicating the target path, and an optimization unit 161B2 that optimizes the target steering angle using the prediction results obtained by the prediction unit 161B1. The prediction unit 161B1 has a path deviation model that models the relationship between the deviation of the vehicle's position and direction from the target path and the curvature of the target path, including the steady-state relationship between the vehicle state quantities and vehicle characteristic information relating to the vehicle's motion characteristics.