VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD

Title:

VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD

Document Type and Number:

WIPO Patent Application WO/2016/194157

Kind Code:

A1

Abstract:

The present invention comprises: periphery information detection means (40-47) that detect periphery information for a vehicle; travel state detection means (51-54) that detect the travel state of the vehicle; a travel control means (60) that controls automatic travel of the vehicle, on the basis of periphery information detected by the periphery information detection means (40-47), the travel state detected by the travel state detection means (51-54), a higher-level action plan to a preset destination, and a lower-level action plan that controls at least a vehicle speed target value or a steering target value in order to achieve the higher-level action plan; actuator means (80, 82) having a redundancy configuration and being used for automatic travel by the vehicle; a higher-level action plan compensation range calculation means (65) that calculates a compensation range for the higher-level action plan such that travel is possible in a state in which the capacity of one actuator means has reduced; and a higher-level action plan limiting means (66) that limits the higher-level action plan, using the compensation range calculated by the higher-level action plan compensation range calculation means (65).

Inventors:

MIURA MASAHIRO (JP)
DEGUCHI YOSHITAKA (JP)

Application Number:

PCT/JP2015/065982

Publication Date:

December 08, 2016

Filing Date:

June 03, 2015

Export Citation:

Click for automatic bibliography generation Help

Assignee:

NISSAN MOTOR (JP)

International Classes:

B60W50/029; B60T17/18; B60W30/10; B62D6/00

Foreign References:

JP2011240816A	2011-12-01
US20120283907A1	2012-11-08
JP2003063373A	2003-03-05
JP2008120265A	2008-05-29
JP2009051356A	2009-03-12
JP2011210095A	2011-10-20

Other References: