Vehicle travel control device

摘要

A travel control device for a vehicle has a steered angle varying device 14 or a by-wire type steering device 96 which modifies a relationship of steered angle of steerable wheels to steering operation amount by a driver. When the control device decides that vehicle trajectory control is to be initiated or renewed, it calculates a target steered angle of the steerable wheels for driving the vehicle along a target trajectory which is required for the vehicle to arrive at a target arrival position in a target traveling direction on the basis of steering operation amount by a driver and vehicle speed at a time point of the decision. The control device controls the steered angle of the steerable wheels according to the target steered angle in feed-forward or feed-back manner.

主权项

1. A vehicle travel control device comprising:
a steered angle control device configured to change a relationship of a steered angle of steerable wheels to a steering operation amount by a driver; and a control unit configured to control the steered angle of the steerable wheels by said steered angle control device, wherein said control unit is configured to
follow a predetermined procedure to decide whether or not a condition for initiating or renewing vehicle trajectory control is satisfied, andwhen an affirmative decision is made that said condition is satisfied, determine a target arrival position and drive a target trajectory which is required for the vehicle to arrive at said target arrival position in a target traveling direction and extends from a position of the vehicle at a time point of the affirmative decision to said target arrival position on the basis of a steering operation amount by the driver and a vehicle speed at the time point of the affirmative decision, calculate a target steered angle of the steerable wheels for driving the vehicle along said target trajectory, and control the steered angle of the steerable wheels by said steered angle control device according to said target steered angle, said target traveling direction is determined on the basis of the steering operation amount by the driver at said time point, and with an angle which is determined on the basis of the steering operation amount by the driver at said time point being a reference angle, said target arrival position is on a straight line which is dropped from a position of the vehicle at said time point in a direction inclined at said reference angle relative to a longitudinal direction of the vehicle and a distance from the position of the vehicle at said time point to said target arrival position is a value which is dependent on vehicle speed.