DRIVING ASSIST CONTROLLER FOR VEHICLE

摘要

Feed-forward control amounts of an electric motor, which are necessary for a vehicle to travel along the target course under the feed-forward control, are calculated on the basis of the road shape. The prediction time is variably set to be shorter as the present displacement between the target course and the vehicle position becomes larger, the position after elapse of the prediction time is defined as a forward gaze point, and the feedback control amounts of the electric motor, which are necessary for the vehicle to travel along the target course under the feedback control, are calculated on the basis of the traveling state of the vehicle so as to zero the displacement between the target course and the vehicle trajectory in the forward gaze point. The electric motor current value is then calculated from the driver steering torque, feed-forward control amounts, and feedback control amounts.

主权项

1. A driving assist controller for a vehicle, comprising:
a target course setting unit that sets a target course along which a vehicle equipped the driving assist controller is to travel; a vehicle trajectory estimation unit that estimates a trajectory of the vehicle; a forward gaze point calculation unit that calculates a position after elapse of a prediction time, which is variably set according to a substantially present displacement between the target course and the vehicle position, as a forward gaze point; and a control unit that controls the vehicle such that the vehicle travels along the target course in response at least to a displacement between the target course in the forward gaze point and the estimated trajectory of the vehicle.