Vehicle drive-control device
First Claim
Patent Images
1. A vehicle comprising:
- a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory;
a steering wheel configured to be operated by a driver and serve as a steering input device;
a power steering device configured to generate steering assist torque for steering front wheels which are steered wheels; and
a steering relation varying device that is provided between the steering wheel and the power steering device and is configured to vary a relationship between an operation position of the steering wheel and a steered angle of the front wheels,wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by varying the operation position of the steering wheel with respect to the steered angle of said front wheels by controlling the power steering device and the steering relation varying device before the change in the travel direction is actually made by the trajectory control.
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Abstract
A vehicle drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.
43 Citations
20 Claims
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1. A vehicle comprising:
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a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory; a steering wheel configured to be operated by a driver and serve as a steering input device; a power steering device configured to generate steering assist torque for steering front wheels which are steered wheels; and a steering relation varying device that is provided between the steering wheel and the power steering device and is configured to vary a relationship between an operation position of the steering wheel and a steered angle of the front wheels, wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by varying the operation position of the steering wheel with respect to the steered angle of said front wheels by controlling the power steering device and the steering relation varying device before the change in the travel direction is actually made by the trajectory control. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 20)
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2. A vehicle comprising:
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a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory; and a first power steering device configured to vary a steered angle of front wheels; and a second power steering device configured to vary a steered angle of rear wheels, wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by changing at least one of a yaw angle of the vehicle and a lateral position of the vehicle with respect to a lane by controlling the first and second power steering devices before the change in the travel direction is actually made by the trajectory control. - View Dependent Claims (17)
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3. A vehicle comprising:
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a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory; a steering wheel configured to be operated by a driver and serve as a steering input device; and a steering relation varying device that is provided between the steering wheel and front wheels which are steered wheels and is configured to vary a relationship between an operation position of a steering wheel operated by a driver and a steered angle of the front wheels, wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by changing the operation position of the steering wheel by controlling the steering relation varying device to vary the operation position of said steering wheel with respect to the steered angle of said front wheels before the change in the travel direction is actually made by the trajectory control. - View Dependent Claims (18)
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4. A vehicle comprising:
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a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory; a steering wheel configured to be operated by a driver and serve as a steering input device; a first power steering device configured to generate steering assist torque for steering front wheels which are steered wheels; a steering relation varying device that is provided between the steering wheel and the first power steering device and is configured to vary a relationship between an operation position of the steering wheel and a steered angle of the front wheels; and a second power steering device configured vary a steered angle of rear wheels, wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by changing, at least one of a yaw angle of the vehicle and a lateral position of the vehicle by controlling the first power steering device, the steering relation varying device, and the second power steering device before the change in the travel direction is actually made by the trajectory control. - View Dependent Claims (19)
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Specification