Title:
VEHICLE CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/162786
Kind Code:
A1
Abstract:
A vehicle control device according to one aspect of the present invention comprises: a lateral position acquisition unit that acquires a lateral position of a vehicle; a feedforward control unit that determines a feedforward steering angle corresponding to a target yaw rate; a feedback control unit that determines a feedback steering angle on the basis of a yaw rate measured by a yaw rate sensor and a steering angle measured by a steering angle sensor; a steering angle determination unit that determines the steering angle of the vehicle on the basis of the feedforward steering angle and the feedback steering angle; an erratic steering determination unit that detects erratic steering of the vehicle on the basis of a change over time in the lateral position of the vehicle; and an adjustment unit that, when the erratic steering determination unit has detected erratic steering of the vehicle, adjusts the feedback steering angle so as to reduce an amount of variation of the feedback steering angle relative to an average value thereof over a most recent fixed period.
Inventors:
TSUKUDA SHUNSUKE (JP)
Application Number:
PCT/JP2023/005040
Publication Date:
August 31, 2023
Filing Date:
February 14, 2023
Export Citation:
Assignee:
HINO MOTORS LTD (JP)
International Classes:
B62D6/00; B62D13/00; B62D101/00; B62D113/00
Foreign References:
| JP2017135917A | 2017-08-03 | |||
| JP2018144691A | 2018-09-20 | |||
| JP2020040524A | 2020-03-19 | |||
| JP2018122731A | 2018-08-09 |
Attorney, Agent or Firm:
HASEGAWA Yoshiki et al. (JP)
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