Title:
車両の走行制御装置
Document Type and Number:
Japanese Patent JP6803285
Kind Code:
B2
Abstract:
To accurately execute traffic lane follow-up control of a vehicle and control for avoiding deviation from a traffic lane or collision with an obstacle by properly adding a yaw moment to the vehicle by steering control and/or braking driving power distribution control on wheels, without imparting anxiety to a driver by properly notifying the driver of the execution states of these controls.SOLUTION: When it is determined that deviation avoidance control is executed by comparing a deviation avoidance target yaw rate γtLo and a traffic lane follow-up target yaw rate γtL, a yaw moment is added to a vehicle by steering control of the vehicle and braking driving power distribution control on wheels on the basis of a deviation avoidance target yaw rate γtLo. When it is determined that traffic lane follow-up control is executed without executing deviation avoidance control, a yaw moment is added to the vehicle by the braking driving power distribution control on the wheels on the basis of the traffic lane follow-up target yaw rate γtL.SELECTED DRAWING: Figure 3
Inventors:
Ya Koyama
Application Number:
JP2017067543A
Publication Date:
December 23, 2020
Filing Date:
March 30, 2017
Export Citation:
Assignee:
Subaru corporation
International Classes:
B60W30/12; B60W10/00; B60W10/16; B60W10/20; B60W30/09; B60W30/095; B60W40/114; B62D5/04; B62D6/00
Domestic Patent References:
| JP2016150683A | ||||
| JP2014091350A | ||||
| JP2016029559A | ||||
| JP2016159781A | ||||
| JP2013212838A | ||||
| JP2009035214A |
Foreign References:
| KR1020120136492A | ||||
| US9174641 |
Attorney, Agent or Firm:
Patent Business Corporation Itoshin International Patent Office
Susumu Ito
Yasushi Hasegawa
Osamu Shinoura
Susumu Ito
Yasushi Hasegawa
Osamu Shinoura