| 摘要 |
PROBLEM TO BE SOLVED: To suppress dispersion of the deviation in the forward transverse position, and to obtain excellent guidance controllability with less time lag when performing follow-up traveling of the future position of a subject vehicle to a predetermined target advancing path. SOLUTION: A present time deviation calculation unit 31 reads the deviation D in the forward transverse position for a predetermined time in the past, calculates an approximate quadratic curve by the minimum square method based on each deviation D of the forward transverse position, and obtains from the approximate quadratic curve the estimated deviation D' of the forward transverse position at the present time to, the target deviation gain Gp, and the deviation differentiation value (d(D')/dt). A proportional to control unit 32 calculates the proportional to control quantity (Gp D'), a differentiation control unit 33 calculates the differentiation control quantity (Gd d(D')/dt), and a steering control unit 34 calculates the target steering wheel angleδh[δh=(Gp D')+(Gd d(D')/dt)], and controls the steering wheel angle so that the deviation between the target steering wheel angleδh and the actual steering wheel angleθH is converged to zero, in other words, a subject vehicle 3 follows up along the target advancing path. COPYRIGHT: (C)2005,JPO&NCIPI |
