JP2013112079A - Vehicle attitude controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle attitude controller which contributes to improvement in ride comfortability at a given seated position.SOLUTION: The vehicle attitude controller 4 includes a front wheel controller 6 and a rear wheel controller 7, which control the attitude of a vehicle 1. At least either of the front wheel controller 6 and the rear wheel controller 7 controls the attitude of the vehicle 1 based on output from a ride sensor 47 which detects the an occupant number representing the number of occupants in the vehicle 1 and ride positions representing the positions of the occupant in the vehicle 1.

Description

  The present invention relates to a vehicle attitude control device including an attitude control unit that controls the attitude of a vehicle.

  The vehicle motion control device of Patent Document 1 sets a target behavior determining means for determining a target turning amount and a target attitude angle of a vehicle based on a steering wheel operation angle and a vehicle speed, and sets a left / right wheel driving force difference based on the target turning amount. Drive force distribution determining means, and vehicle behavior control means for controlling vehicle behavior by controlling left and right wheel drive force difference and front and rear wheel drive force distribution.

JP 2005-349887 A

  In general, in order to improve the maneuverability of the vehicle, the vehicle attitude control device controls the attitude of the vehicle so that the traveling direction of the vehicle coincides with the front of the vehicle by bringing the vehicle slip angle close to zero. .

  By the way, Patent Document 1 does not particularly refer to vehicle attitude control for improving riding comfort. When the vehicle attitude control device controls the attitude of the vehicle in consideration of the ride comfort at the ride position of the driver, the ride comfort at the rear ride position away from the ride position of the driver may not be good.

  In order to solve the above-described problems, an object of the present invention is to provide a vehicle attitude control device that contributes to improvement in riding comfort at a predetermined boarding position.

  (1) The first means is the invention according to claim 1, that is, the vehicle attitude control device including an attitude control unit that controls the attitude of the vehicle, wherein the attitude control unit is the number of passengers riding on the vehicle. The gist of the invention is to control the attitude of the vehicle based on the number of passengers and the output of a sensor that detects the boarding position, which is the position of the passenger on the vehicle.

  According to this invention, since the posture of the vehicle changes according to the number of passengers and the boarding position, the vehicle posture control device can change the yaw rotation center position of the vehicle according to the number of passengers and the boarding position. Therefore, it is possible to improve the riding comfort at a predetermined boarding position as compared with the case where the vehicle attitude control device changes the yaw rotation center position of the vehicle without depending on the number of passengers and the boarding position.

  (2) The second means is the invention according to claim 2, that is, the vehicle attitude control device according to claim 1, wherein a row that passes through a boarding position where an occupant rides and extends in the left-right direction of the vehicle is When the sensor detects that an occupant is on any one of a plurality of riding trains of the vehicle, the posture control unit controls the posture of the vehicle, and the vehicle The main point is to bring the center of yaw rotation closer to the one row.

  According to the present invention, when the occupant is on only one of the plurality of trains, the center of yaw rotation of the vehicle approaches the above-mentioned one, so it is possible to improve the riding comfort in the same train. is there.

  (3) The third means is the invention according to claim 3, that is, the vehicle attitude control device according to claim 2, wherein the boarding row passing through the boarding position where a predetermined occupant rides is referred to as "first row", When the sensor detects that an occupant is on the first row and the second row, the boarding row located on the rear side of the vehicle with respect to the first row is referred to as a “second row”. The gist of the attitude control unit is to control the attitude of the vehicle and move the yaw rotation center position of the vehicle to an intermediate position between the first row and the second row.

  According to this invention, when the number of occupants in the first row and the number of occupants in the second row are the same, the yaw rotation center position of the vehicle moves to the middle between the first row and the second row. For this reason, for example, it is possible to improve the riding comfort in the second row as compared with the case where the yaw rotation center position is located in the first row.

  (4) The fourth means is the invention according to claim 4, ie, the vehicle attitude control device according to claim 3, wherein the number of passengers in the first row and the number of passengers in the second row are the same. When the sensor detects this, the attitude control unit controls the attitude of the vehicle to bring the yaw rotation center position of the vehicle closer to an intermediate part located between the first row and the second row. Is the gist.

  (5) The fifth means is the invention according to claim 5, that is, the vehicle attitude control device according to claim 4, wherein the number of passengers in the first row is larger than the number of passengers in the second row. When the sensor detects, the attitude control unit controls the attitude of the vehicle to bring the yaw rotation center position of the vehicle closer to the front intermediate part located on the front side of the vehicle than the intermediate part. Is the gist.

  According to the present invention, when the number of occupants in the first row is larger than the number of occupants in the second row, the yaw rotation center position of the vehicle approaches the front intermediate portion. For this reason, for example, it is possible to improve the riding comfort in the first row on which a large number of occupants are riding, compared to the case where the yaw rotation center position is brought closer to the intermediate portion.

  (6) The sixth means is the invention according to claim 6, ie, the vehicle attitude control device according to claim 4 or 5, wherein the number of passengers in the first row is larger than the number of passengers in the second row. When the sensor detects that the amount is low, the attitude control unit controls the attitude of the vehicle, and a rear intermediate part that positions the yaw rotation center position of the vehicle on the rear side of the vehicle with respect to the intermediate part The main point is to make it closer to.

  According to this invention, when the number of passengers in the second row is larger than the number of passengers in the first row, the yaw rotation center position of the vehicle approaches the rear intermediate portion. For this reason, for example, it is possible to improve the riding comfort in the second row on which a large number of passengers are riding, compared to the case where the yaw rotation center position is brought closer to the intermediate portion.

  (7) The seventh means is the invention according to claim 7, that is, the vehicle attitude control device according to claim 2, wherein the boarding row passing through the boarding position where a predetermined occupant rides is referred to as "first row", The boarding row located on the rear side of the vehicle relative to the first row is referred to as a “second row”, and the boarding row located on the rear side of the vehicle relative to the second row is referred to as a “third row”. When the sensor detects that the number of occupants in the first row and the number of occupants in the third row are the same, the posture control unit controls the posture of the vehicle to control the yaw rotation center of the vehicle. The gist is to move the position to an intermediate portion located between the first row and the third row.

  According to this invention, when the number of passengers in the first row and the number of passengers in the third row are the same, the yaw rotation center position of the vehicle moves to the middle between the first row and the third row. For this reason, for example, it is possible to improve the riding comfort in the third row as compared with the case where the yaw rotation center position is located in the first row.

  (8) The eighth means is the invention according to claim 8, that is, the vehicle attitude control device according to claim 7, wherein the number of passengers in the first row is larger than the number of passengers in the third row. When the sensor detects, the attitude control unit controls the attitude of the vehicle to bring the yaw rotation center position of the vehicle closer to the front intermediate part located on the front side of the vehicle than the intermediate part. Is the gist.

  According to this invention, when the number of passengers in the first row is larger than the number of passengers in the third row, the yaw rotation center position of the vehicle approaches the front intermediate portion. For this reason, for example, it is possible to improve the riding comfort in the first row on which a large number of occupants are riding, as compared with the case where the yaw rotation center position is brought closer to the intermediate portion.

  (9) A ninth means is the invention according to claim 9, that is, the vehicle attitude control device according to claim 7 or 8, wherein the number of passengers in the first row is larger than the number of passengers in the third row. When the sensor detects that the amount is low, the attitude control unit controls the attitude of the vehicle, and a rear intermediate part that positions the yaw rotation center position of the vehicle on the rear side of the vehicle with respect to the intermediate part The main point is to make it closer to.

  According to the present invention, when the number of passengers in the third row is larger than the number of passengers in the first row, the yaw rotation center position of the vehicle moves to the rear intermediate portion. For this reason, for example, it is possible to improve the riding comfort in the third row on which a large number of passengers are riding, compared to the case where the yaw rotation center position is brought closer to the intermediate portion.

  (10) The tenth means is the invention according to claim 10, that is, the vehicle attitude control device according to any one of claims 1 to 9, wherein the sensor is provided in a seat on which an occupant is seated. The gist is that it is a load sensor.

  According to the present invention, the sensor can detect that the occupant is riding when the occupant is seated on the seat.

  The present invention provides a vehicle attitude control device that contributes to improving riding comfort at a predetermined boarding position.

The block diagram which shows typically the whole structure about the vehicle attitude | position control apparatus of 1st Embodiment of this invention. The schematic diagram of the vehicle which shows the position where a passenger | crew is possible about the vehicle attitude | position control apparatus of the embodiment. The schematic diagram which shows the side slip angle of a vehicle body, and a yaw rotation center position about the vehicle attitude | position control apparatus of the embodiment. The flowchart which shows the procedure about the vehicle attitude | position control process performed by the vehicle attitude | position control apparatus of the embodiment. The flowchart which shows the procedure about the target rotation center position setting process performed by the vehicle attitude control apparatus of the embodiment. The schematic diagram which shows a passenger | crew's boarding mode when setting a target rotation center position to a 1st row | line | column part about the vehicle attitude | position control apparatus of the embodiment. The schematic diagram which shows the passenger | crew's boarding mode when making target rotation center position into an intermediate part about the vehicle attitude | position control apparatus of the embodiment. The schematic diagram which shows a passenger | crew's boarding mode when making a target rotation center position into a front side intermediate part about the vehicle attitude | position control apparatus of the embodiment. The schematic diagram which shows a passenger | crew's boarding mode when making a target rotation center position into a rear side intermediate part about the vehicle attitude | position control apparatus of the embodiment. The vehicle schematic diagram which shows the position where a passenger | crew is possible about the vehicle attitude | position control apparatus of 2nd Embodiment of this invention. The flowchart which shows the procedure about the target rotation center position setting process performed by the vehicle attitude control apparatus of the embodiment. The schematic diagram which shows the passenger | crew's boarding mode when making target rotation center position into the 1st row part about the vehicle attitude | position control apparatus of the embodiment. The schematic diagram which shows the passenger | crew's boarding mode when making target rotation center position into an intermediate part about the vehicle attitude | position control apparatus of the embodiment. The schematic diagram which shows a passenger | crew's boarding mode when making a target rotation center position into a front side intermediate part about the vehicle attitude | position control apparatus of the embodiment. The schematic diagram which shows a passenger | crew's boarding mode when making a target rotation center position into a rear side intermediate part about the vehicle attitude | position control apparatus of the embodiment.

(First embodiment)
A first embodiment of the present invention will be described with reference to FIGS. In addition, the arrow X in a figure shows the front-back direction including the front and back of the vehicle 1. FIG. An arrow Y in the figure indicates the left-right direction including the left side and the right side of the vehicle 1. The front-rear direction and the left-right direction are linear directions orthogonal to each other. A linear direction perpendicular to the front-rear direction and the left-right direction is defined as the up-down direction including the upper and lower directions. The front-rear direction, the left-right direction, and the up-down direction indicate the directions of the coordinate system fixed to the vehicle 1.

FIG. 1 shows an overall configuration of a vehicle 1 having a vehicle body 2, wheels 3, and a vehicle attitude control device 4.
The front wheels 31 and 32 that are the front wheels 3 rotate using the front axis AF that is the front axle A as the rotation center axis. The left front wheel 31 is located at a left front side portion of the vehicle body 2. The right front wheel 32 is located at the right front side portion of the vehicle body 2.

  The rear wheels 33 and 34 which are the rear wheels 3 rotate with the rear axis AR which is the rear axle A as the rotation center axis. The left rear wheel 33 is located at a left rear portion of the vehicle body 2. The right rear wheel 34 is located at the right rear portion of the vehicle body 2.

  The steering device 12 connects the front wheels 31 and 32 and the steering handle 11 for controlling the steering angle of the front wheels 31 and 32. The steering angles of the front wheels 31 and 32 change when the steering handle 11 is operated.

  The vehicle attitude control device 4 includes a vehicle slip angle estimation device 5, wheel speed sensors 41 to 44, an acceleration sensor 45, a yaw rate sensor 46, a ride sensor 47, a memory 48, a computing device 49, and a front wheel control device. 6 and a rear wheel control device 7. The front wheel control device 6 and the rear wheel control device 7 that control the posture of the vehicle 1 correspond to a “posture control unit”.

  The vehicle slip angle estimation device 5 estimates the side slip angle of the vehicle body 2. The side slip angle of the vehicle body 2 is calculated based on, for example, the yaw rate and acceleration of the vehicle 1 and the friction coefficient of the road surface. Note that if the estimation accuracy of the friction coefficient of the road surface is low, the estimation accuracy of the side slip angle is lowered. Therefore, it is preferable that the side slip angle is calculated based on the lateral force acting on the wheel 3 instead of the friction coefficient of the road surface. . A lateral force acting on the wheel 3 is detected by a tire lateral force sensor (not shown).

  The wheel speed sensor 41 detects the wheel speed of the left front wheel 31. The wheel speed sensor 42 detects the wheel speed of the right front wheel 32. The wheel speed sensor 43 detects the wheel speed of the left rear wheel 33. The wheel speed sensor 44 detects the wheel speed of the right rear wheel 34.

The acceleration sensor 45 detects accelerations in the front-rear direction, the left-right direction, and the up-down direction.
The yaw rate sensor 46 detects a yaw rate that is an angular velocity of rotation of the vehicle 1 with the vertical direction as the center of rotation.

The passenger sensor 47 detects the number of passengers and the passenger position. The number of passengers is the number of passengers riding on the vehicle 1. The occupant position is the position of the occupant riding on the vehicle 1.
The memory 48 stores a program executed by the arithmetic device 49 and information used for the program.

  The arithmetic device 49 is an integrated circuit composed of an ECU (Electronic Control Unit). The arithmetic device 49 executes a vehicle attitude control process and a target rotation center position setting process based on a program stored in the memory 48.

  In the vehicle attitude control process, the arithmetic unit 49 calculates a control amount for bringing the attitude of the vehicle 1 close to a predetermined target attitude based on the number of passengers and the detection result of the boarding position by the boarding sensor 47. The arithmetic device 49 outputs the calculated control amount to at least one of the front wheel control device 6 and the rear wheel control device 7. The front wheel control device 6 and the rear wheel control device 7 operate based on the control amount calculated by the calculation device 49.

  The front wheel control device 6 is an active steering device capable of controlling the steering angles of the front wheels 31 and 32 without being interlocked with the steering angle of the steering handle 11. The front wheel control device 6 controls the posture of the vehicle 1 by controlling the front wheels 31 and 32. For the vehicle 1 whose center of rotation is the vertical direction, when the position of the center of rotation (hereinafter referred to as “yaw rotation center position”) is closer to the front axis AF than the rear axis AR, the front wheels 31, 32 The side slip angle is smaller than the side slip angle of the rear wheels 33, 34, and the front wheels 31, 32 grip the road surface compared to the rear wheels 33, 34. Therefore, at this time, the front wheel control device 6 effectively controls the posture of the vehicle 1 by controlling the front wheels 31 and 32.

  The rear wheel control device 7 is a left and right driving force distribution device capable of controlling the distribution ratio of the driving force of the left rear wheel 33 and the driving force of the right rear wheel 34 with respect to the rear wheels 33 and 34 that are driving wheels. . The rear wheel control device 7 controls the posture of the vehicle 1 by controlling the rear wheels 33 and 34. When the yaw rotation center position is closer to the rear axis AR than the front axis AF, the side slip angle of the rear wheels 33, 34 is smaller than the side slip angle of the front wheels 31, 32, and the rear wheels 33, 34 are front wheels. Compared to 31 and 32, the road surface is gripped. Therefore, at this time, the rear wheel control device 7 effectively controls the posture of the vehicle 1 by controlling the rear wheels 33 and 34.

With reference to FIG. 2, the position which can be boarded in the vehicle 1 is demonstrated.
The vehicle 1 has a driver seat 61 on which a driver of the vehicle 1 is seated, a passenger seat 62 located next to the driver seat 61 in the left-right direction, and a driver seat 61 and a passenger seat 62 behind the driver seat 61. The rear seat 63 is located.

  The vehicle 1 passes through the boarding position (that is, the seat position) on which the occupant rides, and the row extending in the left-right direction of the vehicle 1 is a “boarding row”. The first row and the second row are the first row. And a second row which is a boarding row. The first column is a boarding row having the driver's seat 61 and the passenger seat 62 as the boarding positions. The second row is a boarding row with the rear seat 63 as the boarding position. The seat position can be displaced by the operation of the occupant, but the position of the boarding row may be determined in advance. In this embodiment, the position of the boarding row in the front-rear direction of the vehicle 1 is determined in advance and does not change regardless of the number or position of passengers.

  The driver seat 61 incorporates a load sensor 47A. The passenger seat 62 has a built-in load sensor 47B. The rear seat 63 incorporates load sensors 47C and 47D that are spaced apart in the left-right direction.

  The load sensors 47 </ b> A to 47 </ b> D constitute a boarding sensor 47. The arithmetic unit 49 in FIG. 1 detects the number of passengers in the first column and the number of passengers in the second column based on the outputs of the load sensors 47A to 47D.

With reference to FIG. 3, the yaw rotation center position which moves by controlling the attitude of the vehicle 1 will be described.
When the vehicle 1 is traveling while turning, a yaw rate is generated in the vehicle 1. At this time, a direction indicated by an arrow γ in which the vehicle 1 is turning is a positive direction of the yaw rate, and a direction opposite to the arrow γ is a negative direction of the yaw rate.

  The angle βf indicates a side slip angle of the vehicle body 2 in the front axis AF (hereinafter, “side slip angle βf”). The side slip angle βf indicates an angle formed between the left-right central axis C of the vehicle 1 and the direction in which the front axis AF that is the front portion of the vehicle 1 travels. When the direction in which the front axis AF advances is directed to the turning direction of the vehicle 1, that is, the positive direction of the yaw rate, with respect to the left and right central axis C of the vehicle 1, the side slip angle βf is represented by a positive number. When the direction in which the front axis AF advances is opposite to the turning direction of the vehicle 1 with respect to the left and right central axis C of the vehicle 1, that is, in the negative direction of the yaw rate, the side slip angle βf is expressed by a negative number. .

  The angle βr indicates a side slip angle of the vehicle body 2 on the rear axis AR (hereinafter, “side slip angle βr”). The side slip angle βr indicates an angle formed between the left-right central axis C of the vehicle 1 and the direction in which the rear axis AR that is the rear portion of the vehicle 1 travels. When the direction in which the rear axis AR advances is directed to the turning direction of the vehicle 1, that is, the positive direction of the yaw rate, with respect to the left and right central axis C of the vehicle 1, the side slip angle βr is represented by a positive number. Further, when the direction in which the rear axis AR advances is opposite to the turning direction of the vehicle 1 with respect to the left and right central axis C of the vehicle 1, that is, in the negative direction of the yaw rate, the side slip angle βr is represented by a negative number. .

  A point N indicates the yaw rotation center position of the vehicle 1. The yaw rotation center position is determined by the distance Lf from the yaw rotation center position to the front axis AF and the distance Lr from the yaw rotation center position to the rear axis AR. The distance Lf can be calculated from the following mathematical formula (1). The distance Lr can be calculated from the following mathematical formula (2).

  In the mathematical expression, the distance Lf is “Lf”, the wheelbase is “L”, and the side slip angle βf is “βf”. The wheel base corresponds to the distance from the front axis AF to the rear axis AR in the front-rear direction. If “Lf” is a positive number, it indicates that the yaw rotation center position is located behind the front axis AF. If “Lf” is a negative number, it indicates that the yaw rotation center position is located in front of the front axis AF.

  The yaw rotation center position is a position where the side slip angle is “0”. As calculated from the above (1) and (2), the side slip angle βf, the side slip angle βr, the distance Lf, and the distance Lr are “ Lf · βr = −βf · Lr ”.

  Note that the side slip angles βf and βr can be calculated based on the side slip angle of an arbitrary point of the vehicle 1. That is, the side slip angles βf and βr can be calculated based on the side slip angle at an arbitrary point estimated by the vehicle body slip angle estimating device 5. When the vehicle slip angle estimation device 5 estimates the side slip angle at the center of gravity of the vehicle 1, the side slip angle βf can be calculated from the following equation (3). Further, the side slip angle βr can be calculated from the following mathematical formula (4).

  In the formula, the side slip angle at the center of gravity of the vehicle 1 is “β”, the vehicle speed is “V”, the yaw rate is “γ”, the distance from the center of gravity in the front-rear direction to the front axis AF is “Cf”, and the front-rear direction The distance from the center of gravity to the rear axis AR is “Cr”.

  Since the front wheel control device 6 and the rear wheel control device 7 in FIG. 1 control the front wheels 31, 32 and the rear wheels 33, 34, the side slip angles βf, βr change, and therefore the front wheel control device 6 and the rear wheel control device. 7 moves the yaw rotation center position by controlling the attitude of the vehicle 1. At this time, the front wheel control device 6 and the rear wheel control device 7 move the yaw rotation center position so as to approach a predetermined target rotation center position.

The vehicle attitude control process will be described with reference to FIG. A series of processing shown in FIG. 4 is performed by the arithmetic unit 49 except for steps S1 and S4.
In step S1, the vehicle slip angle estimating device 5 estimates the side slip angle of the vehicle body 2. The estimation result of the side slip angle is input from the body slip angle estimation device 5 to the calculation device 49. The computing device 49 detects the attitude of the vehicle 1 that is traveling based on the side slip angle.

In step S2, the number of passengers and the boarding position are detected using the boarding sensor 47.
In step S10, a target rotation center position setting process is performed based on the number of passengers and the passenger position detected in step S3. The memory 48 stores the target rotation center position determined in the target rotation center position setting process.

  In step S3, the yaw rotation center position of the vehicle 1 is set to a predetermined target rotation based on the yaw rotation center position that can be acquired from the attitude of the vehicle 1 detected in step S2 and the target rotation center position set in step S10. A control amount for approaching the center position is calculated. The control amount corresponds to the control amount of the front wheels 31 and 32 by the front wheel control device 6 and the control amount of the rear wheels 33 and 34 by the rear wheel control device 7. The control amount of the front wheels 31 and 32 corresponds to the amount of change in the steering angle of the front wheels 31 and 32. The control amount of the rear wheels 33 and 34 corresponds to the difference between the driving force of the left rear wheel 33 and the driving force of the right rear wheel 34.

  In step S <b> 4, at least one of the front wheel control device 6 and the rear wheel control device 7 controls the attitude of the vehicle 1 based on the control amount calculated by the arithmetic device 49. That is, the yaw rotation center position of the vehicle 1 approaches the target rotation center position set in step S10.

  The target rotation center position setting process will be described with reference to FIG. A series of processing shown in FIG. In addition, the determination in steps S11, S13, and S15 is performed using the ride sensor 47.

  In step S <b> 11, it is determined whether or not the occupant is in only the first row of the vehicle 1. When it is determined in step S11 that the occupant is in only the first row, that is, when it is determined that the occupant is not in the second row, the process proceeds to step S12. On the other hand, when it is determined in step S11 that the occupant is not in only the first row, that is, when it is determined that the occupant is in the second row, the process proceeds to step S13.

  In step S12, the target rotation center position of the vehicle 1 is set in the first row portion (hereinafter, “first row portion F”). The first row portion F is located on the first row. Thus, by setting the target rotation center position in the first row portion F, the target rotation center position setting process is completed.

  In step 13, it is determined whether or not the number of passengers in the first column is the same as the number of passengers in the second column. When it is determined in step S13 that the number of passengers in the first column is the same as the number of passengers in the second column, the process proceeds to step S14. On the other hand, when it is determined in step S13 that the number of passengers in the first column is different from the number of passengers in the second column, the process proceeds to step S15.

  In step S14, the target rotation center position of the vehicle 1 is set to an intermediate portion (hereinafter, “intermediate portion M”) located between the first row and the second row. The intermediate part M is located behind the first row and located ahead of the second row. Thus, by setting the target rotation center position to the intermediate part M, the target rotation center position setting process is completed.

  In step 15, it is determined whether the number of occupants in the first column is larger or smaller than the number of occupants in the second column. In step S15, when it is determined that the number of occupants in the first row is greater than the number of occupants in the second row, that is, when it is determined that the number of occupants in the second row is less than the first number of occupants, Proceed to processing. On the other hand, when it is determined in step S15 that the number of occupants in the first row is smaller than the number of occupants in the second row, that is, the number of occupants in the second row is larger than the first number of occupants, the processing in step S17 is performed. move on.

  In step S <b> 16, the target rotation center position of the vehicle 1 is set to a front intermediate portion (hereinafter, “front intermediate portion Mf”) located between the first row and the second row. The front intermediate portion Mf is located rearward of the first row and is located forward of the intermediate portion M. Thus, the target rotation center position setting process is completed by setting the target rotation center position in the front intermediate portion Mf.

  In step S17, the target rotation center position of the vehicle 1 is set to a rear intermediate portion (hereinafter, “rear intermediate portion Mr”) located between the first row and the second row. The rear intermediate portion Mr is located in front of the second row and is located rearward of the intermediate portion M. Thus, the target rotation center position setting process is completed by setting the target rotation center position in the rear intermediate portion Mr.

  The operation of the vehicle attitude control device 4 will be described with reference to FIGS. A point T in FIGS. 6 to 9 indicates a target rotation center position that is a target of the yaw rotation center position. A circle M in FIGS. 8 and 9 indicates the intermediate portion M. In the present embodiment, the target rotation center position is set on a line passing through the center of the vehicle 1 in the left-right direction, that is, on the left-right center axis C.

As shown in FIG. 6, the arithmetic device 49 sets the target rotation center position in the first row portion F at the next time. That is, the point T in FIG. 6 indicates the first row portion F.
(A) When one occupant P1 is in the first row and when no occupant is in the second row.
(B) When two passengers P1 are in the first row and when no passengers are in the second row.

  When the first row portion F is the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the first row portion F. As a result, the yaw rotation center position moves closer to the occupant P1, and the side slip angle of the vehicle body 2 in the first row approaches “0”.

As shown in FIG. 7, the arithmetic device 49 sets the target rotation center position at the intermediate portion M at the following times. That is, the point T in FIG.
(A) When one occupant P1 is in the first row and one occupant P2 is in the second row.
(B) When two passengers P1 are in the first row, and when two passengers P2 are in the second row.

  When the intermediate part M is the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the intermediate part M. As a result, the yaw rotation center position moves between the occupant P1 and the occupant P2.

As shown in FIG. 8, at the next time, the arithmetic unit 49 sets the target rotation center position to the front intermediate portion Mf. That is, the point T in FIG. 8 indicates the front intermediate portion Mf.
When two occupants P1 are in the first row and one occupant P2 is in the second row.

  When the front intermediate portion Mf is the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the front intermediate portion Mf. As a result, the yaw rotation center position moves to a position closer to the occupant P1 than the intermediate portion M.

As shown in FIG. 9, the arithmetic device 49 sets the target rotation center position at the rear intermediate portion Mr at the following time. That is, the point T in FIG. 9 indicates the rear intermediate portion Mr.
When one occupant P1 is in the first row and two occupants P2 are in the second row.

  When the rear intermediate portion Mr is at the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the rear intermediate portion Mr. As a result, the yaw rotation center position moves to a position closer to the occupant P2 than the intermediate portion M.

(Effect of embodiment)
The vehicle attitude control device 4 of the present embodiment has the following effects.
(1) The front wheel control device 6 and the rear wheel control device 7 output the ride sensor 47 that detects the number of passengers on the vehicle 1 and the boarding position that is the position of the passenger on the vehicle 1. The attitude of the vehicle 1 is controlled based on the above. Therefore, since the attitude of the vehicle 1 changes according to the number of passengers and the boarding position, the vehicle attitude control device 4 can change the yaw rotation center position of the vehicle 1 according to the number of passengers and the boarding position. Therefore, it is possible to improve the riding comfort at the predetermined boarding position as compared with the case where the vehicle attitude control device 4 changes the yaw rotation center position of the vehicle 1 without depending on the number of passengers and the boarding position.

  (2) When the ride sensor 47 detects that an occupant is on only one of the plurality of ride trains that the vehicle 1 has, that is, only the first train, the front wheel control device 6 and the rear wheel control device 7 The attitude of the vehicle 1 is controlled to bring the yaw rotation center position of the vehicle 1 closer to the first row. For this reason, it is possible to improve the riding comfort in the first row.

  (3) When the ride sensor 47 detects that an occupant is in the first row and the second row, the front wheel control device 6 and the rear wheel control device 7 control the attitude of the vehicle 1 to The yaw rotation center position is moved to an intermediate portion M that is intermediate between the first row and the second row. For this reason, for example, it is possible to improve the riding comfort in the second row as compared with the case where the yaw rotation center position is located in the first row.

  (4) When the riding sensor 47 detects that the number of passengers in the first row is larger than the number of passengers in the second row, the front wheel control device 6 and the rear wheel control device 7 control the attitude of the vehicle 1. Then, the yaw rotation center position of the vehicle 1 is brought closer to the front intermediate portion Mf located on the front side of the vehicle 1 than the intermediate portion M. For this reason, for example, compared with the case where the yaw rotation center position is brought close to the intermediate portion M, it is possible to improve the riding comfort in the first row on which many occupants are riding.

  (5) When the riding sensor 47 detects that the number of passengers in the first row is smaller than the number of passengers in the second row, the front wheel control device 6 and the rear wheel control device 7 control the attitude of the vehicle 1. The yaw rotation center position of the vehicle 1 is brought closer to the rear intermediate portion Mr located on the rear side of the vehicle 1 than the intermediate portion M. For this reason, for example, compared with the case where the yaw rotation center position is brought close to the intermediate part M, it is possible to improve the riding comfort in the second row on which a large number of passengers are riding.

  (6) The boarding sensor 47 includes load sensors 47A to 47D provided on a seat on which an occupant is seated. For this reason, it is possible to detect that the occupant is on the boarding sensor 47 when the occupant is seated on the seat.

(Second Embodiment)
A second embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the number of passengers that can be in the vehicle 1 is different from that of the first embodiment, and the vehicle attitude control process of the first embodiment is changed. In the following, portions different from the vehicle attitude control device 4 of the first embodiment will be described in detail, and the components common to the first embodiment will be denoted by the same reference numerals, and a part or all of the description thereof will be omitted.

With reference to FIG. 10, the position which can board in the vehicle 1 of 2nd Embodiment is demonstrated.
The vehicle 1 has a driver seat 71 on which a driver of the vehicle 1 is seated, a passenger seat 72 located next to the driver seat 71 in the left-right direction, and a driver seat 71 and a passenger seat 72 as seats on which a passenger is seated. The second row sheet 73 is positioned, and the third row sheet 74 is located behind the second row sheet 73.

  The vehicle 1 is a first row that is a first row and a second row that is a row that passes through the boarding position where the occupant rides and extends in the left-right direction of the vehicle 1 as a “board row”. It has a second row and a third row that is the third boarding row. The first row is a boarding row having the driver's seat 71 and the passenger seat 72 as the boarding positions. The second row is a boarding row having the second row seat 73 as the boarding position. The third row is a boarding row having the third row seat 74 as the boarding position. The seat position can be displaced by the operation of the occupant, but the position of the boarding row may be determined in advance. Also in this embodiment, the position of the boarding row in the front-rear direction of the vehicle 1 is determined in advance and does not change regardless of the number or position of passengers.

  The driver seat 71 incorporates a load sensor 47A. The passenger seat 72 has a built-in load sensor 47B. The second row seat 73 incorporates load sensors 47C and 47D that are spaced apart in the left-right direction. Further, the third row seat 74 incorporates load sensors 47E and 47F that are positioned at intervals in the left-right direction.

  The load sensors 47A to 47F constitute a boarding sensor 47. The arithmetic unit 49 in FIG. 1 detects the number of passengers in the first column, the number of passengers in the second column, and the number of passengers in the third column based on the outputs of the load sensors 47A to 47D.

  With reference to FIG. 11, the target rotation center position setting process of 2nd Embodiment is demonstrated. A series of processing shown in FIG. Further, the determination in steps S21, S23, S24, and S26 is performed using the ride sensor 47.

  In step S <b> 21, it is determined whether or not the occupant is in only the first row of the vehicle 1. When it is determined in step S21 that the occupant is in only the first row, that is, when it is determined that the occupant is not in the second row and the third row, the process proceeds to step S22. On the other hand, when it is determined in step S21 that the occupant is not in only the first row, that is, when it is determined that the occupant is in at least one of the second row and the third row, the process of step S23 Proceed to

  In step S22, the target rotation center position of the vehicle 1 is set in the first row portion F. Thus, by setting the target rotation center position in the first row portion F, the target rotation center position setting process is completed.

  In step 23, it is determined whether or not the number of passengers in the first column and the number of passengers in the third column are the same. If it is determined in step S23 that the number of passengers in the first column is different from the number of passengers in the third column, the process proceeds to step S24. On the other hand, when it is determined in step S23 that the number of passengers in the first column and the number of passengers in the third column are the same, the process proceeds to step S25.

  In step S24, it is determined whether or not the occupant is in the second row. When it is determined in step S24 that the occupant is not in the second row, the process proceeds to step S25. On the other hand, when it is determined in step S24 that the occupant is in the second row, the process proceeds to step S26.

  In step S25, the target rotation center position of the vehicle 1 is set to an intermediate portion M located in the middle between the first row and the third row. The intermediate portion M is located behind the first row and located further forward than the third row. Thus, by setting the target rotation center position to the intermediate part M, the target rotation center position setting process is completed.

  In step 26, it is determined whether the number of passengers in the first column is larger or smaller than the number of passengers in the third column. In step S25, when it is determined that the number of occupants in the first row is greater than the number of occupants in the third column, that is, when it is determined that the number of occupants in the third row is less than the first number of occupants, Proceed to processing. On the other hand, when it is determined in step S26 that the number of occupants in the first row is smaller than the number of occupants in the third row, that is, the number of occupants in the third row is larger than the first number of occupants, the processing in step S28 is performed. move on.

  In step S27, the target rotation center position of the vehicle 1 is set to the front intermediate portion Mf that is located rearward of the first row and forward of the intermediate portion M. Thus, the target rotation center position setting process is completed by setting the target rotation center position in the front intermediate portion Mf.

  In step S <b> 28, the target rotation center position of the vehicle 1 is set to the rear intermediate portion Mr that is located in front of the third row and is located behind the intermediate portion M. Thus, the target rotation center position setting process is completed by setting the target rotation center position in the rear intermediate portion Mr.

  With reference to FIGS. 12-15, the effect | action of the vehicle attitude | position control apparatus 4 of this embodiment is demonstrated. A point T in FIGS. 12 to 15 indicates a target rotation center position that is a target of the yaw rotation center position. A circle M in FIGS. 14 and 15 indicates the intermediate portion M. Also in this embodiment, the target rotation center position is set on a line passing through the center of the vehicle 1 with respect to the left-right direction, that is, on the left-right center axis C.

As shown in FIG. 12, the arithmetic device 49 sets the target rotation center position in the first row portion F at the next time. That is, the point T in FIG. 12 indicates the first row portion F.
(A) When one occupant P1 is in the first row and when no occupant is in the second and third rows.
(B) When two occupants P1 are in the first row and when no occupants are in the second and third rows.

  When the first row portion F is the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the first row portion F. As a result, the yaw rotation center position moves closer to the occupant P1, and the side slip angle of the vehicle body 2 in the first row approaches “0”.

As shown in FIG. 13, the arithmetic device 49 sets the target rotation center position at the intermediate portion M at the following time. That is, the point T in FIG.
(A) When one occupant P1 is in the first row, when no occupant is in the second row, and when one occupant P3 is in the third row.
(B) When one occupant P1 is in the first row, and when one occupant P2 is in the second row, and one occupant P3 is in the third row When you are.
(C) When two passengers P1 are in the first row, when no passengers are in the second row, and when two passengers P3 are in the third row.
(D) When one occupant P1 is in the first row and when two occupants P2 are in the second row, and one occupant P3 is in the third row When you are.
(E) When two occupants P1 are in the first row, and when one occupant P2 is in the second row, and two occupants P3 are in the third row When you are.
(F) When two passengers P1 are in the first row, and when two passengers P2 are in the second row, and two passengers P3 are in the third row When you are.
(G) When two passengers P1 are in the first row, when no passengers are in the second row, and when one passenger P3 is in the third row.
(H) When one occupant P1 is in the first row, when no occupant is in the second row, and when two occupants P3 are in the third row.

  When the intermediate part M is the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the intermediate part M. As a result, the yaw rotation center position moves between the occupant P1 and the occupant P3.

As shown in FIG. 14, the arithmetic device 49 sets the target rotation center position at the front intermediate portion Mf at the next time. That is, the point T in FIG. 14 indicates the front intermediate portion Mf.
(A) When one occupant P1 is in the first row, when one occupant P2 is in the second row, and when no occupant is in the third row.
(B) When two passengers P1 are in the first row, when one passenger P2 is in the second row, and when no passengers are in the third row.
(C) When one occupant P1 is in the first row, when two occupants P2 are in the second row, and when no occupants are in the third row.
(D) When two passengers P1 are on the first row, when two passengers P2 are on the second row, and when no passengers are on the third row.
(E) When two passengers P1 are in the first row and when one passenger P2 is in the second row, and one passenger P3 is in the third row When you are.
(F) When two passengers P1 are in the first row and when two passengers P2 are in the second row, and one passenger P3 is in the third row When you are.

  When the front intermediate portion Mf is the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the front intermediate portion Mf. As a result, the yaw rotation center position moves to a position closer to the occupant P1 than the intermediate portion.

As shown in FIG. 15, in the following time, the arithmetic unit 49 sets the target rotation center position to the rear intermediate portion Mr. That is, the point T in FIG. 15 indicates the rear intermediate portion Mr.
(A) When one occupant P1 is in the first row, and when one occupant P2 is in the second row, and two occupants P3 are in the third row When you are.
(B) When one occupant P1 is in the first row, and when two occupants P2 are in the second row, and two occupants P3 are in the third row When you are.

  When the rear intermediate portion Mr is at the target rotation center position, the vehicle attitude control device 4 brings the yaw rotation center position closer to the rear intermediate portion Mr. As a result, the yaw rotation center position moves to a position closer to the occupant P3 than the intermediate portion.

(Effect of embodiment)
The vehicle attitude control device 4 of the present embodiment has the following effects in addition to the above (1) and (2).
(7) When the riding sensor 47 detects that the number of passengers in the first row and the number of passengers in the third row are the same, the front wheel control device 6 and the rear wheel control device 7 control the attitude of the vehicle 1. Thus, the yaw rotation center position of the vehicle 1 is moved to the intermediate portion M located in the middle between the first row and the third row. For this reason, for example, it is possible to improve the riding comfort in the third row as compared with the case where the yaw rotation center position is located in the first row.

  (8) When the riding sensor 47 detects that the number of passengers in the first row is larger than the number of passengers in the third row, the front wheel control device 6 and the rear wheel control device 7 control the attitude of the vehicle 1. Then, the yaw rotation center position of the vehicle 1 is brought closer to the front intermediate portion Mf located on the front side of the vehicle 1 than the intermediate portion M. For this reason, for example, it is possible to improve the riding comfort in the first row on which many occupants are riding, compared to the case where the yaw rotation center position is brought closer to the intermediate portion M.

  (9) When the riding sensor 47 detects that the number of passengers in the first row is smaller than the number of passengers in the third row, the front wheel control device 6 and the rear wheel control device 7 control the attitude of the vehicle 1. The yaw rotation center position of the vehicle 1 is brought closer to the rear intermediate portion Mr located on the rear side of the vehicle 1 than the intermediate portion M. For this reason, for example, compared with the case where the yaw rotation center position is brought close to the intermediate part M, it is possible to improve the riding comfort in the third row on which a large number of passengers are riding.

  (10) The boarding sensor 47 includes load sensors 47A to 47F provided in a seat on which an occupant sits. For this reason, it is possible to detect that the occupant is on the boarding sensor 47 when the occupant is seated on the seat.

(Other embodiments)
The present invention includes embodiments other than the first and second embodiments. Hereinafter, modifications of the first and second embodiments as other embodiments of the present invention will be described. The following modifications can be combined with each other.

  The vehicle attitude control device 4 of the first and second embodiments (FIG. 1) sets the target rotation center position to the first row part F, the intermediate part M, the front intermediate part Mf, or the rear intermediate part Mr. On the other hand, in the modification, the vehicle attitude control device 4 sets the target rotation center position in accordance with the ratio between the number of occupants in the front part of the vehicle 1 and the number of occupants in the rear part of the vehicle 1. That is, the target rotation center position is not limited to the four in the first and second embodiments.

  The vehicle attitude control device 4 shifts the target rotation center position from the center in the left-right direction of the vehicle in accordance with the occupant distribution in the left-right direction of the vehicle 1 or the occupant distribution in the front-rear direction and the left-right direction of the vehicle 1. Also good.

  -The board | substrate sensor 47 of 1st and 2nd embodiment (FIG. 1) has load sensors 47A-47F. On the other hand, in the modified example, the boarding sensor 47 includes, for example, an in-vehicle camera (not shown) that captures the interior of the vehicle. In this case, the boarding sensor 47 analyzes the image taken by the in-vehicle camera and detects the number of boarding and the boarding position. That is, the boarding sensor 47 is not limited to that of the first and second embodiments as long as the number of boarding and boarding positions can be detected.

  The vehicle attitude control device 4 of the first and second embodiments (FIG. 1) controls the attitude of the vehicle 1 having two or three boarding rows. On the other hand, in a modification, the vehicle attitude control device 4 controls the attitude of a vehicle (not shown) having four or more boarding trains. That is, the target rotation center position setting process performed by the vehicle attitude control device 4 is not limited to the processes shown in FIGS. 5 and 11 of the first and second embodiments.

  The front wheel control device 6 of the first and second embodiments (FIG. 1) is an active steering device. On the other hand, in the modification, the front wheel control device 6 is an independent drive device or a left and right drive force distribution device. That is, the front wheel control device 6 is not limited to an active steering device such as a differential mechanism device or a steer-by-wire device that controls the steering angle of the front wheels 31 and 32.

  The rear wheel control device 7 in the first and second embodiments (FIG. 1) is a left / right driving force distribution device. On the other hand, in the modification, the rear wheel control device 7 is an independent drive device or a rear wheel steering device capable of controlling the steering angle of the rear wheels 33 and 34. That is, the rear wheel control device 7 is not limited to the driving force distribution device that controls the ratio of the driving force of the rear wheels 33 and 34.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Vehicle body, 3 ... Wheel, 4 ... Vehicle attitude | position control apparatus, 5 ... Vehicle body slip angle estimation apparatus, 6 ... Front wheel control apparatus (attitude control part), 7 ... Rear wheel control apparatus (attitude control part), DESCRIPTION OF SYMBOLS 11 ... Steering handle, 12 ... Power steering device, 31 ... Left front wheel, 32 ... Right front wheel, 33 ... Left rear wheel, 34 ... Right rear wheel, 41-44 ... Wheel speed sensor, 45 ... Acceleration sensor, 46 ... Yaw rate sensor , 47 ... Riding sensor (sensor), 48 ... Memory, 49 ... Arithmetic unit, A ... Axle, AF ... Front axle, AR ... Rear axle.

Claims (10)

In a vehicle attitude control device including an attitude control unit that controls the attitude of a vehicle,
The posture control unit controls the posture of the vehicle based on the number of passengers that are the number of passengers riding on the vehicle and the output of a sensor that detects the boarding position that is the position of the passengers riding on the vehicle. A vehicle attitude control device. The vehicle attitude control device according to claim 1,
A row that passes through the boarding position where the occupant rides and extends in the left-right direction of the vehicle is referred to as a “boarding row”
When the sensor detects that an occupant is on any one of a plurality of riding trains of the vehicle, the posture control unit controls the posture of the vehicle to control the yaw rotation center position of the vehicle. A vehicle attitude control device characterized in that: The vehicle attitude control device according to claim 2,
The boarding row passing through the boarding position where a predetermined occupant rides is referred to as “first row”,
The boarding row located on the rear side of the vehicle with respect to the first row is referred to as a “second row”,
When the sensor detects that an occupant is in the first row and the second row,
The attitude control unit controls the attitude of the vehicle to move the yaw rotation center position of the vehicle to an intermediate position between the first row and the second row. In the vehicle attitude control device according to claim 3,
When the sensor detects that the number of occupants in the first row and the number of occupants in the second row are the same, the posture control unit controls the posture of the vehicle to control the yaw rotation center of the vehicle. A vehicle attitude control device characterized in that the position is brought close to an intermediate portion located between the first row and the second row. In the vehicle attitude control device according to claim 4,
When the sensor detects that the number of occupants in the first row is larger than the number of occupants in the second row, the posture control unit controls the posture of the vehicle to control the yaw rotation center position of the vehicle. The vehicle attitude control device according to claim 1, wherein the vehicle attitude control device is closer to a front intermediate portion located on the front side of the vehicle than the intermediate portion. The vehicle attitude control device according to claim 4 or 5,
When the sensor detects that the number of occupants in the first row is smaller than the number of occupants in the second row, the posture control unit controls the posture of the vehicle to control the yaw rotation center position of the vehicle. The vehicle attitude control device according to claim 1, wherein the vehicle attitude control device is closer to a rear intermediate portion located on the rear side of the vehicle than the intermediate portion. The vehicle attitude control device according to claim 2,
The boarding row passing through the boarding position where a predetermined occupant rides is referred to as “first row”,
The boarding row located on the rear side of the vehicle with respect to the first row is referred to as a “second row”,
The boarding row located on the rear side of the vehicle with respect to the second row is referred to as "third row",
When the sensor detects that the number of occupants in the first row and the number of occupants in the third row are the same, the posture control unit controls the posture of the vehicle to control the yaw rotation center of the vehicle. A vehicle attitude control device, wherein the position is moved to an intermediate portion located in the middle between the first row and the third row. The vehicle attitude control device according to claim 7,
When the sensor detects that the number of occupants in the first row is larger than the number of occupants in the third row, the posture control unit controls the posture of the vehicle to control the yaw rotation center position of the vehicle. The vehicle attitude control device according to claim 1, wherein the vehicle attitude control device is closer to a front intermediate portion located on the front side of the vehicle than the intermediate portion. The vehicle attitude control device according to claim 7 or 8,
When the sensor detects that the number of occupants in the first row is smaller than the number of occupants in the third row, the posture control unit controls the posture of the vehicle to control the yaw rotation center position of the vehicle. The vehicle attitude control device according to claim 1, wherein the vehicle attitude control device is closer to a rear intermediate portion located on the rear side of the vehicle than the intermediate portion. In the vehicle attitude control device according to any one of claims 1 to 9,
The vehicle attitude control device, wherein the sensor includes a load sensor provided in a seat on which an occupant is seated.