| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an operation support controlling system capable of an obstacle avoiding action with good responsiveness. <P>SOLUTION: In this operation support controlling system capable of avoiding obstacles at a front, a traveling track of a vehicle is decided for avoiding obstacles, and lateral acceleration is calculated for realizing it. A target lateral acceleration is converted into a yaw rate under a static condition, and a phase advancing term is added. For the purpose of realizing such a yaw rate, a yaw moment is added to the vehicle. This provides an operation support controlling system capable of an obstacle avoiding action with good responsiveness, and also such a system can be realized as a comparatively simple control system. It is validated by computer simulation that response of the system can be obtained at high stability. <P>COPYRIGHT: (C)2004,JPO</p> |
