Patent ID: 9630621
Date: 2017-04-25
CPC Classifications: B60W,B62D,G05D

Claim:
1. An automatic drive control method for a vehicle, wherein a target control quantity for automatically controlling at least either one of a rudder angle of a steered wheel and a braking/driving force of the vehicle is calculated for each control cycle according to a driving situation of the vehicle, and at least either one of the rudder angle of the steered wheel and the braking/driving force of the vehicle is automatically controlled based on the target control quantity, the method comprising the steps of: calculating at least a target control quantity for a current cycle and target control quantities for a first cycle to a second cycle as future target control quantities, the first and second cycles being after the current cycle; and increasingly correcting a magnitude of the target control quantity for the current cycle to a value equal to or more than a preliminarily set reference value, in a situation in which the magnitude of the target control quantity for the current cycle is less than the reference value, in the case where it is determined based on the future target control quantities that a probability is high that the future target control quantity has a sign identical to the sign of the target control quantity for the current cycle and the magnitude thereof increases to the reference value or above by the second cycle at the latest.