JP2011255759A - Device and program for control of vehicle motion - Google Patents

Abstract

PROBLEM TO BE SOLVED: To derive a vehicle body resultant force and a collision-avoidance driving trajectory for avoiding a moving obstacle using a map of a simple configuration.SOLUTION: A device and a program make a vehicle avoid the moving obstacle along following steps. A velocity direction of the vehicle and the maximum value of a vehicle body resultant force immediately after the avoidance of the obstacle are set. The vehicle body resultant force that minimizes a movement distance in an anteroposterior direction of the vehicle body when moving in the set velocity direction while avoiding the obstacle, is derived using a shortest three-dimensional map in which three parameters different from each other are calculated by using an x-axis component vand a y-axis component vof the own vehicle, a y-axis component zof a velocity of the obstacle and a y-axis component zof a position of the obstacle and the maximum value F/m of the vehicle body resultant force, and relationship between the three parameters and: a value ν' which is a value of a first introduction parameter νfor obtaining the vehicle body resultant force minimizing a movement distance in an anteroposterior direction of the vehicle body when moving in the set velocity direction while avoiding the obstacle, under a specific assumption; a value ν' which is a value of a second introduction parameter νfor obtaining the vehicle body resultant force minimizing a movement distance in an anteroposterior direction of the vehicle body when moving in the set velocity direction while avoiding the obstacle under a specific assumption; and a time t' which is a value of a time trequired for avoiding the obstacle under a specific assumption.

Description

  The present invention relates to a vehicle motion control device and a program, and more particularly to a vehicle motion control device and a program for deriving a vehicle body synthesis force and avoidance trajectory for avoiding an obstacle moving using a map having a simple configuration.

  Conventionally, the ratio of the target composite force applied to the vehicle body and the limit composite force estimated from the size of the limit friction circle of each wheel is set as a μ utilization rate, and tires are generated from the size of the limit friction circle and the μ utilization rate. The direction of tire generated force generated at each wheel to be controlled and the direction of tire generated force are set. Based on the set size of tire generated force and the direction of tire generated force set, A vehicle control device that performs coordinated control of steering and braking or steering and driving has been proposed (see Patent Document 1).

  Also, the amount of avoidance operation to avoid obstacles existing on the road ahead of the vehicle, the combined force of acceleration force, deceleration force and lateral force generated in the vehicle is greater than the maximum grip force of the vehicle tire. There has been proposed an avoidance operation calculation device that calculates within a smaller range (see Patent Document 2).

  Also, obstacles present on the road on which the vehicle travels are detected, and the target attitude angle after avoiding the own vehicle is set based on the predicted position of the own vehicle after the evaluation end time from the current detection time and the external environment. The risk potential function is set based on the external environment and obstacle state quantity at the current time, and the evaluation value based on the time integral value of the risk and driving operation quantity, the difference between the target attitude angle and the attitude angle of the vehicle And an avoidance operation calculation device that derives a trajectory that minimizes the evaluation value has been proposed (see Patent Document 3).

  In addition, a physical quantity determined based on the distance between the own vehicle and the obstacle, the relative speed of the own vehicle with respect to the obstacle, and the lateral movement distance to avoid is introduced, and the physical quantity, the weight of the own vehicle, and the vehicle body composite force A map for deriving the direction of the vehicle body composite force for avoiding at the shortest distance by the maximum value of the vehicle is stored in advance, the shortest avoidance distance in straight braking, the shortest avoidance distance in simple lateral movement, and the current vehicle at the current time There has been proposed a vehicle control device that compares the shortest avoidance distance obtained from a map based on the state of an obstacle, selects the shortest avoidance trajectory, and calculates the vehicle body composite force at the current time based on the trajectory (See Patent Document 4).

  Also, the robot position, the target arrival position that the robot will reach, the target speed when the robot reaches the target arrival position, and the maximum speed limit or maximum acceleration limit value of the robot, Control of the robot so that the sum of the squares of the acceleration of the robot is minimized in a trajectory that takes a speed that does not exceed the maximum speed limit or the maximum acceleration and that takes the same time to reach the target position from the initial position of the robot. An apparatus has been proposed (see Patent Document 5).

  Further, when the vehicle stops at the start position P, an optimum target position and a first movement trajectory composed of an arc having a constant radius r passing through the optimum target position are set based on the status of surrounding objects detected by the object detection means. A predetermined position S is selected on the first movement locus, a second movement locus from the start position P to the predetermined position S is set, and the predetermined position S indicates that the moving distance of the vehicle on the second movement locus is An automatic steering device for a vehicle that is selected to be minimized has been proposed (see Patent Document 6).

  In addition, a physical quantity determined based on the distance between the host vehicle and the obstacle, the relative speed of the host vehicle with respect to the obstacle, and the target position to avoid is introduced, and the maximum value is minimized during the avoidance operation by the physical quantity. There has been proposed a vehicle motion control device that stores in advance a map that outputs the direction and magnitude of the vehicle body composite force and controls the vehicle motion by obtaining the vehicle body composite force at the current time from the map (Non-Patent Document 1). reference).

JP 2004-249971 A JP 2007-253746 A JP 2007-253745 A JP 2006-347236 A Japanese Patent Laid-Open No. 7-32277 JP 2001-063597 A

The Japan Society of Mechanical Engineers, Proceedings of the 18th Transport and Logistics Division Conference, Optimal Trajectory Control of Vehicles to Avoid Obstacles, pp. 145-148 (2009)

  However, in the technique of Patent Document 1, the optimal tire generating force of each wheel is derived when a target vehicle body synthesis force is given, but the moving body is avoided in consideration of a desired speed direction. However, there is no description of a method for deriving a trajectory that minimizes the longitudinal movement distance or minimizes the maximum value of the vehicle body composite force.

  Further, in the technique of Patent Document 2, a vehicle body composite force that reaches a desired position is derived. However, in consideration of a desired speed direction, the vertical movement distance is minimized while avoiding the moving body, or the vehicle body A method for deriving the trajectory that minimizes the maximum value of the resultant force is not described.

  Further, in the technique of Patent Document 3, a trajectory approaching a desired position and posture angle is derived, but the vehicle body composite force that reaches the vicinity of the desired position by setting the risk potential function in consideration of the speed of the moving body. Therefore, considering the desired speed direction, the trajectory that minimizes the distance for vertical movement while avoiding the moving body or minimizes the maximum value of the vehicle body composite force is derived. I can't say that.

  Further, in the technique of Patent Document 4, when the maximum value of the relative speed of the host vehicle with respect to the obstacle, the lateral movement distance to avoid, the vehicle weight, and the vehicle body composite force is set, the avoidance that minimizes the avoidance distance is performed. The trajectory is derived, but a method for deriving the trajectory that minimizes the vertical travel distance while minimizing the vertical travel distance while avoiding moving objects in consideration of the desired speed direction with respect to the road is described. It has not been.

  Further, in the technique of Patent Document 5, a trajectory in which the sum of squares of acceleration is minimized in causing the robot to reach a desired position and speed is derived. A method for deriving a trajectory that minimizes the longitudinal movement distance while minimizing the maximum value of the vehicle body composite force while avoiding the above is not described.

  Further, in the technique of Patent Document 6, a trajectory that minimizes the travel distance for causing the host vehicle to reach a desired position is derived. However, in consideration of a desired speed direction, the trajectory is avoided while avoiding a moving body. There is no description of a method for deriving a trajectory that minimizes the moving distance or minimizes the maximum value of the vehicle body composite force.

  In the technique of Non-Patent Document 1, a trajectory that minimizes the maximum value of the vehicle body composite force with respect to a desired position and speed direction in a relative sense is derived, and a map based on the trajectory is stored. The vehicle body composite force at the current time is derived, but in the desired speed direction with respect to the road, the vertical movement distance is minimized while avoiding the moving body, or the maximum value of the vehicle body composite force is minimized. The method for deriving the trajectory is not described.

  The present invention uses a map with a simple configuration to minimize the vertical movement distance while minimizing the vertical movement distance while avoiding moving obstacles in consideration of the desired speed direction with respect to the road, or minimizing the maximum value of the vehicle body synthesis force An object of the present invention is to provide a vehicle motion control device and a program capable of deriving a vehicle body composite force and an avoidance track.

In order to achieve the above object, a vehicle motion control device according to a first aspect of the present invention includes a detecting means for detecting a state quantity including the position and speed of an own vehicle, the position and speed of an obstacle, and a position immediately after avoiding the obstacle. Setting means for setting the speed direction of the host vehicle and the maximum value of the vehicle body composite force; and assuming that the obstacle moves at a constant speed in the lateral direction of the vehicle body, with the speed direction being the vehicle body longitudinal direction, The vehicle body longitudinal component v _{x0 of} the vehicle speed, the vehicle lateral component v _y0 of the vehicle speed, the vehicle vehicle lateral component Z _v of the vehicle speed, and the obstacle relative to the current vehicle position. When moving in the speed direction while avoiding the obstacles, and three different parameters using the component Z _{0 in the} lateral direction of the vehicle body at the position and the maximum value F ₀ / m of the vehicle body composite acceleration, Body to minimize the travel distance Of the first introduction parameter ν ₁ introduced to determine the composite force, the three of the component v _x0 , the component v _y0 , the component Z _v , the component Z ₀ , and the maximum value F ₀ / m. A first three-dimensional map that defines a relationship between a value ν ₁ ′ under the assumption that two values according to the parameter are specific values, the three parameters, and the obstacle while avoiding the obstacle When moving in the speed direction, the second introduction parameter ν ₂ different from the _first introduction parameter ν ₁ introduced to obtain the vehicle body composite force that minimizes the movement distance in the longitudinal direction of the vehicle body is under the above assumption. value [nu _{2 'and,} second three-dimensional map that defines the relationship, as well as a-said three parameters, the time t _e it takes to avoid the obstacle, the time t _e under the _assumption' and , Consisting of a third three-dimensional map that defines the relationship Based on the storage means storing the three-dimensional map, the state quantity detected by the detection means and the maximum value of the vehicle body composite force set by the setting means, the three parameters are calculated, and the calculated three parameters And a derivation means for deriving a vehicle body resultant force that minimizes the movement distance in the longitudinal direction of the vehicle body when moving in the speed direction while avoiding the obstacle, using the shortest three-dimensional map. ing.

According to a second aspect of the present invention, there is provided a vehicle motion control apparatus comprising: a detecting means for detecting a state quantity including a position and speed of the own vehicle; a position and speed of an obstacle; and a speed direction of the own vehicle immediately after avoiding the obstacle; And setting means for setting the maximum value of the vehicle body composite force, and assuming that the obstacle moves at a constant speed in the lateral direction of the vehicle body, where the speed direction is the vehicle body longitudinal direction, A component v _x0 , a vehicle lateral component v _y0 of the speed of the own vehicle, a vehicle lateral component Z _v of the speed of the obstacle, and a vehicle lateral direction of the position of the obstacle relative to the current time position of the host vehicle When the vehicle moves in the speed direction while avoiding the obstacles, the travel distance in the longitudinal direction of the vehicle body is minimized when the component Z ₀ and the maximum value F ₀ / m of the vehicle body composite acceleration are used. The direction of the body acceleration The components v _x0, the components v _y0, the component Z _v, the component Z _0, and although two in accordance with the three parameters of the maximum value F _{0 /} m under the assumption that the specific value Based on the storage means storing the shortest three-dimensional map that defines the relationship with the direction θ ′, the state quantity detected by the detection means, and the maximum value of the vehicle body composite force set by the setting means The vehicle body at the current time that calculates the parameters and minimizes the distance traveled in the longitudinal direction of the vehicle body when moving in the speed direction while avoiding the obstacle using the calculated three parameters and the shortest three-dimensional map And derivation means for deriving the combined force.

According to a third aspect of the present invention, there is provided a vehicle motion control apparatus comprising: a detecting means for detecting a state quantity including a position and speed of an own vehicle; a position and speed of an obstacle; and a speed direction of the own vehicle immediately after avoiding the obstacle. Setting means for setting, and assuming that the obstacle moves at a constant speed in the lateral direction of the vehicle body, where the speed direction is the longitudinal direction of the vehicle body, a vehicle component longitudinal _{vx0 of the} vehicle speed, The vehicle lateral component v _y0 of the speed, the vehicle lateral component Z _{v of} the obstacle speed, the vehicle lateral component Z _{0 of} the obstacle position relative to the current time position of the host vehicle, and the vehicle minimize the respective three different parameters with the longitudinal direction of the vehicle body component X _e of the distance between the vehicle and the obstacle, when moving to the velocity direction while avoiding the obstacle, the maximum value of the vehicle body resultant force Introduced in order to obtain the body synthesis power First introduction parameters [nu _1, wherein component _{v x0,} the components _{v y0,} the component _{Z v,} the component _{Z 0,} and although two in accordance with the three parameters of the components _{X e} is a specific value A first three-dimensional map that defines the relationship between the value ν ₁ ′ and the three parameters, and the vehicle body composite force when moving in the speed direction while avoiding the obstacle The relationship between the second introduction parameter ν ₂ different from the _first introduction parameter ν ₁ introduced in order to obtain the vehicle body composite force that minimizes the maximum value of ν ₂ ′ and the value ν ₂ ′ under the above assumption. A defined second three-dimensional map, and a third 3 that defines the relationship between the three parameters and the time t _e ′ required for avoiding the obstacle, and the time t _e ′ under the assumption. Storage means for storing an optimal three-dimensional map comprising a three-dimensional map; When calculating the three parameters based on the state quantity detected by the detecting means, and using the calculated three parameters and the optimal three-dimensional map, the vehicle moves in the speed direction while avoiding the obstacle. Derivation means for deriving the vehicle body composite force that minimizes the maximum value of the vehicle body composite force.

According to a fourth aspect of the present invention, there is provided a vehicle motion control device comprising: a detecting means for detecting a state quantity including the position and speed of the host vehicle, the position and speed of an obstacle; and the speed direction of the host vehicle immediately after avoiding the obstacle. Setting means for setting, and assuming that the obstacle moves at a constant speed in the lateral direction of the vehicle body, where the speed direction is the longitudinal direction of the vehicle body, a vehicle component longitudinal _{vx0 of the} vehicle speed, The vehicle lateral component v _y0 of the speed, the vehicle lateral component Z _{v of} the obstacle speed, the vehicle lateral component Z _{0 of} the obstacle position relative to the current time position of the host vehicle, and the vehicle minimize the respective three different parameters with the longitudinal direction of the vehicle body component X _e of the distance between the vehicle and the obstacle, when moving to the velocity direction while avoiding the obstacle, the maximum value of the vehicle body resultant force The direction of the direction of the combined vehicle acceleration θ Component v _x0, the components v _y0, the component Z _v, the component Z _0, and the direction theta 'under the assumption that the two are specific value corresponding to the three parameters of the components X _e A first three-dimensional map that defines the relationship between the three parameters, and a vehicle body composite acceleration that minimizes the maximum value of the vehicle body composite force when moving in the speed direction while avoiding the obstacle. the maximum value F _{0 /} m, the maximum value F ₀ '/ m' under the assumption, the storage unit related storing the optimum three-dimensional map of a second three-dimensional map that defines the said detection When the three parameters are calculated based on the state quantity detected by the means and the three parameters calculated and the optimum three-dimensional map are used to move in the speed direction while avoiding the obstacle, The current time when the maximum value of the composite force is minimized And a deriving means for deriving the vehicle body composite force.

  In the first and second aspects of the invention, the derivation means includes a shortest distance of a moving distance in the longitudinal direction of the vehicle body that avoids the left side of the obstacle, and an avoidance path that avoids the right side of the obstacle. It is possible to compare the shortest travel distance in the longitudinal direction of the vehicle body and select an avoidance track on the side having the shortest shortest distance.

  In the third and fourth aspects of the invention, the derivation means may calculate the maximum value of the vehicle body composite force of the avoidance track that avoids the left side of the obstacle and the vehicle body composite force of the avoidance track that avoids the right side of the obstacle. The avoidance trajectory on the side where the maximum value of the vehicle body composite force is smaller can be selected by comparing with the maximum value.

  Further, the detection means can detect the speed of the host vehicle, the relative distance and the relative speed of the obstacle with respect to the host vehicle.

  In addition, the control unit may further include a control unit that controls at least one of a steering angle, a braking force, and a driving force based on the vehicle body combined force derived by the deriving unit.

  In addition, the information processing device may further include notification means for notifying the driver of the vehicle movement state based on the vehicle body resultant force derived by the derivation means.

  Moreover, the vehicle motion control program of 5th invention is a program for functioning a computer as each means which comprises the vehicle motion control apparatus of 1st-4th invention.

  As described above, according to the present invention, when moving in the desired speed direction with respect to the road while avoiding the moving obstacle, the vertical movement distance is minimized or the maximum value of the vehicle body synthesis force is minimized. The vehicle body composite force and the avoidance trajectory are derived using a simple three-dimensional map that takes into account the vehicle body composite force and the speed of the obstacle to derive the avoidance trajectory. The effect of deriving the vehicle body composite force and avoidance trajectory that minimizes the longitudinal movement distance or minimizes the maximum value of the vehicle body composite force when moving in the desired speed direction with respect to the road while avoiding Is obtained.

It is a figure which shows the outline of vehicle motion control. It is a figure for demonstrating the setting of xy coordinate. It is a diagram showing the shortest three-dimensional map used with the vehicle motion control apparatus of 1st Embodiment. It is a block diagram which shows the structure of the vehicle motion control apparatus of 1st Embodiment. It is a flowchart which shows the content of the vehicle motion control routine of 1st Embodiment. It is a diagram showing the shortest three-dimensional map used with the vehicle motion control apparatus of 2nd Embodiment. It is a flowchart which shows the content of the vehicle motion control routine of 2nd Embodiment. It is a diagram showing the optimal three-dimensional map used with the vehicle motion control apparatus of 3rd Embodiment. It is a diagram showing the other example of the optimal three-dimensional map used with the vehicle motion control apparatus of 3rd Embodiment. It is a flowchart which shows the content of the vehicle motion control routine of 3rd Embodiment. It is a diagram showing the optimal three-dimensional map used with the vehicle motion control apparatus of 4th Embodiment. It is a diagram showing the other example of the optimal three-dimensional map used with the vehicle motion control apparatus of 4th Embodiment. It is a flowchart which shows the content of the vehicle motion control routine of 4th Embodiment. It is a figure for demonstrating the symmetry of left side avoidance and right side avoidance. It is a flowchart which shows the content of the vehicle motion control routine of 5th Embodiment. It is a flowchart which shows the content of the other example of the vehicle motion control routine of 5th Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this embodiment, assuming a case of avoiding an obstacle moving on the road on which the vehicle travels, the position immediately after the avoidance is set as a position passing the side of the obstacle (on the extension line in the moving direction of the obstacle), The case where the speed direction at the position immediately after the avoidance is the vehicle body front-rear direction will be described.

  In the first embodiment, the speed of an obstacle is detected, and the vehicle body composite force is generated within the set maximum value of the vehicle body composite force to move in a desired speed direction with respect to the road while avoiding the obstacle. At this time, the case of deriving the vehicle body composite force and the avoidance trajectory that minimize the longitudinal movement distance will be described.

As shown in FIG. 1, the x component of the vehicle body composite acceleration at time t (the current time is set to t = 0 and t seconds after the current time) at the set xy coordinates is represented by u _x (t), and the vehicle body composite acceleration y If the component is u _y (t), the magnitude of the vehicle body composite force is F (t), the direction of the vehicle body composite force is θ ₀ (t), and the weight of the host vehicle is m, the vehicle body composite acceleration u _x (t) And u _y (t) are represented by the following formulas (1) and (2). Further, by integrating the expressions (1) and (2), as shown in the following expressions (3) and (4), the x component v _x (t) of the speed with respect to the road surface of the host vehicle and the y of the speed The component v _y (t) is obtained. Further, by integrating the equations (3) and (4), as shown in the following equations (5) and (6), the position X (t) in the x-axis direction of the host vehicle t seconds later, and y An axial position Y (t) is obtained. An avoidance trajectory is obtained by X (t) and Y (t).

  In the xy coordinates, the position of the host vehicle at t = 0 is the origin, the speed direction (vehicle body longitudinal direction) at the position passing the obstacle is the x axis, and the axis orthogonal to the x axis (vehicle body lateral direction). Set as y-axis (see FIG. 2).

Then, v _x (0) = v _x0 , v _y (0) = v _y0 , and the relative position of the obstacle with respect to the own vehicle (X _e , Z ₀ ), and when the speed of the obstacle with respect to the road is Z _v , v _x0 , v _y0 and Z _v are used as parameters in the scene where the maximum value F ₀ = maxF (t) of the vehicle body composite force is set. Using a three-dimensional map for minimizing the longitudinal movement distance (hereinafter referred to as the shortest three-dimensional map), the vehicle body synthesized accelerations u _x (t) and u _y that minimize the longitudinal movement distance in the desired speed direction. (T) (Expression (1) and Expression (2)) are derived.

  Here, as shown in FIG. 1, a description will be given of a derivation example of a three-dimensional map for obtaining an optimal trajectory when the speeds of the host vehicle and the obstacle and the relative distance in the x direction are known.

First, x ₁ = X (t), x ₂ = v _x (t), x ₃ = Y (t), x ₄ = v _y (t), u ₁ = u _x (t), u ₂ = u _y If it is set as (t), the equation of motion of (1) Formula and (2) Formula can be deform | transformed into a state equation like the following (7) Formula and (8) Formula. T is a transposed symbol of a vector and a matrix.

Further, assuming that the detected obstacle speed is Z _v and the position is Z ₀ on the set coordinate axis, and the obstacle moves linearly at a constant speed in the y-axis direction, the y of the obstacle at time t The position in the axial direction is expressed by the following equation (9).

Next, when considering as an optimal control problem that minimizes the longitudinal movement distance while avoiding an obstacle within the range of the set maximum value F ₀ of the vehicle body composite force, the current time is set to t = 0 and required for avoidance. time at a t _e, when expressed an evaluation function I below (10), termination condition specified by the following formula (11), and on the size of the vehicle body resultant force represented by the following equation (12) This results in a control problem of finding a control input that minimizes the evaluation function I under input constraint conditions.

This optimal control problem is solved with reference to a known technique (Japanese Patent Laid-Open No. 2007-283910). First, when the Lagrange multiplier function vectors ψ (t), λ (t), and the Hamilton function H are set as shown in the following equation (14), the optimal solution x ^o (t), u ^o (t) is obtained using the Euler equation. The following expressions (15) to (17) are satisfied.

As for the termination condition, S (x, t) = x ₁ (t) is set, and by deriving a constant vector ν = (ν ₁ , ν ₂ ) ^T , the following equations (18) and (19) The following relationship holds.

  However, the lower right subscripts x, u, and t in the equations (14) to (19) mean partial differentiation.

  Here, when the equations (15) to (17) are modified, the following relationships (20) to (22) are obtained.

  Moreover, the relationship of the following (25) Formula and (26) Formula is obtained from the termination | terminus conditions using the following (23) Formula and (24) Formula.

From the equations (21) and (22), the following equation (27) is obtained, and u ^o (t) becomes the following equation (28).

The (20) becomes a formula and (25) below (29) when obtaining the [psi (t) by _equation termination of _x 2 (t) so satisfies the following equation (30) in relation than equation (26), the following A new termination condition of equation (31) appears.

  At this time, the control problem is rewritten as the following equation (32).

Substituting equation (32) into u (t) in equations (7) and (8) and integrating over time, the initial condition (second equation in equation (7)) and the termination condition ((11) and (31) ) Equation is applied, nonlinear equations (the following equations (33) to (36)) for deriving t _e , ν ₁ and ν ₂ are obtained. Note that ν ₁ and ν ₂ correspond to the first introduction parameter and the second introduction parameter of the present invention.

T _e , ν ₁ and ν ₂ required in the equation (32) are obtained by substituting m, v _x0 , v _y0 , F ₀ , Z ₀ and Z _v into the nonlinear equations of the equations (33) to (35). It is obtained by solving. The minimum of the longitudinal movement distance _{X s} satisfies the equation (36) relationship.

  Since the nonlinear equation takes into account the speed of the moving obstacle, the nonlinear equation of the known technique (Japanese Patent Laid-Open No. 2007-283910) is different from the right side of Equation (33) and the left side of Equation (35). The last term of is different. However, even in this case, the calculation can be sufficiently performed by a known calculation software. In order to find the solution of this equation, a reduced-dimensional map is derived.

First, paying attention to the equations (33) to (35) and considering two sets of parameters P and P ′ satisfying the relationship of the following equation (37) by introducing an arbitrary positive number a, P and P ′ The solutions {ν ₁ , ν ₂ , t _e } and {ν ₁ ′, ν ₂ ′, t _e ′} corresponding to the above satisfy the relationship of the following equation (38).

If a is set as in the following formula (39) from the last formula of formula (37), v _x0 ′, v _y0 ′ and Z _v ′ can be transformed from formula (40) as shown in formula (40) below. .

From this relationship, by setting arbitrary positive numbers to F ₀ ′ / m ′ and Z ₀ ′, v _x0 ′, _{vy 0} ′, and Z _v ′ are obtained by the parameter P at the current time. Therefore, 'in the case of setting to a certain _{value, v x0' F 0 '/} m' and _{Z 0, v y0} 'and _{Z v'} was a parameter _{{ν 1 ', ν 2'} , t e '} of A shortest three-dimensional map may be prepared in advance. The values of F ₀ '/ m' and Z ₀ 'can be freely set by the designer when creating the map.

Here, as an example, the shortest three-dimensional map regarding v _x0 ′, v _y0 ′, and Z _v ′ when F ₀ ′ / m ′ = Z ₀ ′ = 1 is created. As shown in FIG. 3, a first three-dimensional map in which values of ν ₁ ′ obtained based on the equations (33) to (35) are mapped using v _x0 ′, v _y0 ′ and Z _v ′ as parameters, A _second three-dimensional map in which the value of ν ₂ ′ is mapped and a third three-dimensional map in which the value of t _e ′ is mapped are created. Further, using, for example, _{'the, Z v' Z v = v} a ', Z v' = v b ', Z v''3 value _{(v a'} = _{v c} a _{<v b '<v c'} ) , _{v a '~v b'} between, and _{v b '~v c'} between the interpolated etc. each linear approximation. However, in FIG. 3, mapping is performed using the relative velocity v _y0 ′ −Z _v ′ in the v _y0 ′ axial direction.

Then, using these maps _{{ν 1, ν 2, t} e} To determine _{the, F 0 '/ m' =} Z 0 '= 1, the known _{m, v x0, v y0,} Z 0, Z _v and parameters according to the _{F 0} (40) equation _{v x0 ', v y0'} and _{Z v} 'to calculate the output for the calculated parameters _{{ν 1', ν 2 '} , t e'} each three-dimensional map of the obtained from (38) and (39) according to equation _{{ν 1 ', ν 2'} , t e '} converts _{{ν 1, ν 2, t} e} , the applied to equation (32) Get the input time function. Further, the minimum vertical movement distance X _s is calculated by substituting into the equation (36).

However, in the case of Z ₀ <0, it is converted into v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0, and {−ν ₁ ′, −ν ₂ ′ from the shortest three-dimensional map. , _{'seek}, -ν 1' t e →} ν 1 ', -ν 2' performs processing → ν ₂ '{ν _1, it you get ν _{2, t e}.}

  As a result, the vehicle body composite force is generated within the maximum value of the set vehicle body composite force from the position and speed of the obstacle at the current time, and the vehicle moves vertically in the desired speed direction while avoiding moving obstacles. A control input function that minimizes the distance is obtained, and the avoidance trajectory is derived by the integral calculation of the equations (1) to (6).

In the above shortest three-dimensional map, the parameters v _x0 ′, v _y0 ′, and Z _v ′ are defined as in equation (40), and F ₀ ′ / m ′ = Z ₀ ′ = 1 is described. In addition to the above, there are a plurality of ways of taking this parameter. For example, when an arbitrary positive number a is set as in the following formula (41) from the first formula of the formula (37), v _y0 ′, Z _v ′ and Z ₀ ′ are expressed by the following formula (42) from the formula (37). Can be transformed.

From this relationship, by setting positive _numbers in F ₀ ′ / m ′ and v _x0 ′, _{vy 0} ′, Z _v ′, and Z ₀ ′ are obtained by the parameter P at the current time. Therefore, 'in the case of setting to a certain _{value, v y0' F 0 '/} m' and _{v x0,} as a parameter the _{Z v} 'and _{Z 0' {ν 1 ',} ν 2', t e '} of A shortest three-dimensional map may be prepared in advance. The values of F ₀ '/ m' and v _x0 'can be freely set by the designer when creating the map. As an example, using V _y0 ′, Z _v ′, and Z ₀ ′ when F ₀ ′ / m ′ = v _x0 ′ = 1 as variables, the nonlinear equations (33) to (35) are solved. A shortest three-dimensional map of {ν ₁ ′, ν ₂ ′, t _e ′} which is a solution is created.

_{Then, {ν 1, ν 2,} t e} using the shortest three-dimensional map to determine _{the, F 0 '/ m' =} v x0 '= 1, the known _{m, v x0, v y0,} Z 0 , _{Z v} and parameters according to the _{F 0} (42) equation _{v y0} ', _{Z v'} and _{Z 0} 'calculates the output for the calculated parameters _{{ν 1', ν 2 '} , t e'} the shortest 3 Obtained from the dimension map and converted to {ν ₁ , ν ₂ , t _e } according to equations (38) and (41).

Note that the area of the shortest three-dimensional map may be limited to 0 or more in any of v _y0 ′, Z _v ′, and Z ₀ ′. For example, when the shortest three-dimensional map of Z ₀ ≧ 0 is created, even if the detected value is Z ₀ <0, v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ than the shortest 3-dimensional map are converted into _{{-ν 1 ', -ν 2'} , t e '} seek further _{-ν 1' → ν 1 ',} -ν 2' by performing the processing of → [nu ₂ ' _{{ν 1, ν 2, t} e} are obtained.

  Further, when another parameter is used, if the third equation of the equation (42) is transformed as the following equation (43), a in the equation (41) is transformed as the following equation (44).

From this relationship, by setting positive _numbers in v _x0 ′ and Z ₀ ′, F ₀ ′ / m ′, _{vy 0} ′, and Z _v ′ are obtained by the parameter P at the current time. _Therefore, in the case of setting to a certain value _{v x0} 'and _{Z 0', F 0 '/} m', v y0 ' and _{Z v'} was a parameter _{{ν 1 ', ν 2'} , t e '} of A shortest three-dimensional map may be prepared in advance. The values of v _x0 ′ and Z ₀ ′ can be freely set by the designer when creating the map. As an example, using F ₀ ′ / m ′, v _y0 ′, and Z _v ′ when v _x0 ′ = Z ₀ ′ = 1 as variables, solve the nonlinear equations (33) to (35), A shortest three-dimensional map of {ν ₁ ′, ν ₂ ′, t _e ′} which is a solution is created.

_{Then, {ν 1, ν 2,} t e} using the shortest 3-dimensional map to determine the _{is, v x0 '= Z 0'} = 1, the known _{m, v x0, v y0,} Z 0, Z v And F _{0, the} parameters v _y0 ′ and Z _v are calculated according to the first and second expressions of the equation (42), the parameter F ₀ ′ / m ′ is calculated according to the equation (43), and an output for the calculated parameter is performed. {Ν ₁ ′, ν ₂ ′, t _e ′} is obtained from the shortest three-dimensional map and converted into {ν ₁ , ν ₂ , t _e } according to the equations (38) and (44). However, when Z ₀ <0, v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ , and {−ν ₁ ′, −ν ₂ ′ from the shortest three-dimensional map , _{'seek}, -ν 1' t e →} ν 1 ', -ν 2' performs processing → ν ₂ '{ν _1, it you get ν _{2, t e}.}

Further, when using another parameter, if an arbitrary positive number a is set as shown in the following formula (45) from the second formula of the formula (37), v _x0 ′, Z _v ′ and Z ₀ ′ can be transformed as shown in the following equation (46).

From this relationship, by setting positive _numbers in F ₀ ′ / m ′ and v _y0 ′, v _x0 ′, Z _v ′, and Z ₀ ′ are obtained by the parameter P at the current time. Therefore, 'in the case of setting to a certain _{value, v x0' F 0 '/} m' and _{v y0,} as a parameter the _{Z v} 'and _{Z 0' {ν 1 ',} ν 2', t e '} of A shortest three-dimensional map may be prepared in advance. The values of F ₀ '/ m' and v _y0 'can be freely set by the designer when creating the map. As an example, by using v _x0 ′, Z _v ′ and Z ₀ ′ as variables when F ₀ ′ / m ′ = v _y0 ′ = 1, the nonlinear equations (33) to (35) are solved, A shortest three-dimensional map of {ν ₁ ′, ν ₂ ′, t _e ′} which is a solution is created.

_{Then, {ν 1, ν 2,} t e} using the shortest three-dimensional map to determine _{the, F 0 '/ m' =} v y0 '= 1, the known _{m, v x0, v y0,} Z 0 , _{Z v} and parameters according to the _{F 0} (46) equation _{v x0} ', _{Z v'} and _{Z 0} 'calculates the output for the calculated parameters _{{ν 1', ν 2 '} , t e'} shortest 3 obtained from the dimension map, and converts the _{{ν 1, ν 2, t} e} according (38) and (45) below. However, in the case of v _y0 <0, it is converted into v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0, and {−ν ₁ ′, −ν ₂ from the shortest three-dimensional map. ', _{t e' seek}, -ν 1 '→ ν 1} ', by performing the processing of _{-ν 2 '→ ν 2' {} ν 1, it you get ν _{2, t e}.}

  Further, when another parameter is used, if the third equation of the equation (46) is transformed as the following equation (47), a in the equation (45) is transformed as the following equation (48).

From this relationship, by setting values in v _y0 ′ and Z ₀ ′, F ₀ ′ / m ′, v _x0 ′, and Z _v ′ are obtained by the parameter P at the current time. _Therefore, in the case of setting to a certain value _{v y0} 'and _{Z 0', F 0 '/} m', v x0 ' and _{Z v'} was a parameter _{{ν 1 ', ν 2'} , t e '} of A shortest three-dimensional map may be prepared in advance. The values of v _y0 ′ and Z ₀ ′ can be freely set by the designer when creating the map. As an example, nonlinear equations (33) to (35) are _{expressed by using} F ₀ ′ / m ′, v _x0 ′, and Z _v ′ as variables when v _y0 ′ = 1 and Z ₀ ′ = ± 1. solved, its solution _{{ν 1 ', ν 2'} , t e '} to create a minimum three-dimensional map of.

_{Then, {ν 1, ν 2,} t e} using the shortest 3-dimensional map to determine the _{is, v y0 '= 1, Z} 0' = ± 1, the known _{m, v x0, v y0,} Z 0 , Z _v and F _{0, the} parameters v _x0 ′ and Z _v ′ are calculated according to the first and second expressions of the equation (46), and the parameter F ₀ ′ / m ′ is calculated according to the equation (47). output for the parameter _{{ν 1 ', ν 2'} , t e '} to obtain from the shortest 3-dimensional map, is converted to _{{ν 1, ν 2, t} e} according (38) and (48) below. _{However, v} in the case of _y0 ≧ _{0, Z} 0 ≧ 0 is, _{Z 0} '= than the shortest 3-dimensional map of _{1 {ν 1', ν 2} ', t e'} _{seek, v y0} ≧ _{0, Z} 0 When <0, {ν ₁ ′, ν ₂ ′, t _e ′} is obtained from the shortest three-dimensional map of Z ₀ ′ = −1. When v _y0 <0, Z ₀ ≧ 0, the shortest three dimensions of Z ₀ ′ = −1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. {−ν ₁ ′, −ν ₂ ′, t _e ′} is obtained from the map, and −ν ₁ ′ → ν ₁ ′, −ν ₂ ′ → ν ₂ ′ are processed, and {ν ₁ , ν ₂ , t _e }. When v _y0 <0 and Z ₀ <0, the shortest three-dimensional map of Z ₀ ′ = 1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ more _{{-ν 1 ', -ν 2'} , t e '} _{seeking, -ν 1' → ν 1 '} , -ν 2' performs processing _{→ ν 2 '{ν 1,} ν 2, t _e } is obtained.

When another parameter is used, if an arbitrary positive number a is set as in the following formula (49) from the third formula of the formula (37), v _x0 ′, v _y0 ′ and Z are _calculated from the formula (37). ₀ 'can be transformed as shown in the following equation (50).

From this relationship, by setting positive numbers in F ₀ ′ / m ′ and Z _v ′, v _x0 ′, _{vy 0} ′, and Z ₀ ′ are obtained by the parameter P at the current time. Therefore, 'in the case of setting to a certain _{value, v x0' F 0 '/} m' and _{Z v, v y0} 'and _{Z 0'} it was used as a parameter _{{ν 1 ', ν 2'} , t e '} of A shortest three-dimensional map may be prepared in advance. The values of F ₀ '/ m' and Z _v 'can be freely set by the designer when creating the map. As an example, using v _x0 ′, v _y0 ′, and Z ₀ ′ when F ₀ ′ / m ′ = Z _v ′ = 1 as variables, the nonlinear equations (33) to (35) are solved, A shortest three-dimensional map of {ν ₁ ′, ν ₂ ′, t _e ′} which is a solution is created.

_{Then, {ν 1, ν 2,} t e} using the shortest three-dimensional map to determine _{the, F 0 '/ m' =} Z v '= 1, the known _{m, v x0, v y0,} Z 0 , _{Z v} and parameters according to the _{F 0} (50) equation _{v x0 ', v y0'} and _{Z 0} 'calculates the output for the calculated parameters _{{ν 1', ν 2 '} , t e'} shortest 3 Obtained from the dimension map and converted into {ν ₁ , ν ₂ , t _e } according to the equations (38) and (49). However, when Z _v <0, it is converted into v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0, and {−ν ₁ ′, −ν ₂ from the shortest three-dimensional map. ', _{t e' seek}, -ν 1 '→ ν 1} ', by performing the processing of _{-ν 2 '→ ν 2' {} ν 1, it you get ν _{2, t e}.}

  Further, when another parameter is used, if the third equation of the equation (50) is transformed as the following equation (51), a in the equation (49) is transformed as the following equation (52).

From this relationship, by setting values in Z _v ′ and Z ₀ ′, F ₀ ′ / m ′, v _x0 ′, and v _y0 ′ are obtained by the parameter P at the current time. Therefore, in the case of setting a certain value of _{Z v} 'and _{Z 0', F 0 '/} m', v x0 ' and _{v y0'} was used as a parameter _{{ν 1 ', ν 2'} , t e '} of A shortest three-dimensional map may be prepared in advance. The values of Z _v ′ and Z ₀ ′ can be freely set by the designer when creating the map. As an example, the non-linear equations (33) to (35) are _expressed by using F ₀ '/ m', v _x0 ', and v _y0 ' when Z _v '= 1 and Z ₀ ' = ± 1 as variables. solved, its solution _{{ν 1 ', ν 2'} , t e '} to create a minimum three-dimensional map of.

In order to obtain {ν ₁ , ν ₂ , t _e } using this shortest three-dimensional map, Z _v ′ = 1, Z ₀ ′ = ± 1, known m, v _x0 , v _y0 , Z _0. , Z _v and F _{0, the} parameters v _x0 ′ and v _y0 ′ are calculated according to the first and second expressions of the equation (50), and the parameter F ₀ ′ / m ′ is calculated according to the equation (51). The output {ν ₁ ′, ν ₂ ′, t _e ′} for each parameter is obtained from the shortest three-dimensional map and converted into {ν ₁ , ν ₂ , t _e } according to the equations (38) and (52). However, in the case of _{Z v ≧ 0, Z 0 ≧} 0 is, _{Z 0} '= than the shortest 3-dimensional map of _{1 {ν 1', ν 2} ', t e'} sought, _{Z v} ≧ _{0, Z} 0 When <0, {ν ₁ ′, ν ₂ ′, t _e ′} is obtained from the shortest three-dimensional map of Z ₀ ′ = −1. When Z _v <0, Z ₀ ≧ 0, the shortest three dimensions of Z ₀ ′ = −1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. {−ν ₁ ′, −ν ₂ ′, t _e ′} is obtained from the map, and −ν ₁ ′ → ν ₁ ′, −ν ₂ ′ → ν ₂ ′ are processed, and {ν ₁ , ν ₂ , t _e }. When Z _v <0 and Z ₀ <0, the shortest three-dimensional map of Z ₀ ′ = 1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. more _{{-ν 1 ', -ν 2'} , t e '} _{seeking, -ν 1' → ν 1 '} , -ν 2' performs processing _{→ ν 2 '{ν 1,} ν 2, t _e } is obtained.

  In addition, a map may be created in which the boundary line between the trajectory overshooting the axis of the shortest three-dimensional map and the trajectory that is not so is taken into consideration. For example, the shortest three-dimensional map can be created by changing the parameters of the equation (42) as the following equation (85).

  Hereinafter, the first embodiment using the shortest three-dimensional map will be described in detail. As shown in FIG. 4, the vehicle motion control apparatus according to the first embodiment includes a sensor group mounted on the vehicle as a traveling state detection unit that detects the traveling state of the host vehicle, and an external environment that detects an external environmental state. Based on the sensor groups mounted on the vehicle as detection means and the detection data from these sensor groups, the in-vehicle device mounted on the host vehicle is controlled so that the host vehicle moves so as to reach the target position. Are provided with a control device 20 for controlling the vehicle motion and a display device 30 for notifying the driver of the vehicle motion control state.

  The sensor group for detecting the running state of the host vehicle of the vehicle motion control device includes a vehicle speed sensor 10 for detecting the vehicle speed, a steering angle sensor 12 for detecting the steering angle, and a throttle opening sensor 14 for detecting the opening of the throttle valve. Is provided. Moreover, you may make it add the information from the GPS apparatus which is not shown in figure.

  Further, as a sensor group for detecting the external environment state, a front camera 16 for photographing the front of the host vehicle and a laser radar 18 for detecting an obstacle in front of the host vehicle are provided. A millimeter wave radar may be provided instead of the laser radar 18 or together with the laser radar 18. Moreover, you may make it add the information from the GPS apparatus which is not shown in figure.

  The front camera 16 is attached to the upper part of the front window of the vehicle so as to photograph the front of the vehicle. The front camera 16 is composed of a small CCD camera or CMOS camera, and captures an area including a road condition ahead of the host vehicle and outputs image data obtained by the photographing. The output image data is input to the control device 20 constituted by a microcomputer or the like. As a camera, it is preferable to provide a front infrared camera in addition to the front camera 16. By using an infrared camera, a pedestrian can be reliably detected as an obstacle. Note that a near-infrared camera can be used instead of the above-described infrared camera, and even in this case, a pedestrian can be reliably detected in the same manner.

  The laser radar 18 is a light emitting element composed of a semiconductor laser that irradiates infrared light pulses, a scanning device that scans the infrared light pulses in the horizontal direction, and red reflected from obstacles in front (pedestrians, vehicles ahead, etc.). It includes a light receiving element that receives an external light pulse, and is attached to the front grille or bumper of the vehicle. The laser radar 18 detects the distance from the host vehicle to the obstacle ahead based on the arrival time of the reflected infrared light pulse until the light receiving element receives the light from the light emitting element as a reference. Can do. Data indicating the distance to the obstacle detected by the laser radar 18 is input to the control device 20. The control device 20 includes a microcomputer including a RAM, a ROM, and a CPU, and a program for a vehicle motion control routine described below is stored in the ROM.

  The control device 20 is connected to a vehicle-mounted device for controlling the vehicle motion so as to reach the target position by controlling at least one of the steering angle, the braking force, and the driving force of the host vehicle. Yes. The vehicle-mounted device includes a steering angle control device 22 such as an electric power steering for controlling the steering angle of the wheels, a braking force control device 24 that controls the braking force by controlling the brake hydraulic pressure, and a driving force. A driving force control device 26 is provided. A detection sensor 24 </ b> A for detecting the braking force is attached to the braking force control device 24. The control device 20 is connected to a display device 30 that notifies the driver of vehicle motion control information by displaying the calculated control input direction θ and the like. In addition, you may make it alert | report toward the target position direction outside a vehicle not only a driver but performing vehicle motion control. Further, when the shortest avoidance distance is shorter than the distance between the host vehicle and the obstacle, the driver may be notified in advance of the necessity of avoidance.

  The steering angle control device 22 is a control means for controlling the steering angle of at least one of the front wheels and the rear wheels superimposed on the steering wheel operation of the driver, mechanically separated from the driver operation, Independently, control means (so-called steer-by-wire) for controlling the steering angle of at least one of the front wheels and the rear wheels can be used.

  As the braking force control device 24, a control device used for so-called ESC (Electronic Stability Control), which controls the braking force of each wheel independently of the driver operation, is mechanically separated from the driver operation. A control device (so-called brake-by-wire) that arbitrarily controls the braking force of the wheel via a signal line can be used.

  As the driving force control device 26, a control device that controls the driving force by controlling the throttle opening, the retard of the ignition advance angle, or the fuel injection amount, and the driving force is controlled by controlling the shift position of the transmission. For example, a control device that controls at least one of the driving force in the front-rear direction and the left-right direction by controlling the torque transfer can be used.

  The control device 20 is connected to a map storage device 28 that stores a shortest three-dimensional map for obtaining a control input.

  The control device 20 is connected to an alarm device (not shown) that issues an alarm to the driver. As an alarm device, a device that issues a warning by sound or sound, a device that issues a warning by light or visual display, a device that issues a warning by vibration, or a physical quantity such as a steering reaction force is given to the driver to operate the driver. An induced physical quantity imparting device can be used. Further, the display device 30 may be used as an alarm device.

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the first embodiment will be described with reference to FIG. Here, when using the shortest three-dimensional map of FIG. 3 as a map for deriving the vehicle body composite force that minimizes the longitudinal movement distance when moving in the desired speed direction with respect to the road while avoiding moving obstacles Will be described.

  In step 100, detection data relating to the traveling state of the host vehicle detected by the vehicle speed sensor 10 and the external environmental state detected by the laser radar 18 and the like are captured. Next, in step 102, an environment map including the position and size of the obstacle on the road on which the vehicle is traveling is created based on the captured detection data.

  Next, in step 104, the speed direction at the position passing the obstacle is set based on the environment map, the current time position of the host vehicle is set as the origin, and the set speed direction is set in the vehicle longitudinal direction (x Xy coordinates, with the direction perpendicular to the x axis as the y axis.

Next, in step 106, the state quantities of the host vehicle and the obstacle taken in as the running state in step 100 are converted in correspondence with the set coordinates, and the x component v _{x0 of the} current host vehicle speed is calculated. The y component v _y0 of the vehicle speed, the position Z _{0 of} the obstacle in the y-axis direction, and the y component Z _v of the obstacle speed are calculated. Here, the x component of the speed of the obstacle is 0.

Next, in step 108, based on the structure and condition of the external environment and the own vehicle, it sets the maximum value F ₀ of the vehicle body resultant force.

Next, in step 110, the state quantity _m of the vehicle and the obstacle computed in step _{106, v x0, v y0,} Z v, Z 0, and the maximum value _{F 0} of the vehicle body resultant force which is set at step 108 using the parameter _{v x0 ', v y0'} and _{Z v} 'to calculate the output for the calculated parameters _{{ν 1', ν 2 '} , t e'} from the shortest 3-dimensional map according to (40) below obtained is converted into (38) and (39) according to equation _{{ν 1 ', ν 2'} , t e '} a _{{ν 1, ν 2, t} e}. Then, by applying these parameters to the equation (32), the vehicle body composite force is obtained. Further, to obtain a minimum vertical travel distance X _s by substituting the expression (36). Further, according to the equations (1) to (6), an avoidance trajectory that minimizes the longitudinal movement distance when deriving in the desired speed direction with respect to the road while avoiding the moving obstacle is derived.

  Next, in step 112, the tire generating force of each wheel necessary for realizing traveling along the avoidance track is calculated according to the vehicle body resultant force derived in step 110, and the tire generating force of each wheel is obtained. As well as controlling at least one of the steering angle control device 22, the braking force control device 24, and the driving force control device 26, the vehicle motion control information is displayed on the display device 30. Also, when controlling to avoid an obstacle, an alarm is issued unconditionally from the alarm device, or the vehicle motion control for avoiding the obstacle is displayed on the display device 30. An alarm may be issued by. By controlling so as to obtain the tire generating force of each wheel, it is possible to control so as to obtain the target vehicle body composite force.

  As described above, according to the vehicle motion control apparatus of the first embodiment, the vehicle body composition that minimizes the longitudinal movement distance when moving in the desired speed direction with respect to the road while avoiding the moving obstacle. The vehicle composition force and avoidance trajectory are derived using a simple three-dimensional map that takes into account the obstacles and the speed of the obstacles for deriving the avoidance trajectory. Therefore, even if the obstacle moves, the obstacle can be avoided. However, when moving in the desired speed direction with respect to the road, it is possible to derive the vehicle body synthesis force and the avoidance trajectory that minimize the longitudinal movement distance.

Next, a second embodiment will be described. In the first embodiment, the case where the shortest three-dimensional map for deriving {ν ₁ ′, ν ₂ ′, t _e ′} is used to obtain the vehicle body synthesis force and the avoidance trajectory has been described. When it is desired to obtain only (the direction of the vehicle body synthesis force), it can be derived with the shortest three-dimensional map that outputs one parameter. In the second embodiment, this case will be described. The configuration of the vehicle motion control device according to the second embodiment is the same as the configuration of the vehicle motion control device according to the first embodiment, and thus the description thereof is omitted.

  Here, the shortest three-dimensional map used in the second embodiment will be described.

First, as in the first embodiment, the expression (40) is expanded. As an example, the shortest three-dimensional map for v _x0 ′, v _y0 ′, and Z _v ′ when F ₀ ′ / m ′ = Z ₀ ′ = 1 is created. As shown in FIG. 6, the shortest 3 in which the value of the direction θ ′ of the vehicle body composite acceleration obtained based on the equations (32) to (35) is mapped using v _x0 ′, v _y0 ′, and Z _v ′ as parameters. Create a dimension map. However, in FIG. 6, mapping is performed using the relative velocity v _y0 ′ −Z _v ′ in the v _y0 ′ axial direction.

In order to obtain {θ ′} using this shortest three-dimensional map, F ₀ ′ / m ′ = Z ₀ ′ = 1, known m, v _x0 , v _y0 , Z ₀ , Z _v and F ₀ To calculate the parameters v _x0 ′, v _y0 ′ and Z _v ′ according to the equation (40), obtain the output {θ ′} for the calculated parameters from the shortest three-dimensional map, and move according to the following equation (53) When moving in a desired speed direction relative to the road while avoiding an obstacle, the magnitude and direction of the vehicle body resultant force at the current time that minimizes the longitudinal movement distance can be obtained.

However, if Z ₀ <0, v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ are converted into {−θ ′} from the shortest three-dimensional map, and − The process of θ ′ → θ ′ may be performed to obtain {θ ′}.

Further, as shown in FIG. 6, a shortest three-dimensional map that also outputs {X _s '} is introduced, and the following equation (54) and a known technique (Japanese Patent Laid-Open No. 2007-283910) are used to add straight ahead. You may choose to avoid only slowing or lateral movement.

In the above shortest three-dimensional map, the case where the parameters are defined as in the equation (40) has been described. However, as in the first embodiment, the shortest three-dimensional map using the parameters shown in the equation (42) is used. The shortest three-dimensional map that outputs {θ ′} at the current time can also be created using the map and the equation of θ (t) in equation (32). As an example, the shortest three-dimensional map regarding v _y0 ′, Z _v ′, and Z ₀ ′ when F ₀ ′ / m ′ = v _x0 ′ = 1 is created. Then, the magnitude and direction of the vehicle body resultant force at the current time that minimizes the longitudinal movement distance when the vehicle moves in the desired speed direction with respect to the road while avoiding the moving obstacle is derived from the equation (53).

Note that the area of the shortest three-dimensional map may be limited to 0 or more in any of v _y0 ′, Z _v ′, and Z ₀ ′. For example, when the shortest three-dimensional map of Z ₀ ≧ 0 is created, even if the detected value is Z ₀ <0, v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ {−θ ′} is obtained from the shortest three-dimensional map and is further processed by −θ ′ → θ ′ to obtain {θ ′}.

Also here, a shortest three-dimensional map that also outputs {X _s '} is introduced, and using the following equation (55) and a known technique (Japanese Patent Laid-Open No. 2007-283910), etc., straight acceleration / deceleration or lateral You may choose to avoid movement only.

Further, using the shortest three-dimensional map using the parameters shown in the first formula, the second formula, and the formula (43) in the formula (42) and the formula θ (t) in the formula (32), the current time {θ It is also possible to create a shortest three-dimensional map that outputs'}. As an example, the shortest three-dimensional map for F ₀ ′ / m ′, v _y0 ′, and Z _v ′ when v _x0 ′ = Z ₀ ′ = 1 is created. However, if Z ₀ <0, v- _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ and {−θ ′} is obtained from the shortest three-dimensional map, and −θ The process of “→ θ” may be performed to obtain {θ ′}. Also here, the shortest three-dimensional map that also outputs {X _s '} is introduced, and using the equation (54) and a known technique (Japanese Patent Laid-Open No. 2007-283910), etc., straight acceleration / deceleration or lateral movement You may choose to avoid only.

Further, the shortest three-dimensional map that outputs {θ ′} at the current time is created using the shortest three-dimensional map using the parameters shown in the equation (46) and the equation θ (t) in the equation (32). You can also. As an example, a shortest three-dimensional map for v _x0 ′, Z _v ′, and Z ₀ ′ when F ₀ ′ / m ′ = v _y0 ′ = 1 is created. However, if v _y0 <0, convert v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ to obtain {−θ ′} from the shortest three-dimensional map, − The process of θ ′ → θ ′ may be performed to obtain {θ ′}. Also here, a shortest three-dimensional map that also outputs {X _s '} is introduced, and using the following equation (56) and a known technique (Japanese Patent Laid-Open No. 2007-283910), etc., straight acceleration / deceleration or lateral You may choose to avoid movement only.

Further, using the shortest three-dimensional map using the parameters shown in the first formula, the second formula, and the formula (47) in the formula (46) and the formula θ (t) in the formula (32), the current time {θ It is also possible to create a shortest three-dimensional map that outputs'}. As an example, the shortest three-dimensional map regarding F ₀ ′ / m ′, v _x0 ′, and Z _v ′ when v _y0 ′ = 1 and Z ₀ ′ = ± 1 can be created. However, when v _y0 ≧ 0 and Z ₀ ≧ 0, {θ ′} is obtained from the shortest three-dimensional map of Z ₀ ′ = 1, and when v _y0 ≧ 0 and Z ₀ <0, Z ₀ {Θ ′} is obtained from the shortest three-dimensional map of “= −1”. When v _y0 <0, Z ₀ ≧ 0, the shortest three dimensions of Z ₀ ′ = −1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. {−θ ′} is obtained from the map, and −θ ′ → θ ′ is processed to obtain {θ ′}. When v _y0 <0 and Z ₀ <0, the shortest three-dimensional map of Z ₀ ′ = 1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ {−θ ′} is obtained, and −θ ′ → θ ′ is processed to obtain {θ ′}. Also here, the shortest three-dimensional map that also outputs {X _s '} is introduced, and using the equation (54) and a known technique (Japanese Patent Laid-Open No. 2007-283910), etc., straight acceleration / deceleration or lateral movement You may choose to avoid only.

Also, the shortest three-dimensional map that outputs {θ ′} at the current time is created using the shortest three-dimensional map using the parameters shown in equation (50) and the equation of θ (t) in equation (32). You can also. As an example, the shortest three-dimensional map for v _x0 ′, v _y0 ′, and Z ₀ ′ when F ₀ ′ / m ′ = Z _v ′ = 1 is created. However, if Z _v <0, convert v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ to obtain {−θ ′} from the shortest three-dimensional map, − The process of θ ′ → θ ′ may be performed to obtain {θ ′}. Also here, a shortest three-dimensional map that also outputs {X _s '} is introduced, and using the following equation (57) and a known technique (Japanese Patent Laid-Open No. 2007-283910), etc., straight acceleration / deceleration or lateral You may choose to avoid movement only.

Further, using the shortest three-dimensional map using the parameters shown in the first formula, the second formula, and the formula (51) in the formula (50) and the formula θ (t) in the formula (32), the current time {θ It is also possible to create a shortest three-dimensional map that outputs'}. As an example, the shortest three-dimensional map for F ₀ ′ / m ′, v _x0 ′, and v _y0 ′ when Z _v ′ = 1 and Z ₀ ′ = ± 1 can be created. However, when Z _v ≧ 0 and Z ₀ ≧ 0, {θ ′} is obtained from the shortest three-dimensional map of Z ₀ ′ = 1, and when Z _v ≧ 0 and Z ₀ <0, Z ₀ {Θ ′} is obtained from the shortest three-dimensional map of “= −1”. When Z _v <0, Z ₀ ≧ 0, the shortest three dimensions of Z ₀ ′ = −1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. {−θ ′} is obtained from the map, and −θ ′ → θ ′ is processed to obtain {θ ′}. When Z _v <0 and Z ₀ <0, the shortest three-dimensional map of Z ₀ ′ = 1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. {−θ ′} is obtained, and −θ ′ → θ ′ is processed to obtain {θ ′}. Also here, the shortest three-dimensional map that also outputs {X _s '} is introduced, and using the equation (54) and a known technique (Japanese Patent Laid-Open No. 2007-283910), etc., straight acceleration / deceleration or lateral movement You may choose to avoid only.

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the second embodiment will be described with reference to FIG. Here, when moving in the desired speed direction with respect to the road while avoiding the moving obstacle, the shortest 3 in FIG. 6 is used as a map for deriving the direction of the vehicle body composite force at the current time to minimize the longitudinal movement distance. A case where a dimension map is used will be described. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

Through steps 100 to 108, then, at step 200, the state quantity _m of the vehicle and the obstacle computed in step _{106, v x0, v y0,} Z v, the vehicle body is set at _{Z 0,} and step 108 Using the maximum value F ₀ of the resultant force, calculate the parameters v _x0 ′, v _y0 ′ and Z _v ′ according to the equation (40), and obtain the output {θ ′} for the calculated parameters from the shortest three-dimensional map. , (53) is applied to derive the direction and magnitude of the vehicle body composite force. Next, in step 112, vehicle motion is controlled according to the vehicle body resultant force derived in step 200.

  As described above, according to the vehicle motion control device of the second embodiment, the current time at which the vertical movement distance is minimized when moving in the desired speed direction with respect to the road while avoiding moving obstacles. Since the direction of the vehicle body composite force is derived using the shortest three-dimensional map with a simple configuration considering the speed of the obstacle for deriving the direction of the vehicle body composite force, even if the obstacle moves, When moving in the desired speed direction with respect to the road while avoiding, it is possible to derive the direction and magnitude of the vehicle body resultant force at the current time that minimizes the longitudinal movement distance. In addition, since the number of maps used is small compared to the shortest three-dimensional map in the case of the first embodiment, the capacity for storing the map can be reduced.

  Next, a third embodiment will be described. In the third embodiment, a case in which a vehicle body composite force and an avoidance trajectory that minimizes the maximum value of the vehicle body composite force when deriving in a desired speed direction with respect to the road while avoiding a moving obstacle will be described. To do. The configuration of the vehicle motion control device according to the third embodiment is the same as the configuration of the vehicle motion control device according to the first embodiment, and thus description thereof is omitted.

  Here, when moving in a desired speed direction with respect to the road while avoiding the moving obstacle, a map for deriving the vehicle body composite force and the avoidance trajectory that minimizes the maximum value of the vehicle body composite force (hereinafter, optimal 3 Will be described.

Optimal control for minimizing the maximum value of the vehicle body composite force can be formulated by equations (7) to (12), as in the case of the first embodiment. This is because if the maximum value F ₀ of the vehicle body composite force at which the minimum vertical movement distance X _s becomes equal to the x component X _e of the relative distance between the host vehicle and the obstacle is obtained, it is expressed by the equation (32) at that time. This is because the control input is an optimal solution to the maximum value minimization problem of the vehicle body composite force. Therefore, by introducing the relationship of x ₁ (t _e ) = X _e to the x component X _e of the relative distance between the host vehicle and the obstacle, the nonlinear equation (33 converted to X _s → X _e (33) ) To (36), m, v _x0 , v _y0 , X _e , Z ₀ , and Z _v are substituted to obtain F ₀ , t _e , ν ₁ , and ν ₂ .

First, the equation (33) is transformed into the following equation (58) and substituted into the equations (34) to (36) converted from X _{s to} X _e (equations (59) to (61)). .

Here, when an arbitrary positive number a is introduced and two sets of parameters P and P ′ satisfying the relationship of the following expression (62) are considered, solutions {ν ₁ , ν ₂ , t corresponding to P and P ′ are considered. _e } and {ν ₁ ′, ν ₂ ′, t _e ′} satisfy the relationship of the following equation (63).

If a is set as in the following formula (64) from the second formula of the formula (62), v _y0 ′, Z _v ′ and Z ₀ ′ can be transformed into the following formula (65) from the formula (62). .

From this relationship, by setting arbitrary positive numbers to v _x0 ′ and X _e ′, _{vy 0} ′, Z _v ′, and Z ₀ ′ can be obtained from the parameter P at the current time. Therefore, when v _x0 ′ and X _e ′ are set to certain values, an optimal three-dimensional map having v _y0 ′, Z _v ′, and Z ₀ ′ as parameters may be prepared in advance. Note that the values of v _x0 ′ and X _e ′ can be freely set by the designer when creating the map.

Here, as an example, an optimal three-dimensional map for v _y0 ′, Z _v ′, and Z ₀ ′ when v _x0 ′ = X _e ′ = 1 is created. As shown in FIG. 8, the first three-dimensional map in which the values of ν ₁ ′ obtained based on the equations (59) to (61) are mapped using v _y0 ′, Z _v ′ and Z ₀ ′ as parameters. , Ν ₂ ′ mapped to the second three-dimensional map, and t _e ′ mapped the third three-dimensional map. However, in FIG. 8, mapping is performed using the relative velocity v _y0 ′ −Z _v ′ in the v _y0 ′ axial direction.

Then, using these maps _{{ν 1, ν 2, t} e} To determine _{the, v x0 '= X e'} = 1, from the known _{v x0, v y0, Z 0} , Z v and _{X e} The parameters v _y0 ′, Z _v ′ and Z ₀ ′ are calculated according to the equation (65), and outputs {ν ₁ ′, ν ₂ ′, t _e ′} for the calculated parameters are obtained from each three-dimensional map, ( 63) and (64) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} is converted to. Further, F ₀ is calculated by substituting into the equation (58). These parameters are applied to the equation (32) to obtain an input time function.

Note that the region of the optimum three-dimensional map may be limited to 0 or more in any of v _y0 ′, Z _v ′, and Z ₀ ′. For example, when an optimal three-dimensional map with Z ₀ ≧ 0 is created, even if the detected value is Z ₀ <0, v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ than the optimum three-dimensional map are converted into _{{-ν 1 ', -ν 2'} , t e '} seek further _{-ν 1' → ν 1 ',} -ν 2' by performing the processing of → [nu ₂ ' _{{ν 1, ν 2, t} e} are obtained.

  As a result, it is possible to obtain a control input function that minimizes the maximum value of the vehicle body composite force when moving in a desired speed direction while avoiding an obstacle from the current position. Also, equations (1) to (6) are obtained. The avoidance trajectory is derived by the integral calculation of.

In the above-described optimum three-dimensional map, the parameters v _y0 ′, Z _v ′, and Z ₀ ′ are defined as in the equation (65), and v _x0 ′ = X _e ′ = 1 has been described. There are a plurality of ways of taking other than the above. For example, when an arbitrary positive number a is set as shown in the following formula (66) from the fourth formula of the formula (62), v _y0 ′, Z _v ′ and X _e ′ are expressed by the following formula (67) from the formula (62). Can be transformed.

From this _{relationship, v} by setting the positive number in the _x0 'and _{Z 0', v y0 ',} Z v' and _{X e} 'is determined by the parameter P at the current time. _{Therefore, v} when set to a certain value _x0 'and _{Z 0', v y0 ',} Z v' and _{X e} 'was used as a parameter _{{ν 1', ν 2 '} , t e'} optimal 3-dimensional Prepare a map in advance. The values of v _x0 ′ and Z ₀ ′ can be freely set by the designer when creating the map. As an example, the nonlinear equations (59) to (61) are solved using v _y0 ′, Z _v ′, and X _e ′ as variables when v _x0 ′ = Z ₀ ′ = 1. An optimal three-dimensional map of {ν ₁ ′, ν ₂ ′, t _e ′} is created.

_{Then, {ν 1, ν 2,} t e} using this optimal three-dimensional map to determine _{the, v x0 '= Z 0'} = 1, the known _{v x0, v y0, Z 0} , Z v and X parameter _{v y0} accordance from _e (67) equation ', _{Z v'} and _{X e} 'is calculated, and output to operational parameters _{{ν 1', ν 2 '} , t e'} to obtain from the optimum three-dimensional map is converted to _{{ν 1, ν 2, t} e} according (63) and (66) below. However, in the case of Z ₀ <0, v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ are converted into {−ν ₁ ′, −ν ₂ ′ from the optimal three-dimensional map. , _{'seek}, -ν 1' t e →} ν 1 ', -ν 2' performs processing → ν ₂ '{ν _1, it you get ν _{2, t e}.}

In addition, as another parameter, the development method of Expressions (58) to (65) can be changed. First, the equation (34) is transformed into the following equation (68), and substituted into the equations (33), (35), and (36) converted from X _{s to} X _e (Equation (69) to (71)).

Here, when an arbitrary positive number a ₁ is introduced and two sets of parameters P and P ′ satisfying the relationship of the following equation (72) are considered, solutions {ν ₁ , ν ₂ , t _e } and {ν ₁ ′, ν ₂ ′, t _e ′} satisfy the relationship of the following equation (73).

If a ₁ is set as in the following formula (74) from the second formula of the formula (72), v _x0 ′, Z _v ′ and Z ₀ ′ are transformed as in the following formula (75) from the formula (72). it can.

From this relationship, by setting arbitrary positive _{numbers to} v _y0 ′ and X _e ′, v _x0 ′, Z _v ′, and Z ₀ ′ are obtained by the parameter P at the current time. Therefore, when v _y0 ′ and X _e ′ are set to certain values, an optimal three-dimensional map using v _x0 ′, Z _v ′, and Z ₀ ′ as parameters may be prepared in advance. The values of v _y0 ′ and X _e ′ can be freely set by the designer when creating the map.

Here, as an example, an optimal three-dimensional map for v _x0 ′, Z _v ′, and Z ₀ ′ when v _y0 ′ = X _e ′ = 1 is created. As shown in FIG. 9, the first three-dimensional map in which the values of ν ₁ ′ obtained based on the equations (69) to (71) are mapped using v _x0 ′, Z _v ′ and Z ₀ ′ as parameters. , Ν ₂ ′ mapped to the second three-dimensional map, and t _e ′ mapped the third three-dimensional map. In FIG. 9, since Z _v ′ = v _y0 ′ / 2 is a singular point, an optimal three-dimensional map is configured to include this case.

Then, using these maps _{{ν 1, ν 2, t} e} To determine _{the, v y0 '= X e'} = 1, from the known _{v x0, v y0, Z 0} , Z v and _{X e} (75) parameters _{v x0} accordance expression ', _{Z v'} and _{Z 0} 'calculates the output for the calculated parameters _{{ν 1', ν 2 '} , t e'} to obtain from the 3-dimensional map, ( 73) and (74) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} is converted to. Further, F ₀ is calculated by substituting into the equation (68), and these parameters are applied to the equation (32) to obtain an input time function. However, in the case of v _y0 <0, conversion from v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ and {−ν ₁ ′, −ν ₂ ′ from the optimum three-dimensional map , _{'seek}, -ν 1' t e →} ν 1 ', -ν 2' performs processing → ν ₂ '{ν _1, it you get ν _{2, t e}.}

Further, as another parameter, when an arbitrary positive number a ₁ is set as in the following expression (76) from the fourth expression of the expression (72), v _x0 ′, Z _v ′ and X _e ′ can be transformed as shown in the following equation (77).

From this relationship, by setting positive _numbers in v _y0 ′ and Z ₀ ′, v _x0 ′, Z _v ′, and X _e ′ are obtained by the parameter P at the current time. _{Therefore, v} when set to a certain value _y0 'and _{Z 0', v x0 ',} Z v' and _{X e} 'was used as a parameter _{{ν 1', ν 2 '} , t e'} optimal 3-dimensional Prepare a map in advance. The values of v _y0 ′ and Z ₀ ′ can be freely set by the designer when creating the map. As an example, using v _x0 ′, Z _v ′, and X _e ′ when v _y0 ′ = 1 and Z ₀ ′ = ± 1 as variables, the nonlinear equations (69) to (71) are solved, An optimal three-dimensional map of {ν ₁ ′, ν ₂ ′, t _e ′} that is the solution is created.

_{Then, {ν 1, ν 2,} t e} using this optimal three-dimensional map to determine the _{is, v y0 '= 1, Z} 0' = ± 1, the known _{v x0, v y0, Z 0} , Z _The parameters v _x0 ′, Z _v ′ and X _e ′ are calculated from _v and X _e according to the equation (77), and the output {ν ₁ ′, ν ₂ ′, t _e ′} for the calculated parameters is an optimal three-dimensional map. obtained from, converted to _{{ν 1, ν 2, t} e} according (73) and (76) below. _{However, v} in the case of _y0 ≧ _{0, Z} 0 ≧ 0 is, _{Z 0} '= from 1 the optimum three-dimensional map _{{ν 1', ν 2 '} , t e'} _{seek, v y0} ≧ _{0, Z} 0 In the case of <0, {ν ₁ ′, ν ₂ ′, t _e ′} is obtained from the optimum three-dimensional map with Z ₀ ′ = −1. When v _y0 <0 and Z ₀ ≧ 0, the optimal three-dimensionality of Z ₀ ′ = −1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ {−ν ₁ ′, −ν ₂ ′, t _e ′} is obtained from the map, and −ν ₁ ′ → ν ₁ ′, −ν ₂ ′ → ν ₂ ′ are processed, and {ν ₁ , ν ₂ , t _e }. When v _y0 <0 and Z ₀ <0, the optimal three-dimensional map of Z ₀ ′ = 1 is obtained by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. more _{{-ν 1 ', -ν 2'} , t e '} _{seeking, -ν 1' → ν 1 '} , -ν 2' performs processing _{→ ν 2 '{ν 1,} ν 2, t _e } is obtained.

  In addition, a map may be created in which the boundary line between the trajectory that overshoots the trajectory of overshooting the axis of the optimum three-dimensional map and the trajectory that is not so is taken into consideration. For example, the optimum three-dimensional map can be created by changing the parameters of the equation (65) as the following equations (86) to (88).

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the third embodiment will be described with reference to FIG. Here, the optimal three-dimensional map of FIG. 8 is used as a map for deriving the vehicle body composite force that minimizes the maximum value of the vehicle body composite force when moving in the desired speed direction with respect to the road while avoiding the moving obstacle. The case of using will be described. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

Through steps 100 to 106, next, in step 300, using the vehicle and obstacle state quantities v _x0 , v _y0 , Z _v , Z ₀ and X _e calculated in step 106, equation (65) parameter _{v y0} accordance ', _{Z v'} and _{Z 0} 'calculates the output for the calculated parameters _{{ν 1', ν 2 '} , t e'} to obtain from the optimum three-dimensional map, (63) and equation (64) according to equation _{{ν 1 ', ν 2'} , t e '} converts _{{ν 1, ν 2, t} e} to calculates the _{F 0} according to (58) below. Then, by applying these parameters to the equation (32), the vehicle body composite force is obtained. Further, according to the formulas (1) to (6), an avoidance trajectory that minimizes the maximum value of the vehicle body composite force when deriving in the desired speed direction with respect to the road while avoiding the moving obstacle is derived.

Next, at step 302, F ₀ calculated in step 300 it is determined whether or not below the limit value of the tire force. When the maximum value of the vehicle body composite force is less than or equal to the limit value of the tire generated force, the routine proceeds to step 112, and when it exceeds the limit value of the tire generated force, the routine proceeds to step 304. In addition, the limit value of the tire generation force means not only the true limit value determined based on the coefficient of friction between the road surface and the tire but also the limit value set with a margin for the true limit value. is there.

  In step 112, similarly to the first embodiment, avoidance vehicle motion control for realizing traveling along the avoidance track is executed according to the vehicle body resultant force derived in step 300. On the other hand, in step 304, the braking force control device 24 is controlled so that the vehicle stops before the obstacle by the sudden braking control, or the steering angle control device 22 and the control are controlled so that the estimated collision damage is minimized. The power control device 24 is controlled. For example, a known technique such as the technique described in WO2006-070865 may be used.

  As described above, according to the vehicle motion control device of the third embodiment, the maximum value of the vehicle body composite force is minimized when moving in the desired speed direction relative to the road while avoiding moving obstacles. The vehicle body composite force and the avoidance trajectory are derived using a simple three-dimensional map that takes into account the vehicle body composite force and the speed of the obstacle to derive the avoidance trajectory. When the vehicle moves in the desired speed direction with respect to the road while avoiding the vehicle, it is possible to derive the vehicle body composite force and avoidance trajectory that minimize the maximum value of the vehicle body composite force.

Next, a fourth embodiment will be described. In the third embodiment, the case where the optimum three-dimensional map for deriving {ν ₁ ′, ν ₂ ′, t _e ′} for obtaining the vehicle body synthesis force and the avoidance trajectory has been described. When it is desired to obtain only the input (the magnitude and direction of the vehicle body synthesis force), it can be derived by an optimal three-dimensional map that outputs two parameters. This case will be described in the fourth embodiment. In addition, since the structure of the vehicle motion control apparatus of 4th Embodiment is the same as the structure of the vehicle motion control apparatus of 1st Embodiment, description is abbreviate | omitted.

  Here, the optimum three-dimensional map used in the fourth embodiment will be described.

First, as in the third embodiment, the expression (65) is expanded. As an example, an optimal three-dimensional map for v _y0 ′, Z _v ′, and Z ₀ ′ when v _x0 ′ = X _e ′ = 1 is created. As shown in FIG. 11, the value of the direction θ ′ of the vehicle body resultant acceleration obtained based on the equations (32) and (58) to (61) using v _y0 ′, Z _v ′ and Z ₀ ′ as parameters. And a second three-dimensional map in which the value of F ₀ '/ m' is mapped. However, in FIG. 11, mapping is performed using the relative velocity v _y0 ′ −Z _v ′ in the v _y0 ′ axial direction.

In order to obtain {θ ′, F ₀ ′ / m ′} using this optimal three-dimensional map, v _x0 ′ = X _e ′ = 1, known v _x0 , _{vy 0} , Z ₀ , Z _v and Calculate the parameters v _y0 ′, Z _v ′ and Z ₀ ′ from X _e according to the equation (65), and obtain the output {θ ′, F ₀ ′ / m ′} for the calculated parameters from the optimal three-dimensional map, The current time at which F ₀ is obtained by the following equation (78) and the maximum value of the vehicle body synthesis force is minimized when moving in the desired speed direction with respect to the road while avoiding the moving obstacle by the equation (53). The magnitude and direction of the vehicle body composite force can be obtained.

In the above optimal three-dimensional map, the case where the parameters are defined as shown in equation (65) has been described. However, as in the third embodiment, the optimal three-dimensional map using the parameters shown in equation (67) is used. An optimal three-dimensional map that outputs {θ ′, F ₀ ′ / m ′} at the current time can also be created using the map and the equation of θ (t) in equation (32). As an example, an optimal three-dimensional map regarding v _y0 ′, Z _v ′, and X _e ′ when v _x0 ′ = Z ₀ ′ = 1 is created. In this case, F ₀ is obtained by the following equation (79). However, in the case of Z _v <0, it is converted to v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0, and {−θ ′, F ₀ ′ / m ′} is obtained, and −θ ′ → θ ′ is processed to obtain {θ ′, F ₀ ′ / m ′}.

Also, using the optimum three-dimensional map using the parameters shown in equation (75) and the equation of θ (t) in equation (32), the optimum output of {θ ′, F ₀ ′ / m ′} at the current time is performed. A three-dimensional map can also be created. As an example, an optimal three-dimensional map for v _x0 ′, Z _v ′, and Z ₀ ′ when v _y0 ′ = X _e ′ = 1 is created (FIG. 12). In this case, F ₀ is obtained by the following equation (80). However, in the case of v _y0 <0, conversion from v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ and {−θ ′, F ₀ ′ / m ′} is obtained, and −θ ′ → θ ′ is processed to obtain {θ ′, F ₀ ′ / m ′}.

Also, using the optimum three-dimensional map using the parameters shown in equation (77) and the equation of θ (t) in equation (32), the optimum output of {θ ′, F ₀ ′ / m ′} at the current time is performed. A three-dimensional map can also be created. As an example, an optimal three-dimensional map for v _x0 ′, Z _v ′, and X _e ′ when v _y0 ′ = 1 and Z ₀ ′ = ± 1 can be created. In this case, F ₀ is obtained by the following equation (81). However, when v _y0 ≧ 0 and Z ₀ ≧ 0, {θ ′, F ₀ ′ / m ′} is obtained from the optimal three-dimensional map of Z ₀ ′ = 1, and v _y0 ≧ 0, Z ₀ <0. In this case, {θ ′, F ₀ ′ / m ′} is obtained from an optimal three-dimensional map with Z ₀ ′ = −1. When v _y0 <0 and Z ₀ ≧ 0, the optimal three-dimensionality of Z ₀ ′ = −1 by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z ₀ {−θ ′, F ₀ ′ / m ′} is obtained from the map, and the process of −θ ′ → θ ′ is performed to obtain {θ ′, F ₀ ′ / m ′}. When v _y0 <0 and Z ₀ <0, the optimal three-dimensional map of Z ₀ ′ = 1 is obtained by converting v _y0 → −v _y0 , Z _v → −Z _v , Z ₀ → −Z _0. {−θ ′, F ₀ ′ / m ′} is obtained, and the process of −θ ′ → θ ′ is performed to obtain {θ ′, F ₀ ′ / m ′}.

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the fourth embodiment will be described with reference to FIG. Here, FIG. 11 shows a map for deriving the direction of the vehicle body composite force at the current time that minimizes the maximum value of the vehicle body composite force when moving in the desired speed direction with respect to the road while avoiding the moving obstacle. A case where the optimal three-dimensional map is used will be described. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of 1st and 3rd embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

Through steps 100 to 106, next, in step 400, using the vehicle and obstacle state quantities v _x0 , v _y0 , Z _v , Z ₀ , and X _e calculated in step 106, (65) The parameters v _y0 ′, Z _v ′, and Z ₀ ′ are calculated according to the equation, and the output {θ ′, F ₀ ′ / m ′} for the calculated parameter is obtained from the optimal three-dimensional map. The direction and magnitude of the vehicle body composite force are derived by calculating ₀ and applying it to the equation (53). Next, at step 302 and step 112 or 304, the vehicle motion is controlled as in the third embodiment.

  As described above, according to the vehicle motion control device of the fourth embodiment, the maximum value of the vehicle body composite force is minimized when moving in a desired speed direction with respect to the road while avoiding moving obstacles. Since the direction of the vehicle body composite force is derived using an optimal three-dimensional map with a simple configuration considering the speed of the obstacle to derive the direction of the vehicle body composite force at the current time, even when the obstacle moves, When moving in a desired speed direction with respect to the road while avoiding an obstacle, the direction and magnitude of the vehicle body composite force at the current time that minimizes the maximum value of the vehicle body composite force can be derived. In addition, since less maps are used than in the optimum three-dimensional map in the case of the third embodiment, the capacity for storing the maps can be reduced.

  Next, a fifth embodiment will be described. In the fifth embodiment, a case where left and right avoidance trajectories are obtained and compared will be described. In addition, since the structure of the vehicle motion control apparatus of 5th Embodiment is the same as the structure of the vehicle motion control apparatus of 1st Embodiment, description is abbreviate | omitted.

  In the first to fourth embodiments, the case where the avoidance trajectory to avoid on the left side of the obstacle with respect to the front-rear direction of the host vehicle has been described, but the avoidance trajectory to avoid on the right side of the obstacle is derived. It can also be applied to. This is because, as shown in FIG. 14, the trajectory that avoids the right side of the obstacle is symmetrical to the trajectory that avoids the left side of the obstacle with respect to a scene that is line-symmetric with respect to the x-axis.

  A vehicle motion control routine executed by the control device 20 of the vehicle motion control device according to the fifth embodiment will be described with reference to FIG. Here, the case where the shortest three-dimensional map of FIG. 3 is used as a map for deriving an avoidance trajectory that minimizes the longitudinal movement distance when moving in a desired speed direction with respect to the road while avoiding the moving obstacle. explain. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

After steps 100 to 108, in step 500, the position when the host vehicle passes by the obstacle when Z _v = 0 corresponds to the position Z ₀ in the y-axis direction of the current time of the obstacle on the left side. Z ₁ is used for avoidance and Z _r is used for right avoidance. Then, the margin α _Z of the horizontal position based on the size of the host vehicle and the obstacle is set, and Z _l and Z _r are set as in the following equation (82).

Next, in step 502, the vehicle and obstacle state quantities m, v _x0 , v _y0 , Z ₀ , Z _v calculated in step 106 and the maximum value F ₀ of the vehicle body composite force set in step 108 are calculated. using, from the shortest 3-dimensional map _{{ν 1 ', ν 2'} , t e '} obtained. Within this step, the _{Z 0,} the _{Z 0} on the left avoided _{Z l,} is used instead of a _{Z 0} to _{Z r} on the right avoidance. Then, it is converted into {ν ₁ , ν ₂ , t _e } according to the equations (38) and (39). Then, by applying these parameters to the equation (32), the vehicle body combined forces for left side avoidance and right side avoidance are obtained. Further, to obtain a minimum vertical travel distance X _s of each of the left avoidance and right avoided by substituting the expression (36). In the case of avoiding the left side, Z _v and Z _l can be applied as they are in the first embodiment, but in the case of avoiding the right side, v _y0 → −v _y0 , Z _v → −Z _v , Z _r → −Z _r (symmetry with respect to the x-axis) and applied in the same manner as in the first embodiment, and {−ν ₁ ′, −ν ₂ ′, get t _e '}. _{Then, -ν 1 '→ ν 1'} , by performing the processing of -ν ₂ '→ ν _2', to avoid the right obstacle _{{ν 1 ', ν 2'} , t e '} is obtained.

Next, in step 504, it compares the minimum vertical movement distance X _s minimum longitudinal movement distance X _s and right avoidance on the left avoidance, when towards the minimum vertical movement distance X _s of the left avoidance is small , the process proceeds to step 506 to select the trajectory of the left avoidance, when towards the minimum vertical movement distance X _s right avoidance is small, the process proceeds to step 508, selects the orbit of the right avoidance.

  Next, in step 510, it is determined whether or not the selected avoidance operation is necessary. If the avoidance operation is necessary, the process proceeds to step 112, where avoidance vehicle motion control is executed, and the avoidance operation is not necessary. That is, if the collision does not occur even if the avoidance operation is not performed, the process is terminated as it is. In addition, you may select avoiding only the acceleration / deceleration of a straight drive, or a lateral movement using a well-known technique (Unexamined-Japanese-Patent No. 2007-283910).

  In the fifth embodiment, the case of comparing the left avoidance trajectory with the right avoidance trajectory has been described for the shortest avoidance control using the shortest three-dimensional map. For example, the optimum three-dimensional map shown in FIG. 8 is used. This is also applicable when optimal avoidance control is performed. With reference to FIG. 16, the case of the optimal avoidance control of the fifth embodiment will be described. In addition, about the process same as the case of the shortest avoidance control of the 1st-4th embodiment and 5th Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

After steps 100 to 106 and step 500, next, in step 550, the state quantities v _x0 , v _y0 , Z ₀ , Z _v , and X _e of the host vehicle and the obstacle calculated in step 106 are used. , the optimum three-dimensional map _{{ν 1 ', ν 2'} , t e '} obtained. Within this step, the _{Z 0,} the _{Z 0} on the left avoided _{Z l,} is used instead of a _{Z 0} to _{Z r} on the right avoidance. Then, into a _{{ν 1, ν 2, t} e} according (63) and (64) below. Then, by applying these parameters to the equation (32), the vehicle body combined forces for left side avoidance and right side avoidance are obtained. Further, by substituting into the equation (58), the maximum value F ₀ of the vehicle body resultant force for each of the left side avoidance and the right side avoidance is obtained. In the case of avoiding the left side, Z _v and Z _l can be applied as they are in the first embodiment, but in the case of avoiding the right side, v _y0 → −v _y0 , Z _v → −Z _v , Z _r → −Z _r (symmetry with respect to the x-axis) and applied in the same manner as in the first embodiment, and {−ν ₁ ′, −ν ₂ ′, get t _e '}. _{Then, -ν 1 '→ ν 1'} , by performing the processing of -ν ₂ '→ ν _2', to avoid the right obstacle _{{ν 1 ', ν 2'} , t e '} is obtained.

Next, in step 552, the maximum value F ₀ of the vehicle body resultant force in the case of the left side avoidance obtained in step 550 is compared with the maximum value F ₀ of the vehicle body composite force in the case of the right side avoidance. If the maximum value F ₀ of the resultant force is smaller, the process proceeds to step 506, and a trajectory for avoiding the left side is selected. If the maximum value F ₀ of the body force for avoiding the right side is smaller, step 508 is performed. And select the right avoidance trajectory.

  Hereinafter, in step 302, step 112 or step 304, avoidance vehicle motion control or the like is executed.

  As described above, in the fifth embodiment, the left-side avoidance trajectory and the right-side avoidance trajectory can be derived using the same shortest three-dimensional map or optimal three-dimensional map. When using the avoidance distance, and when using the optimal three-dimensional map, the avoidance trajectory with the smaller maximum value of the vehicle body composite force is selected, so that more optimal avoidance control can be executed.

  In the fifth embodiment, the case where the process of selecting the left avoidance or the right avoidance is combined with the first or third embodiment has been described. However, the fifth embodiment is combined with the second or fourth embodiment. It may be.

Moreover, although the case where the speed of the own vehicle and the obstacle with respect to the road is used has been described in the first to fifth embodiments, the speeds v _x0 and v _y0 of the own vehicle with respect to the road and the relative speed of the obstacle with respect to the own vehicle. Z _vx ′ and Z _vy ′ may be detected, and the control problem may be formulated and solved using these parameters. This is because the derived control input and its nonlinear equation are finally reduced to equations (32) to (36).

DESCRIPTION OF SYMBOLS 10 Vehicle speed sensor 12 Steering angle sensor 14 Throttle opening sensor 16 Front camera 18 Laser radar 20 Control device 22 Steering angle control device 24 Braking force control device 26 Driving force control device 28 Map storage device 30 Display device

Claims (10)

Detecting means for detecting a state quantity including the position and speed of the host vehicle and the position and speed of an obstacle;
Setting means for setting the speed direction of the own vehicle immediately after avoiding the obstacle and the maximum value of the vehicle body composite force;
Assuming that the speed direction is the longitudinal direction of the vehicle body and the obstacle moves at a constant speed in the lateral direction of the vehicle body, the vehicle vehicular longitudinal component v _x0 of the speed of the own vehicle, A component v _y0 , a vehicle body lateral component Z _v of the speed of the obstacle, a vehicle body lateral component Z _{0 of} the obstacle position with respect to a current time position of the host vehicle, and a maximum value F _{0 of the} vehicle body composite acceleration 3 different parameters using / m, and the first introduction introduced to obtain the vehicle body composite force that minimizes the distance traveled in the longitudinal direction of the vehicle body when moving in the speed direction while avoiding the obstacle Of the parameter ν _{1, two} of the component v _x0 , the component v _y0 , the component Z _v , the component Z ₀ , and the maximum value F ₀ / m according to the three parameters are specific values. value under the assumption ν First three-dimensional map that defines the 'a relationship,
The first parameter ν ₁ introduced to obtain the three parameters and the vehicle body composite force that minimizes the movement distance in the vehicle front-rear direction when moving in the speed direction while avoiding the obstacle; A second three-dimensional map defining the relationship between the different second introduction parameter ν ₂ and the value ν ₂ ′ under the assumption; and the time required for avoiding the three parameters and the obstacle of t _e, time t _{e 'under} the assumption, comprising: storage means for storing the minimum three-dimensional map and a third three-dimensional map that defines the relationship,
Based on the state quantity detected by the detection means and the maximum value of the vehicle body composite force set by the setting means, the three parameters are calculated, and using the calculated three parameters and the shortest three-dimensional map, A derivation means for deriving a vehicle body composite force that minimizes a movement distance in the longitudinal direction of the vehicle body when moving in the speed direction while avoiding the obstacle;
A vehicle motion control device. Detecting means for detecting a state quantity including the position and speed of the host vehicle and the position and speed of an obstacle;
Setting means for setting the speed direction of the own vehicle immediately after avoiding the obstacle and the maximum value of the vehicle body composite force;
Assuming that the speed direction is the longitudinal direction of the vehicle body and the obstacle moves at a constant speed in the lateral direction of the vehicle body, the vehicle vehicular longitudinal component v _x0 of the speed of the own vehicle, A component v _y0 , a vehicle body lateral component Z _v of the speed of the obstacle, a vehicle body lateral component Z _{0 of} the obstacle position with respect to a current time position of the host vehicle, and a maximum value F _{0 of the} vehicle body composite acceleration Each of the three different parameters using / m, and the component v _x0 of the direction θ of the vehicle body synthetic acceleration that minimizes the movement distance in the vehicle longitudinal direction when moving in the speed direction while avoiding the obstacle, Direction θ ′ under the assumption that two of the component v _y0 , the component Z _v , the component Z ₀ , and the maximum value F ₀ / m according to the three parameters are specific values; The shortest 3D map that defines the relationship Storage means for storing
Based on the state quantity detected by the detection means and the maximum value of the vehicle body composite force set by the setting means, the three parameters are calculated, and using the calculated three parameters and the shortest three-dimensional map, Deriving means for deriving the vehicle body resultant force at the current time that minimizes the movement distance in the longitudinal direction of the vehicle body when moving in the speed direction while avoiding the obstacle;
A vehicle motion control device. Detecting means for detecting a state quantity including the position and speed of the host vehicle and the position and speed of an obstacle;
Setting means for setting the speed direction of the host vehicle immediately after avoiding the obstacle;
Assuming that the speed direction is the longitudinal direction of the vehicle body and the obstacle moves at a constant speed in the lateral direction of the vehicle body, the vehicle vehicular longitudinal component v _x0 of the speed of the own vehicle, A component v _y0 , a vehicle body lateral component Z _v of the speed of the obstacle, a vehicle body lateral component Z _{0 of} the obstacle position relative to the current time position of the host vehicle, and the host vehicle and the obstacle and each different three parameters using the vehicle longitudinal direction component X _e distance of, when moving to the velocity direction while avoiding the obstacle, determine the vehicle body resultant force which minimizes the maximum value of the vehicle body resultant force Two of the first introduction parameters ν ₁ introduced for the purpose are specified according to the three parameters among the component v _x0 , the component v _y0 , the component Z _v , the component Z ₀ , and the component X _e Assuming value First three-dimensional map that defines the value [nu _{1 'under} the relation,
The first parameter ν ₁ introduced to obtain the three parameters and the vehicle body composite force that minimizes the maximum value of the vehicle body composite force when moving in the speed direction while avoiding the obstacle; A second three-dimensional map defining the relationship between the different second introduction parameter ν ₂ and the value ν ₂ ′ under the assumption; and the time required for avoiding the three parameters and the obstacle of t _e, time t _{e 'under} the assumption, comprising: storage means for storing the optimum three-dimensional map and a third three-dimensional map that defines the relationship,
When calculating the three parameters based on the state quantity detected by the detecting means, and using the calculated three parameters and the optimal three-dimensional map, the vehicle moves in the speed direction while avoiding the obstacle. Derivation means for deriving the vehicle body composite force that minimizes the maximum value of the vehicle body composite force;
A vehicle motion control device. Detecting means for detecting a state quantity including the position and speed of the host vehicle and the position and speed of an obstacle;
Setting means for setting the speed direction of the host vehicle immediately after avoiding the obstacle;
Assuming that the speed direction is the longitudinal direction of the vehicle body and the obstacle moves at a constant speed in the lateral direction of the vehicle body, the vehicle vehicular longitudinal component v _x0 of the speed of the own vehicle, A component v _y0 , a vehicle body lateral component Z _v of the speed of the obstacle, a vehicle body lateral component Z _{0 of} the obstacle position relative to the current time position of the host vehicle, and the host vehicle and the obstacle and each different three parameters using the vehicle longitudinal direction component X _e distance of, when moving to the velocity direction while avoiding the obstacle, the direction of the vehicle body resultant acceleration of minimizing the maximum value of the vehicle body resultant force Under the assumption that θ of the component v _x0 , the component v _y0 , the component Z _v , the component Z ₀ , and the component X _e are two specific values according to the three parameters. The direction that defines the relationship with the direction θ ′ Three-dimensional map, and - the three parameters and the time of moving to the velocity direction, the maximum value F _{0 /} m of the vehicle body resultant acceleration of minimizing the maximum value of the vehicle body resultant force while avoiding the obstacle, Storage means for storing an optimum three-dimensional map composed of a second three-dimensional map that defines the relationship between the maximum value F ₀ '/ m' under the assumption;
When calculating the three parameters based on the state quantity detected by the detecting means, and using the calculated three parameters and the optimal three-dimensional map, the vehicle moves in the speed direction while avoiding the obstacle. Derivation means for deriving the vehicle body composite force at the current time to minimize the maximum value of the vehicle body composite force;
A vehicle motion control device.   The derivation means includes a shortest distance in the vehicle longitudinal direction of the avoidance track that avoids the left side of the obstacle, and a minimum distance of the vehicle longitudinal direction of the avoidance track that avoids the right side of the obstacle, The vehicle motion control device according to claim 1, wherein the avoidance trajectory on the side with the shortest shortest distance is selected.   The deriving means compares the maximum value of the vehicle body composite force of the avoidance track that avoids the left side of the obstacle with the maximum value of the vehicle body composite force of the avoidance track that avoids the right side of the obstacle, The vehicle motion control device according to claim 3 or 4, wherein an avoidance track having a smaller maximum value is selected.   The vehicle motion control device according to claim 1, wherein the detection unit detects a speed of the host vehicle, a relative distance and a relative speed of the obstacle with respect to the host vehicle.   8. The control unit according to claim 1, further comprising a control unit that controls at least one of a steering angle, a braking force, and a driving force based on the vehicle body resultant force derived by the deriving unit. 9. Vehicle motion control device.   The vehicle motion control device according to any one of claims 1 to 8, further comprising notification means for notifying a driver of a vehicle motion state based on the vehicle body resultant force derived by the derivation means.   The vehicle motion control program for functioning a computer as each means which comprises the vehicle motion control apparatus of any one of Claims 1-9.