Vehicle movement control device
AssigneeHitachi Automotive Systems, Ltd.
InventorsYuki AKIYAMA, Junya TAKAHASHI, Toshiyuki INNAMI
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Abstract
The present invention provides a vehicle movement control device which is capable of achieving stable vehicle behavior during the movement of a vehicle in lane changing mode. When calculating a travel path for turning a vehicle to the left side or the right side and then turning the vehicle to the other side, this vehicle movement control device calculates the travel path so that the peak value of the curvature of the travel path decreases in a section where the vehicle speed is higher.
Claims12
A vehicle movement control device for controlling steering and acceleration/deceleration of a vehicle, the device comprising:
- a path generation unit which calculates a travel path for the vehicle;
- a steering angle control unit which controls a steering angle of the vehicle according to the travel path;
- and
- an acceleration control unit which controls acceleration of the vehicle according to the travel path,
- wherein when calculating the travel path to cause the vehicle to turn to the left side or the right side and then turn to the other side, the path generation unit calculates the travel path so that a peak value of a curvature of the travel path decreases in a section where the vehicle speed is higher.
A vehicle movement control method for controlling steering and acceleration/deceleration of a vehicle, the method comprising:
- a path generation step of calculating a travel path for the vehicle;
- a steering angle control step of controlling a steering angle of the vehicle according to the travel path;
- and
- an acceleration control step of controlling acceleration of the vehicle according to the travel path,
- wherein in the path generation step, when calculating the travel path to cause the vehicle to turn to one of the left and right and then turn to the other side, the travel path is calculated so that a peak value of a curvature of the travel path decreases in a section where the vehicle speed is higher.
A vehicle movement control program for causing a vehicle movement control device to execute a control calculation for controlling steering and acceleration/deceleration of a vehicle, the program causing the vehicle movement control device to execute:
- a path generation step of calculating a travel path for the vehicle;
- a steering angle control step of calculating a control command for controlling a steering angle of the vehicle according to the travel path;
- and
- an acceleration control step of calculating a control command for controlling acceleration of the vehicle according to the travel path,
- wherein in the path generation step, when causing the vehicle movement control device the travel path to cause the vehicle to turn to one of the left and right and then turn to the other side, the vehicle movement control device is caused to calculate the travel path so that a peak value of a curvature of the travel path decreases in a section where the vehicle speed is higher.
Dependencies are inferred from the claim text.