Title:
車両の挙動制御装置及び車両の挙動制御方法
Document Type and Number:
Japanese Patent JP6549940
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To suppress decrease of convenience of a driver by inhibiting interruption of lane following control that is not intended by the driver.SOLUTION: Provided is a device for controlling vehicle behavior that includes: a lane following yaw rate calculation section for calculating a lane following yaw rate on the basis of an estimated travel route; a vehicle standard yaw rate calculation section for calculating a vehicle standard yaw rate on the basis of a handle steering angle and vehicle speed; a determination section for determining whether to continue lane following control or not according to the lane following yaw rate, on the basis of a driver's handle steering; and a control section for controlling a vehicle yaw rate independently from a handle steering system, on the basis of the lane following yaw rate, when determined to continue the lane following control, and for controlling the vehicle yaw rate on the basis of the vehicle standard yaw rate, when determined not to continue the lane following control. In the device for controlling vehicle behavior, a condition for continuing the lane following control is relaxed when a predetermined rotational speed difference of front left-and-right wheels is detected.SELECTED DRAWING: Figure 3
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Inventors:
Katsuro Izumina
Application Number:
JP2015170210A
Publication Date:
July 24, 2019
Filing Date:
August 31, 2015
Export Citation:
Assignee:
Subaru corporation
International Classes:
B60W30/12; B62D6/00
Domestic Patent References:
| JP2011022990A | ||||
| JP2010006271A | ||||
| JP2006056372A |
Foreign References:
| US20060041356 |
Attorney, Agent or Firm:
Aomi patent office