Title:
AUTOMATIC CONTROL DEVICE FOR VEHICLE
Document Type and Number:
Japanese Patent JPH04294405
Kind Code:
A
Abstract:
PURPOSE:To travel a vehicle along a surely taught objective course by correcting a taught steering angle from a physical variable reflecting a change in a traveling condition between teaching operation and automatic control traveling. CONSTITUTION:The vehicle automatic control device is provided with an arithmetic processing circuit 24 for inputting detection signals from respective sensors 110, 114, 115, 117 for detecting the lateral displacement, yaw angle, speed, position, yaw rate, etc., of a vehicle and operating the signals and a processing circuit 26 for feeding back the manipulated variables of respective actuators for operating the vehicle and executing prescribed processing to control the steering 30 of the vehicle. Namely the steering manipullated variabledelta0 and vehicle speed V0 of an objective course taught by driver's operation are stored and forecasting error epsilon to be generated in the case of traveling the vehicle from a current position up to a prescribed distance position is computed in accordance with the stored data and the traveling state of the vehicle. The steering manipulated variable delta is computed and controlled in accordance with the shown equation I corresponding to the forecasting error epsilon. In the equation, Kp and Ki are control gain, (t) is control time, V0 is a teaching vehicle speed, and V is a current vehicle speed.
Inventors:
HASHIMOTO YOSHIYUKI
Application Number:
JP5886791A
Publication Date:
October 19, 1992
Filing Date:
March 22, 1991
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
G05D1/02; G05D1/08; G05B19/42; (IPC1-7): G05B19/42; G05D1/02; G05D1/08
Attorney, Agent or Firm:
Toshihiko Kanayama (2 outside)
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