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US-12617459-B2 - Vehicle control device

US12617459B2US 12617459 B2US12617459 B2US 12617459B2US-12617459-B2

Abstract

A vehicle control device according to an embodiment includes a lateral position acquisition unit configured to acquire a lateral position of the vehicle, a feedforward control unit configured to determine a feedforward steering angle corresponding to the target yaw rate, a feedback control unit configured to determine a feedback steering angle, a steering angle determination unit configured to determine a steering angle of the vehicle, a wobble determination unit configured to detect a wobble of the vehicle based on a temporal change in the lateral position of the vehicle, and a correction unit configured to correct the feedback steering angle so that a variation amount with respect to an average value of the feedback steering angle in a most recent certain period becomes small when the wobble of the vehicle is detected by the wobble determination unit.

Inventors

  • Shunsuke TSUKUDA

Assignees

  • HINO MOTORS, LTD.

Dates

Publication Date
20260505
Application Date
20230214
Priority Date
20220224

Claims (5)

  1. 1 . A vehicle control device mounted on a vehicle with a yaw rate sensor to measure a yaw rate and a steering angle sensor to measure a steering angle, and configured to control the steering angle of the vehicle so that the yaw rate of the vehicle becomes a target yaw rate, the vehicle control device comprising: a lateral position acquisition unit configured to acquire a lateral position of the vehicle; a feedforward control unit configured to determine a feedforward steering angle corresponding to the target yaw rate; a feedback control unit configured to determine a feedback steering angle based on a yaw rate of the vehicle measured by the yaw rate sensor and a steering angle of the vehicle measured by the steering angle sensor; a target steering angle determination unit configured to determine a target steering angle of the vehicle based on the feedforward steering angle and the feedback steering angle; a wobble determination unit configured to detect a wobble of the vehicle based on a temporal change in the lateral position of the vehicle; and a correction unit configured to correct the feedback steering angle so that a variation amount with respect to an average value of the feedback steering angle in a most recent certain period is reduced when the wobble of the vehicle is detected.
  2. 2 . The vehicle control device according to claim 1 , wherein the wobble determination unit determines that the vehicle wobbles when the number of times a variation amount of the lateral position exceeds a first threshold value within a predetermined period is a second threshold value or more.
  3. 3 . The vehicle control device according to claim 1 , wherein the correction unit stops correction of the feedback steering angle when an amount of change in curvature of a travel lane of the vehicle becomes a third threshold value or more.
  4. 4 . The vehicle control device according to claim 1 , wherein the correction unit stops correction of the feedback steering angle when an amount of change in an inclination angle in a width direction of a travel lane of the vehicle becomes a fourth threshold value or more.
  5. 5 . The vehicle control device according to claim 1 , wherein the correction unit stops correction of the feedback steering angle when an amount of change in the lateral position of the vehicle becomes a fifth threshold value or more.

Description

TECHNICAL FIELD The present disclosure relates to a vehicle control device that controls a steering angle of a vehicle. BACKGROUND ART A vehicle control device that controls a steering angle of a vehicle is known. For example, Patent Literature 1 below describes a travel control device that is mounted on a vehicle towing a trailer and calculates a target steering angle for traveling following a target route. When detecting the roll vibration of the trailer, the travel control device calculates a corrected steering angle for reducing the roll vibration, performs steering correction in accordance with the cycle and phase of the roll vibration of the trailer with the target steering angle as a base point by the calculated corrected steering angle, and reduces the roll vibration of the trailer. CITATION LIST Patent Literature Patent Literature 1: Japanese Unexamined Patent Publication No. 2019-156066 SUMMARY OF INVENTION Technical Problem The device described in Patent Literature 1 calculates a target steering angle by adding a steering angle calculated from a curvature of a target route by feedforward control and a steering angle calculated from a lateral position deviation and a yaw angle deviation with respect to the target route by feedback control. In such feedback control, the feedback amount of the steering angle greatly varies depending on the characteristics of the vehicle, and the vehicle may wobble. In particular, since a coupling vehicle towing a trailer has a complicated behavior as compared with an uncoupled vehicle such as a truck, a feedback amount of a steering angle becomes excessive in general feedback control, and wobble easily occurs. Therefore, an object of the present disclosure is to provide a vehicle control device capable of suppressing the wobble of the vehicle. Solution to Problem According to an embodiment, a vehicle control device mounted on a vehicle with a yaw rate sensor to measure a yaw rate and a steering angle sensor to measure a steering angle, and configured to control the steering angle of the vehicle so that the yaw rate of the vehicle becomes a target yaw rate is provided. The vehicle control device includes a lateral position acquisition unit configured to acquire a lateral position of the vehicle, a feedforward control unit configured to determine a feedforward steering angle corresponding to the target yaw rate, a feedback control unit configured to determine a feedback steering angle based on a yaw rate of the vehicle measured by the yaw rate sensor and a steering angle of the vehicle measured by the steering angle sensor, a target steering angle determination unit configured to determine a target steering angle of the vehicle based on the feedforward steering angle and the feedback steering angle, a wobble determination unit configured to detect a wobble of the vehicle based on a temporal change in the lateral position of the vehicle, and a correction unit configured to correct the feedback steering angle so that a variation amount with respect to an average value of the feedback steering angle in a most recent certain period is reduced when the wobble of the vehicle is detected. In the present aspect, the feedback steering angle is corrected so that the variation amount with respect to the average value of the feedback steering angle in the most recent certain period is reduced when the wobble of the vehicle is detected. As described above, by reducing the variation amount of the feedback steering angle, the variation of the target steering angle is also reduced, so that the wobble of the vehicle can be suppressed. In an embodiment, the wobble determination unit may determine that the vehicle wobbles when the number of times a variation amount of the lateral position exceeds the first threshold value within the predetermined period is the second threshold value or more. In this manner, by determining the wobble of the vehicle using the variation amount of the lateral position of the vehicle, the wobble of the vehicle can be appropriately detected. In an embodiment, the correction unit may stop correction of the feedback steering angle when an amount of change in curvature of a travel lane of the vehicle becomes a third threshold value or more. When the curvature of the travel lane changes, the average value of the feedback steering angles changes, so that it becomes difficult to appropriately correct the feedback steering angle. In this embodiment, since the correction of the feedback steering angle is stopped when the amount of change in curvature of the traveling lane increases, it is possible to perform appropriate steering angle control according to the travel environment. In an embodiment, the correction unit may stop the correction of the feedback steering angle when an amount of change in the inclination angle in a width direction of a travel lane of the vehicle becomes a fourth threshold value or more. When the inclination angle in the width direction of th