Title:
車両の自動運転制御装置及び自動運転制御方法
Document Type and Number:
Japanese Patent JP7106872
Kind Code:
B2
Abstract:
To inhibit a feeling of discomfort from being given to an occupant of a vehicle when a steering angle changes suddenly.SOLUTION: An automatic driving control device (200) includes: a track generation unit (230) for determining a target track and a target speed of a vehicle according to vehicle status information indicating a present status of the vehicle and a planned route; and a track follow-up control unit (240) for generating a steering angle command value and a driving force command value of the vehicle according to the target track and the target speed, and a present position and a present speed of the vehicle, and supplying them to a steering angle control device and a driving unit control device of the vehicle. The track generation unit or the track follow-up control unit executes restriction processing to restrict an upper limit of a rate of change in a steering angle of the vehicle when the present vehicle speed is equal to or lower than a predetermined threshold to be smaller than when the present vehicle speed is higher than the threshold.SELECTED DRAWING: Figure 2
Inventors:
Keigo Fujimoto
Takayuki Toya
Takayuki Toya
Application Number:
JP2018008493A
Publication Date:
July 27, 2022
Filing Date:
January 23, 2018
Export Citation:
Assignee:
株式会社デンソー
International Classes:
B60W30/10; B62D6/00
Domestic Patent References:
| JP2016185745A | ||||
| JP2008189139A |
Attorney, Agent or Firm:
Patent Attorney Corporation Meisei International Patent Office