Vehicle control device

Patent metadata

Field	Value
Publication number	US-9296418-B2
Application number	US-201314758279-A
Country	US
Kind code	B2
Filing date	Jan 23, 2013
Priority date	Jan 23, 2013
Publication date	Mar 29, 2016
Grant date	Mar 29, 2016

Abstract

A vehicle control device includes: a travelable region detecting device configured to detect a travelable region of a vehicle; a travel control device configured to execute trajectory control based on a target vehicle behavior amount calculated for the vehicle to travel in the travelable region detected by the travelable region detecting device; and a control device configured to calculate a target lateral position correction amount and a target yaw angle correction amount such that a vehicle response to a steering member of a driver when the trajectory control is executed becomes a predetermined vehicle response and correct the target vehicle behavior amount by using a corrected target lateral position based on the calculated target lateral position correction amount and a corrected target yaw angle based on the calculated target yaw angle correction amount when the trajectory control is executed by the travel control device.

First claim

The invention claimed is:

1. A vehicle control device comprising:
a travelable region detecting device configured to detect a travelable region of a vehicle;
a travel control device configured to execute trajectory control based on a target vehicle behavior amount calculated for the vehicle to travel in the travelable region detected by the travelable region detecting device; and
a control device configured to calculate a target lateral position correction amount and a target yaw angle correction amount such that a vehicle response to a steering member of a driver when the trajectory control is executed becomes a predetermined vehicle response based on an operation state to the steering member of the driver and a vehicle state of the vehicle and correct the target vehicle behavior amount by using a corrected target lateral position based on the calculated target lateral position correction amount and a corrected target yaw angle based on the calculated target yaw angle correction amount when the trajectory control is executed by the travel control device.

2. The vehicle control device according to claim 1 , wherein the control device is configured to make the target yaw angle correction amount relative to the target lateral position correction amount smaller as a vehicle speed of the vehicle included in the vehicle state is higher as compared to a case in which the vehicle speed is lower.

3. The vehicle control device according to claim 1 , wherein the control device is configured to make the target yaw angle correction amount relative to the target lateral position correction amount smaller as a curve radius of the travelable region detected by the travelable region detecting device is larger as compared to a case in which the curve radius of the travelable region is smaller.

4. The vehicle control device according to claim 1 , wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

5. A vehicle control device comprising:
a travelable region detecting device configured to detect a travelable region of a vehicle;
a travel control device configured to execute trajectory control based on a target vehicle behavior amount calculated for the vehicle to travel in the travelable region detected by the travelable region detecting device; and
a control device configured to calculate a target lateral position correction amount or a target yaw angle correction amount such that a vehicle response to a steering member of a driver when the trajectory control is executed becomes a predetermined vehicle response based on an operation state to the steering member of the driver and a vehicle state of the vehicle and correct the target vehicle behavior amount by using a corrected target lateral position based on the calculated target lateral position correction amount or a corrected target yaw angle based on the calculated target yaw angle correction amount when the trajectory control is executed by the travel control device.

6. The vehicle control device according to claim 2 , wherein the control device is configured to make the target yaw angle correction amount relative to the target lateral position correction amount smaller as a curve radius of the travelable region detected by the travelable region detecting device is larger as compared to a case in which the curve radius of the travelable region is smaller.

7. The vehicle control device according to claim 2 , wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

8. The vehicle control device according to claim 3 , wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

9. The vehicle control device according to claim 6 , wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

Assignees

• Inoue Go
• Toyota Motor Co Ltd

Inventors

• Inoue Go

Classifications

• B60W2552/30

  Road curve radius · CPC title

• B60W30/045

  Improving turning performance · CPC title

• B62D6/003 Primary

  in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence) · CPC title

• B60W2540/18

  Steering angle · CPC title

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title