Vehicle control method and vehicle control device
A vehicle control device includes: a steering angle calculating unit configured to calculate a target steering angle of a steering wheel of a subject vehicle such that the subject vehicle follows a travel trajectory for a lane change; a steering angle correcting unit configured to correct the target steering angle based on a subject-lane slope representing a slope of a road surface in a width direction of a subject lane in which the subject vehicle is traveling and an adjacent-lane slope representing a slope of a road surface in a width direction of an adjacent lane being a lane change destination of the subject vehicle; and a steering control unit configured to perform steering control such that a steering angle of the steering wheel follows the corrected target steering angle.
1. A vehicle control method to be executed by a controller, wherein the controller is configured to:
calculate a target steering angle of a steering wheel of a subject vehicle such that the subject vehicle follows a target travel trajectory for a lane change;
correct, before the subject vehicle enters an adjacent lane being a lane change destination of the subject vehicle, the target steering angle using an adjacent-lane slope representing a slope of a road surface in a width direction of the adjacent lane in addition to a subject-lane slope representing a slope of a road surface in a width direction of a subject lane in which the subject vehicle is traveling; and
perform steering control such that a steering angle of the steering wheel follows the corrected target steering angle.
2. The vehicle control method according to claim 1 , wherein the controller is configured to:
calculate a criterion distance from the subject vehicle to a lane boundary line between the subject lane and the adjacent lane at predetermined time intervals;
determine weighting of each of the subject-lane slope and the adjacent-lane slope in accordance with the calculated criterion distance; and
correct the target steering angle based on the weighted subject-lane slope and the weighted adjacent-lane slope.
3. The vehicle control method according to claim 1 , wherein the controller is configured to acquire information of the subject-lane slope and the adjacent-lane slope using map information.
4. The vehicle control method according to claim 2 , wherein the controller is configured to calculate the criterion distance at the predetermined time intervals from a time when the subject vehicle starts moving in a lateral direction for the lane change.
5. The vehicle control method according to claim 1 , wherein the controller is configured to:
determine whether or not the subject vehicle has finished the lane change;
when determining that the subject vehicle has finished the lane change, calculate the target steering angle such that the subject vehicle follows the target travel trajectory along a lane which has been considered as the adjacent lane before the lane change; and
correct the target steering angle based on a slope of a road surface in a width direction of the lane which has been considered as the adjacent lane before the lane change.
6. A vehicle control device comprising:
a steering angle calculating unit configured to calculate a target steering angle of a steering wheel of a subject vehicle such that the subject vehicle follows a travel trajectory for a lane change;
a steering angle correcting unit configured to correct, before the subject vehicle enters an adjacent lane being a lane change destination of the subject vehicle, the target steering angle using an adjacent-lane slope representing a slope of a road surface in a width direction of the adjacent lane in addition to a subject-lane slope representing a slope of a road surface in a width direction of a subject lane in which the subject vehicle is traveling; and
a steering control unit configured to perform steering control such that a steering angle of the steering wheel follows the corrected target steering angle.