VEHICLE ROUTE CONTROL METHOD

To provide a method for performing control of motions in a back and forth direction and motions in a horizontal direction of an automatic operation vehicle in association with each other.SOLUTION: Accelerator % and brake % are calculated from control elements controlling back and forth motions, a necessary amount of control of the accelerator % and the brake % is controlled according to planned vehicle speed and vehicle speed of a preceding vehicle, and in response to the speed, a self position is recognized by inertia navigation or GPS by aiming at a route generated by GPS data, and a plan route is travelled. By camera or laser, space ahead is recognized, and driving by changing a scheduled route is also performed. A change route angle is calculated according to a route change curved equation having route change width and a route change distance as variables, a planned route angle is calculated according to the curvature of the planned route, a sum of the change route angle and the planned route angle is obtained, the sum is integrated to obtain curvature, the curvature is applied to a vehicle model to calculate a steering angle, and the change route is traveled.SELECTED DRAWING: Figure 1 【課題】自動運転車両の前後方向の運動と横方向の運動を関係づけて制御する方法を提供する。【解決手段】前後運動をつかさどる制御要素からアクセル％とブレーキ％を算出し、これらアクセル％とブレーキ％の必要制御量を、計画車速ないし先行車車速に則して制御し、その速度を受けて、ＧＰＳデータから生成した経路を目標にして、慣性航法乃至ＧＰＳによって自己位置を認識して計画経路を走行する。カメラ、レーザーによって前方を認識して予定の経路を切替えての走行もする。進路変更巾と進路変更距離を変数とする進路変更曲線式から変更経路進路角を算出し、また計画経路の曲率から計画経路進路角を算出し、これら変更経路進路角と計画経路進路角の和をとって、その和を微分して曲率を求め、その曲率を車両モデルに当て嵌めて操舵角を算出して変更経路を走行する。【選択図】図１