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1. JP2018103732 - VEHICLE TRAVEL CONTROL DEVICE AND AUTOMATIC OPERATION CONTROL METHOD

Office Japon
Numéro de la demande 2016251301
Date de la demande 26.12.2016
Numéro de publication 2018103732
Date de publication 05.07.2018
Type de publication A
CIB
B62D 6/00
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
62VÉHICULES TERRESTRES SE DÉPLAÇANT AUTREMENT QUE SUR RAILS
DVÉHICULES À MOTEURS; REMORQUES
6Dispositions pour la commande automatique de la direction en fonction des conditions de conduite, qui sont détectées et pour lesquelles une réaction est appliquée, p.ex. circuits de commande
B62D 101/00
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
62VÉHICULES TERRESTRES SE DÉPLAÇANT AUTREMENT QUE SUR RAILS
DVÉHICULES À MOTEURS; REMORQUES
101Vitesse du véhicule
B62D 111/00
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
62VÉHICULES TERRESTRES SE DÉPLAÇANT AUTREMENT QUE SUR RAILS
DVÉHICULES À MOTEURS; REMORQUES
111Forces perturbant la trajectoire désirée du véhicule, p.ex. forces transversales par rapport à la direction de déplacement
B62D 113/00
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
62VÉHICULES TERRESTRES SE DÉPLAÇANT AUTREMENT QUE SUR RAILS
DVÉHICULES À MOTEURS; REMORQUES
113Position d'éléments du mécanisme de direction, p.ex. des roues directrices ou du volant
B62D 119/00
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
62VÉHICULES TERRESTRES SE DÉPLAÇANT AUTREMENT QUE SUR RAILS
DVÉHICULES À MOTEURS; REMORQUES
119Couple au volant
B62D 137/00
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
62VÉHICULES TERRESTRES SE DÉPLAÇANT AUTREMENT QUE SUR RAILS
DVÉHICULES À MOTEURS; REMORQUES
137Conditions non spécifiées dans les groupes B62D101/-B62D135/95
CPC
B60W 30/045
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
02Control of vehicle driving stability
045Improving turning performance
B62D 6/002
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
002computing target steering angles for front or rear wheels
B62D 15/025
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
B62D 5/0457
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
5Power-assisted or power-driven steering
04electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
0457characterised by control features of the drive means as such
B62D 6/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
G05D 1/021
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
Déposants TOYOTA MOTOR CORP
トヨタ自動車株式会社
Inventeurs INOUE TAKESHI
井上 豪
TANIMOTO MITSUTAKA
谷本 充隆
YOKOTA HISAHIRO
横田 尚大
KUDO YOSHIO
工藤 佳夫
AOKI YUTAKA
青木 裕
Mandataires 高橋 英樹
高田 守
大西 秀和
Titre
(EN) VEHICLE TRAVEL CONTROL DEVICE AND AUTOMATIC OPERATION CONTROL METHOD
(JA) 車両走行制御装置及び自動運転制御方法
Abrégé
(EN)

PROBLEM TO BE SOLVED: To provide an automatic operation control technique in which vehicle stabilizing control suited for automatic operation is incorporated.

SOLUTION: A vehicle is equipped with an EPS device. Automatic operation control includes: target steering angle calculation processing for calculating a target steering angle of a wheel; and steering control for steering the wheel by operating the EPS device so that a steering angle of the wheel is the target steering angle. The target steering angle calculation processing includes: (1) first processing for calculating an automatic operation steering angle and a target state amount requested by automated steering in automatic operation; (2) second processing for calculating a counter steering angle requested by vehicle stabilizing control, on the basis of the target state amount without using steering wheel angle; and (3) third processing for calculating a sum of the automatic operation steering angle and the counter steering angle, as the target steering angle.

SELECTED DRAWING: Figure 7

COPYRIGHT: (C)2018,JPO&INPIT

(JA)

【課題】自動運転に適した車両安定化制御を組み込んだ自動運転制御技術を提供すること。
【解決手段】車両は、EPS装置を備える。自動運転制御は、車輪の目標舵角を算出する目標舵角算出処理と、車輪の舵角が目標舵角となるようにEPS装置を作動させて車輪を転舵する転舵制御と、を含む。目標舵角算出処理は、(1)自動運転における自動操舵に要求される自動運転舵角と目標状態量を算出する第1処理と、(2)ハンドル角を用いることなく、目標状態量に基づいて、車両安定化制御に要求されるカウンタ舵角を算出する第2処理と、(3)自動運転舵角とカウンタ舵角の和を目標舵角として算出する第3処理と、を含む。
【選択図】図7