VEHICLE AZIMUTH CONTROLLER USING LATERAL SPEED AND VEHICLE AZIMUTH CONTROL METHOD AND VEHICLE AZIMUTH CONTROL PROGRAM

Japanese Patent JP3718721

B2

PROBLEM TO BE SOLVED: To provide a vehicle azimuth controller for accurately following up a target azimuth at wide-ranged vehicle speeds, and exhibiting responsiveness leading to comfort to ride in the vehicle in a mode close to a manual operation.
SOLUTION: This vehicle azimuth controller is provided with an azimuth sensor for detecting an azimuth angle ψ1, a speed meter for detecting a speed u of the vehicle, and an arithmetic processing part for generating a steering command D of the vehicle from the vehicle azimuth angle ψ1 and a target azimuth angle ψ2 and the vehicle speed u. The arithmetic processing part calculates a lateral speed error expressed by a calculation formula; uΔψ(ψ2-ψ1=Δψ), calculates lateral speed controlled variables expressed by a calculation formula; K1uΔψ (K1 is a multiplier), calculates lateral position controlled variables expressed by a calculation formula; K2uΔψ/s (K2 is a multiplier, s is a Laplace operator), and calculates the sum of the lateral controlled variables and the lateral position controlled variables, and outputs an added value [K1uΔψ+K2uΔψ/s] as a steering command D.

Yuichi Masuda
Yosuke Matsuo
Satoshi Yamamoto
Osamu Yukimoto

JP2002005650A

November 24, 2005

January 15, 2002

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Japan Aviation Electronics Industry Co., Ltd.
National Institute of Agriculture and Biological Sciences

B62D6/00; A01B69/00; G05D1/02; B62D101/00; B62D137/00; (IPC1-7): G05D1/02

JP62292594A
JP1161406A
JP9269832A
JP8137549A
JP7110712A

Shinsuke Ozeki

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