ROTATION CONTROL DEVICE, ROTATION CONTROL METHOD AND ROTATION CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To generate an accurate vehicle trajectory in response to a vehicle's traveling condition.

SOLUTION: The target vehicle trajectory is corrected in response to the vehicle peripheral condition in parking assist or U turn assist and a target wheel speed is given to respective wheels so as to realize the target vehicle trajectory and generate speed difference between the rotation of inner and outer wheels. The target wheel speed is accomplished by control of braking force of the respective wheels and control of driving force. Thereby, rotation can be performed at a turning radius smaller than that generated by a usual steering angle and the accurate vehicle trajectory like the target vehicle trajectory can be generated avoiding an obstacle even if it exists.

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