| 摘要 |
<p>PROBLEM TO BE SOLVED: To satisfactorily balance prompt followability to a target course and stability of vehicle behavior in traveling the target course.SOLUTION: Feed forward control amounts Iff, Tff of an electric motor 12, which are necessary for traveling along a target course under feed forward control on the basis of a traveling road shape, are calculated . A prediction time T is variably set to be shorter as a difference between the target course and an own vehicle position at present is large, and setting a position after lapse of the prediction time T as a forward gazing point, feed back control amounts Ifb, Tfb of the electric motor 12, which are necessary for traveling along the target course under feed back control on the basis of a traveling state of the vehicle to eliminate a difference between the target course and an own vehicle trajectory at the forward gazing point, are calculated. An electric motor current value Icmd is calculated from steering torque Td of a driver, the feed forward control amounts Iff, Tff, and the feed back control amounts Ifb, Tfb.</p> |
