Turning controller for vehicle, computer-readable medium storing turning control program, and turning control method for vehicle

A non-transitory computer readable medium storing a turning control program executed by a controller for a vehicle, the vehicle including wheels including a front wheel and a rear wheel, a front wheel steering device configured to adjust a steered angle of the front wheel, and a rear wheel steering device configured to adjust a steered angle of the rear wheel, the turning control program being configured to cause the controller to execute:

• a time obtaining process that obtains collision prediction time, the collision prediction time being a predicted value of an amount of time before the vehicle collides with an obstacle in a case in which the vehicle is approaching the obstacle;
• a determining process that determines whether a target lateral movement amount is greater than or equal to a lateral movement amount determination value, the target lateral movement amount being a movement amount in a lateral direction of the vehicle required to avoid a collision between the vehicle and the obstacle;
• and
• a counter-phase automatic turning process that, in a case in which the collision prediction time is shorter than or equal to a determination prediction time and the target lateral movement amount is determined to be greater than or equal to the lateral movement amount determination value, outputs a command for steering the front wheel to the front wheel steering device and outputs a command for steering the rear wheel in a direction opposite to a steering direction of the front wheel to the rear wheel steering device, in order to avoid a collision between the vehicle and the obstacle.

A turning control method for a vehicle, the vehicle including wheels including a front wheel and a rear wheel, a front wheel steering device configured to adjust a steered angle of the front wheel, and a rear wheel steering device configured to adjust a steered angle of the rear wheel, the turning control method comprising:

• obtaining collision prediction time, the collision prediction time being a predicted value of an amount of time before the vehicle collides with an obstacle in a case in which the vehicle is approaching the obstacle;
• determining whether a target lateral movement amount is greater than or equal to a lateral movement amount determination value, the target lateral movement amount being a movement amount in a lateral direction of the vehicle required to avoid a collision between the vehicle and the obstacle;
• and
• in a case in which the collision prediction time is shorter than or equal to a determination prediction time and the target lateral movement amount is determined to be greater than or equal to the lateral movement amount determination value, outputting a command for steering the front wheel to the front wheel steering device and outputting a command for steering the rear wheel in a direction opposite to a steering direction of the front wheel to the rear wheel steering device, in order to avoid a collision between the vehicle and the obstacle.