Vehicle behavior control apparatus

摘要

A vehicle behavior control apparatus mounted in a vehicle to control steering of the vehicle. A virtual road outline, which is an outline of a drivable road region where the vehicle will travel, is determined on the basis of detection results from a location sensor. The virtual road outline is reconstructed as a sequence of road segments, such as straight road segments, and right- and left-hand curved road segments. When a current road segment where the vehicle is currently present is a right- or left-hand curved road segment, a subsequent road segment where the vehicle will be present subsequently is tentatively set to a straight road segment until the vehicle reaches the subsequent road segment. The steering angle is controlled so that a virtual-road boundary distance is adapted to a proper distance from the vehicle to a boundary of the virtual road outline situated in front of the vehicle.

主权项

1. A vehicle behavior control apparatus mounted in a vehicle, comprising:
a vehicle control electronic control unit (VCECU) configured to:
successively acquire detection results from a location sensor that successively detects a position of a boundary of a drivable road region situated in front of the vehicle;successively acquire a current position of the vehicle;determine a virtual road outline that is an outline of a drivable road region where the vehicle will travel on the basis of the successively acquired detection results from the location sensor;reconstruct the determined virtual road outline as a sequence of road segments including straight road segments, right-hand curved road segments, and/or left-hand road segments;when a current road segment where the vehicle is currently present is a right-hand or left-hand curved road segment, tentatively set a subsequent road segment where the vehicle will be present subsequent to the current road segment to a straight road segment until the vehicle reaches the subsequent road segment, even when the subsequent road segment is actually a left-hand or right-hand curved road segment;on the basis of an acquired current position of the vehicle and a portion of the virtual road outline from the current road segment to the subsequent road segment, calculate a virtual-road boundary distance that is a distance from the vehicle to a boundary of the virtual road outline situated in front of the vehicle;on the basis of the portion of the virtual road outline from the current road segment to the subsequent road segment, calculate a proper distance from the vehicle to the boundary of the virtual road outline situated in front of the vehicle, and an electrical power steering electronic control unit (EPSECU) configured to control a steering angle so that the calculated virtual-road boundary distance is adapted to the calculated proper distance.