JP2017081482A - 車両運動制御装置及びその方法 - Google Patents
車両運動制御装置及びその方法 Download PDFInfo
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Abstract
【解決手段】車両を走行させるための目標軌道を取得する目標軌道取得部1aと、前記車両に発生している車両進行方向を正とする前後加速度の増加又は減少を行う速度制御部1caと、を備え、前記車両の旋回中に前記車両が前記目標軌道から逸脱する場合、前記速度制御部1caが前記前後加速度を増加又は減少させる前後加速度制御を行う。
【選択図】図2
Description
以下、図7〜図14を用いて、本発明の具体例である第1実施形態による車両運動制御装置の構成及び動作について説明する。
次に、図15〜図19を用いて、本発明の第2実施形態による車両運動制御装置の構成及び動作について説明する。なお、第1実施形態と同様の構成については、同符号を付してその詳細な説明を省略する。
1a : 目標軌道取得部
1b : 車両運動状態取得部
1c : 車両運動制御演算部
1ca: 速度制御部
1cb: ヨーモーメント制御部
1d : 制御指令送信部
2 : 加速度センサ
3 : ジャイロセンサ
4 : ステアリングホイール
5 : 操舵角センサ
6 : コース形状取得センサ
7 : タイヤ
8 : 車輪速センサ
9 : 自車両位置検出センサ
10 : ブレーキ制御ユニット
11 : ブレーキアクチュエータ
12 : 駆動トルク制御ユニット
13 : 駆動アクチュエータ
14 : 通信ライン
15 : 舵角制御ユニット
16 : 舵角制御アクチュエータ
17 : ブレーキペダルセンサ
18 : アクセルペダルセンサ
19 : 車両
Claims (15)
- 車両を走行させるための目標軌道を取得する目標軌道取得部と、
前記車両に発生している車両進行方向を正とする前後加速度の増加又は減少を行う速度制御部と、を備え、
前記車両の旋回中に前記車両が前記目標軌道から逸脱する場合、前記速度制御部が前記前後加速度を増加又は減少させる前後加速度制御を行うことを特徴とする車両運動制御装置。 - 前記車両の旋回中に前記車両が前記目標軌道から逸脱したことを検出し、前記車両の旋回半径を減少させる場合、
前記速度制御部は、前記前後加速度を減少させる前後加速度制御を行うことを特徴とする請求項1に記載の車両運動制御装置。 - 前記車両の旋回中に前記車両が前記目標軌道から逸脱したことを検出し、前記車両の旋回半径を増加させる場合、
前記速度制御部は、前記前後加速度を増加させる前後加速度制御を行うことを特徴とする請求項1に記載の車両運動制御装置。 - 前記車両のヨーモーメント制御を行うヨーモーメント制御部を更に備え、
前記車両の旋回中における前記目標軌道からの逸脱量が所定の閾値よりも大きい場合、
前記ヨーモーメント制御部が前記ヨーモーメント制御を行うことを特徴とする請求項1に記載の車両運動制御装置。 - 前記車両の旋回中に前記車両が前記目標軌道から逸脱する場合、前記速度制御部が前記前後加速度を増加又は減少させる前後加速度制御を行い、
前記前後加速度制御後の前記目標軌道からの逸脱量が所定の閾値よりも大きい場合に、前記ヨーモーメント制御部が前記ヨーモーメント制御を行うことを特徴とする請求項4に記載の車両運動制御装置。 - 前記ヨーモーメント制御部は、
タイヤの実舵角を制御する舵角制御部、および、車両進行方向右側のタイヤに発生する駆動力もしくは制動力と、車両進行方向左側のタイヤに発生する駆動力もしくは制動力との差分により車両に発生するヨーモーメントを制御するダイレクトヨーモーメント制御部の少なくとも一方を備えることを特徴とする請求項4に記載の車両運動制御装置。 - 前記車両の旋回中に前記車両が前記目標軌道から逸脱したことを検出し、前記車両の旋回半径を減少させる場合、
前記速度制御部が前記前後加速度を減少させる前後加速度制御を行い、
前記車両の旋回中に前記車両が前記目標軌道から逸脱したことを検出し、前記車両の旋回半径を増加させる場合、
前記ヨーモーメント制御部が、タイヤの実舵角の絶対値が減少するよう前記ヨーモーメント制御を行うことを特徴とする請求項6に記載の車両運動制御装置。 - 前記目標軌道は、前記車両が走行する経路の幾何学的形状、前記車両が走行する経路の過去の走行軌道、並びに、前記車両の操舵角および車両速度に基づいて演算される走行軌道の少なくとも一つに基づいて作成されることを特徴とする請求項1に記載の車両運動制御装置。
- 前記速度制御部は、車両走行曲率と目標軌道曲率との曲率偏差、および、前記曲率偏差の時間変化の少なくとも一方に応じて、前記前後加速度の増加量又は減少量を変更することを特徴とする請求項1に記載の車両運動制御装置。
- 前記速度制御部は、前記車両に発生している横加速度が同じである場合、車両速度が大きいほど前記曲率偏差に対する前記前後加速度の増加量又は減少量を大きくするよう前記前後加速度制御を行うことを特徴とする請求項9に記載の車両運動制御装置。
- 前記速度制御部は、車両速度が同じである場合、前記車両に発生している横加速度の絶対値が大きいほど前記曲率偏差に対する前記前後加速度の増加量又は減少量を小さくするよう前記前後加速度制御を行うことを特徴とする請求項9に記載の車両運動制御装置。
- 前記速度制御部は、前記車両の駆動方式、および、前記車両のヨーレイトの応答特性の少なくとも一方に応じて、前記前後加速度の増加量又は減少量を変更することを特徴とする請求項1に記載の車両運動制御装置。
- 前記速度制御部は、前記目標軌道と前記車両との距離に応じて、前記前後加速度の増加量又は減少量を変更することを特徴とする請求項1に記載の車両運動制御装置。
- 前記速度制御部は、前記目標軌道と前記車両の旋回方向が同一である場合のみ、前記前後加速度制御を行うことを特徴とする請求項1に記載の車両運動制御装置。
- 車両の旋回中に前記車両が該車両を走行させるための目標軌道から逸脱する場合、前記車両に発生している車両進行方向を正とする前後加速度を増加又は減少させる前後加速度制御を行うことを特徴とする車両運動制御方法。
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