Vehicle travel control device and autonomous driving control method

An autonomous driving control method for controlling autonomous driving of a vehicle,

• the vehicle comprising an electric power steering device turning a wheel of the vehicle,
• the autonomous driving control method comprising:
• calculating a target steering angle of the wheel;
• and
• actuating the electric power steering device to turn the wheel such that a steering angle of the wheel becomes the target steering angle, wherein
• the calculating the target steering angle comprises:
• calculating an autonomous driving steering angle and a target state quantity required for automatic steering in the autonomous driving;
• calculating a counter steering angle required for vehicle stabilization control, based on the target state quantity without using a steering wheel angle;
• and
• calculating a sum of the autonomous driving steering angle and the counter steering angle as the target steering angle.

A vehicle travel control device comprising:

• an electric power steering device turning a wheel of a vehicle;
• and
• a control device performing autonomous driving control that controls autonomous driving of the vehicle,
• wherein in the autonomous driving control, the control device is configured to:
• calculate an autonomous driving steering angle and a target state quantity required for automatic steering in the autonomous driving;
• calculate a counter steering angle required for vehicle stabilization control, based on the target state quantity without using a steering wheel angle;
• calculate a sum of the autonomous driving steering angle and the counter steering angle as a target steering angle of the wheel;
• and
• actuate the electric power steering device to turn the wheel such that a steering angle of the wheel becomes the target steering angle.