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Vehicle drive-control device

A driving control and vehicle technology, applied to vehicle components, vehicle safety arrangements, automatic steering control components, etc., can solve problems such as uneasiness and discomfort

Active Publication Date: 2014-04-30
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the occupant of the vehicle performing trajectory control cannot predict the change in the direction of travel of the vehicle due to trajectory control, so sometimes feels uneasy and uncomfortable.
For example, in a situation where the curvature of the driving path in front of the vehicle changes, the occupant may feel uneasy or uncomfortable about driving while changing the direction of travel of the vehicle appropriately along the driving path.
In addition, when there is a branch road in front of the vehicle, the occupant feels uneasy about whether to change the direction of travel or drive without changing the direction of travel so that the vehicle can choose the desired travel route to pass the branch road. ,uncomfortable

Method used

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Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0085] figure 1 It is a schematic configuration diagram showing the first embodiment of the vehicle travel control device according to the present invention applied to a vehicle equipped with an electric power steering device and a rear-wheel steering device.

[0086] in figure 1 Here, the travel control device 10 according to the present invention is installed in a vehicle 12 and includes a steering angle variable device 14 and an electronic control device 16 that controls the steering angle variable device 14. In addition, in figure 1 Here, reference numerals 18FL and 18FR respectively denote the left and right front wheels as steering wheels of the vehicle 12, and reference numerals 18RL and 18RR respectively denote the left and right rear wheels. Using the rack-and-pinion type electric power steering device 22 that is driven in response to the operation of the steering wheel 20 by the driver, the left and right front wheels, which are steered wheels, are turned by the rack 24 ...

no. 2 approach

[0150] Figure 17 It is a block diagram showing the overall travel control of the vehicle in the second embodiment of the vehicle travel control device according to the present invention. In addition, in Figure 17 Middle, right and figure 2 The module label corresponding to the module shown is figure 2 The reference numerals marked in the same reference numerals.

[0151] In the second embodiment, in addition to the trajectory control module 100, the steering wheel rotation control module 200, the steering reaction force control module 400, and the steering reaction force control module 500, a vehicle yaw angle control module 600 is also provided. In addition, the control in each module other than the yaw angle control module 600 is the same as in the case of the above-mentioned first embodiment.

[0152] The yaw angle control module 600 is controlled by the travel control unit of the electronic control device 16 according to Figure 18 The flow chart shown proceeds. In additio...

no. 3 approach

[0172] In this third embodiment, except Figure 17 The control in each control module other than the trajectory control module 100 shown is performed in the same manner as in the second embodiment described above. That is, the control in the steering wheel rotation control module 200, the steering reaction force control module 400, the steering reaction force control module 500, and the yaw angle control module 600 of the vehicle is performed in the same manner as in the second embodiment described above.

[0173] The trajectory of the vehicle in the trajectory control module 100 is controlled by the travel control unit of the electronic control device 16 according to Figure 21 The flow chart shown proceeds. In the trajectory control of the vehicle, the target trajectory of the vehicle is set, and it is determined whether there is a branching route along the target trajectory. In addition, when it is determined that there is a branching route, it is determined whether the target...

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Abstract

A vehicle drive-control device that performs trajectory control in which a steering wheel is controlled so as to make the vehicle move along a target trajectory. When the possibility exists that the direction of travel of the vehicle may be changed by said trajectory control, at least one of the following is changed before such a change is made, thereby giving the occupants of the vehicle advance notice of the possibility of a trajectory-control-caused change in vehicle travel direction: the control position of a steering input means operated by the driver; the yaw angle of the vehicle; and the horizontal position of the vehicle with respect to the road.

Description

Technical field [0001] The present invention relates to a travel control device for a vehicle, and more specifically, to a travel control device for a vehicle that performs trajectory control for driving a vehicle along a target trajectory (target travel route) by turning a steering wheel. Background technique [0002] As one of the driving control devices for vehicles such as automobiles, it is widely known to use a variable gear ratio steering device (VGRS), also called a variable gear ratio steering device (VGRS), to steer the steering wheel to drive the vehicle along a target trajectory. Control device. In this kind of driving control device, the driving route is specified by the analysis of the image in front of the vehicle captured by the camera, the target trajectory is set according to the specified driving route, and the steering wheel is turned so that the vehicle travels along the target trajectory. Steering. [0003] In addition, when the steering wheel as the steerin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B60R21/00B62D5/04B62D7/14G01C21/26B62D101/00B62D113/00B62D119/00
CPCB62D15/025B62D15/0255B60W10/16B60W10/20B62D6/003B60R21/00B60W30/10B62D5/04B62D6/00B62D7/14G01C21/26B60W30/045B62D6/002B62D15/02
Inventor 上山真生国弘洋司T·林皮邦特恩小城隆博
Owner TOYOTA JIDOSHA KK
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