Vehicle travel control device
View Patent ↗A vehicle travel control device executes trajectory following control to make the vehicle follow a target trajectory. A delay time represents control delay of the trajectory following control. A delay compensation time is at least a part of the delay time. The trajectory following control includes: displacement estimation processing that estimates a displacement of the vehicle in the delay compensation time; and delay compensation processing that corrects a deviation between the vehicle and the target trajectory based on the estimated displacement to compensate the control delay. The displacement estimation processing is effective in an effective period and ineffective in an ineffective period. When the ineffective period is included in the delay time of the trajectory following control, the displacement estimation processing is executed in a temporary mode by using sensor-detected information in the effective period without using the sensor-detected information in the ineffective period.
1. A vehicle travel control device that controls travel of a vehicle, comprising:
a sensor configured to detect a travel state of the vehicle; and
a control device configured to execute trajectory following control that generates a target trajectory and controls travel of the vehicle such that the vehicle follows the target trajectory, wherein
a delay time is a time representing control delay of the trajectory following control,
a delay compensation time is at least a part of the delay time,
the trajectory following control comprises:
information acquisition processing that acquires sensor-detected information indicating a result of detection by the sensor;
displacement estimation processing that estimates a displacement of the vehicle in the delay compensation time based on the sensor-detected information;
delay compensation processing that corrects a deviation between the vehicle and the target trajectory based on the estimated displacement to compensate the control delay; and
travel control processing that controls the travel of the vehicle such that the deviation decreases after the delay compensation processing,
the control device is further configured to determine an effective period in which the displacement estimation processing is effective and an ineffective period in which the displacement estimation processing is ineffective, wherein determining the effective period and the ineffective period is based on at least one of a functioning state of the sensor and the sensor-detected information,
when the ineffective period is included in the delay time of the trajectory following control, the control device executes the displacement estimation processing in a temporary mode, and
in the temporary mode, the control device executes the displacement estimation processing by using at least the sensor-detected information in the effective period without using the sensor-detected information in the ineffective period.
2. The vehicle travel control device according to claim 1 , wherein
when both the effective period and the ineffective period are included in the delay time of the trajectory following control, the control device sets the effective period included in the delay time as the delay compensation time used in the temporary mode.
3. The vehicle travel control device according to claim 2 , wherein
when a length of the effective period included in the delay time of the trajectory following control is less than a threshold, the control device is configured to:
estimate the travel state in the ineffective period based on the sensor-detected information in the effective period to acquire estimated travel state information indicating the estimated travel state;
set the delay time as the delay compensation time; and
execute the displacement estimation processing by using the sensor-detected information in the effective period and the estimated travel state information in the ineffective period.
4. The vehicle travel control device according to claim 1 , wherein
in the temporary mode, the control device is configured to:
estimate the travel state in the ineffective period based on the sensor-detected information in the effective period to acquire estimated travel state information indicating the estimated travel state;
set the delay time as the delay compensation time; and
execute the displacement estimation processing by using the sensor-detected information in the effective period and the estimated travel state information in the ineffective period.
5. The vehicle travel control device according to claim 1 , wherein
when the ineffective period is not included in the delay time of the trajectory following control, the control device executes the displacement estimation processing in a normal mode,
in the normal mode, the control device sets the delay time as the delay compensation time and executes the displacement estimation processing by using the sensor-detected information in the delay time, and
the control device switches a mode of the displacement estimation processing between the normal mode and the temporary mode according to whether or not the ineffective period is included in the delay time of the trajectory following control.
6. The vehicle travel control device according to claim 5 , wherein
in the travel control processing, the control device calculates a target turning angle based on the deviation between the vehicle and the target trajectory and executes feedback control such that an actual turning angle follows the target turning angle, and
when the displacement estimation processing is executed in the temporary mode, the control device decreases a control gain used for calculating the target turning angle from the deviation as compared with a case where the displacement estimation processing is executed in the normal mode.