Title:
車両制御装置
Document Type and Number:
Japanese Patent JP7188236
Kind Code:
B2
Abstract:
A vehicle control device causing a vehicle to travel along a target route includes: a first calculation unit calculating a yaw angle control amount that reduces a yaw angle deviation between an actual yaw angle of the vehicle and a target yaw angle corresponding to the target route; a second calculation unit calculating a lateral control amount that reduces a lateral deviation of the vehicle with respect to the target route; and a setting unit setting a first gain of the yaw angle control amount and a second gain of the lateral control amount. The setting unit reduces the first gain and increases the second gain at a current position of the vehicle as a current curvature is larger. The current curvature is a curvature of the target route corresponding to the current position or a curvature of the target route ahead of the current position.
Inventors:
Tomoyuki Nakamura
Yousuke Hashimoto
Yousuke Hashimoto
Application Number:
JP2019067412A
Publication Date:
December 13, 2022
Filing Date:
March 29, 2019
Export Citation:
Assignee:
Advics Co., Ltd.
International Classes:
B62D6/00; B60W30/12; B60W40/06; B60W40/072; B60W40/109; B60W40/114
Domestic Patent References:
| JP9183383A | ||||
| JP2018177178A | ||||
| JP2018144678A | ||||
| JP2018161996A |
Foreign References:
| DE102018108572A1 | ||||
| DE102017128671A1 |
Attorney, Agent or Firm:
Patent Attorney Corporation Kyoritsu Patent Office
Akihito Takigawa
Akihito Takigawa