US 12,397,777 B2
Travel assistance method and travel assistance device
Fumiya Tsuda, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP); and Renault S.A.S., Boulogne-Billancourt (FR)
Appl. No. 18/854,447
Filed by Nissan Motor Co., Ltd., Yokohama (JP); and Renault S.A.S., Boulogne-Billancourt (FR)
PCT Filed Apr. 5, 2022, PCT No. PCT/IB2022/000177
§ 371(c)(1), (2) Date Oct. 4, 2024,
PCT Pub. No. WO2023/194760, PCT Pub. Date Oct. 12, 2023.
Prior Publication US 2025/0171013 A1, May 29, 2025
Int. Cl. B60W 30/045 (2012.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 40/103 (2012.01); B60W 40/105 (2012.01)
CPC B60W 30/045 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 40/103 (2013.01); B60W 40/105 (2013.01); B60W 2520/10 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2540/18 (2013.01); B60W 2720/14 (2013.01); B60W 2720/20 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A travel assistance method comprising:
detecting vehicle speed of a vehicle;
detecting a steering angle of a steering wheel;
setting a required braking/driving force according to an operation amount of an accelerator pedal or a brake pedal operated by a driver;
setting a target value of a vehicle body slip angle, the vehicle body slip angle being an angle from a longitudinal direction of a vehicle body to a travel direction of the vehicle, as a target slip angle, based on the vehicle speed and the steering angle;
estimating or detecting an actual slip angle based on at least the vehicle speed and the steering angle, the actual slip angle being an actual vehicle body slip angle;
setting a target braking/driving force by, when a sign of the vehicle body slip angle rotating in a turning direction of the vehicle is defined as positive and a sign of the vehicle body slip angle rotating in an opposite direction to the turning direction is defined as negative, correcting the required braking/driving force in such a manner as to increase a braking/driving force for both of a rear right wheel and a rear left wheel or reduce a braking/driving force generated on both of a front right wheel and a front left wheel when the actual slip angle is larger than the target slip angle and correcting the required braking/driving force in such a manner as to reduce a braking/driving force for both of the rear right wheel and the rear left wheel or increase a braking/driving force generated on both of the front right wheel and the front left wheel when the actual slip angle is smaller than the target slip angle;
generating the target braking/driving force in the vehicle; and
controlling the vehicle based on the generated target braking/driving force in the vehicle.