Title:
VEHICLE SPEED CONTROL METHOD AND TRAVEL CONTROL APPARATUS
Document Type and Number:
Japanese Patent JP2022139818
Kind Code:
A
Abstract:
To set a target vehicle speed profile that prevents exceeding of the friction limit of a wheel due to yaw moment acting on the own vehicle when the own vehicle is made to travel on a target travel track.SOLUTION: A vehicular speed control method includes: setting a target travel track for an own vehicle (S1); setting, on the basis of a friction limits of a front wheel and a rear wheel of the own vehicle, a first constraint condition and a second constraint condition, which are constraint conditions of front and rear forces of the front wheel and the rear wheel, the restraint conditions being limited on the basis of lateral force and yaw moment acting on the own vehicle (S3, S4); setting, as a third constraint condition, one of the first constraint condition and the second constraint condition that limits a magnitude of the front and rear force to a smaller value (S5, S6); generating a target speed profile so as to travel on a target travel track in accordance with the third constraint condition on the basis of a curvature profile of the target travel track (S7); and controlling a speed of the own vehicle on the basis of the target speed profile (S8).SELECTED DRAWING: Figure 6
Inventors:
SHIMAKAGE MASAYASU
ODA TAKASHI
MIYASHITA NAOKI
NIWA YUYA
ODA TAKASHI
MIYASHITA NAOKI
NIWA YUYA
Application Number:
JP2021040363A
Publication Date:
September 26, 2022
Filing Date:
March 12, 2021
Export Citation:
Assignee:
NISSAN MOTOR
RENAULT SAS
RENAULT SAS
International Classes:
B60W30/02; B60T7/12; B60W30/10; B60W40/06; B60W40/105; B60W40/107; B60W40/109; B60W60/00; G08G1/16
Attorney, Agent or Firm:
田中 秀▲てつ▼
Ryu Kobayashi
Tetsuya Mori
Ryu Kobayashi
Tetsuya Mori