JP2018047842A - 車両の制御装置及び車両の制御方法 - Google Patents
車両の制御装置及び車両の制御方法 Download PDFInfo
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Abstract
【解決手段】車両の制御装置200は、ステアリングホイールの操舵角とタイヤ舵角との間のステアリングギヤ比が変更可能なアクティブステアリングシステムにおいて、車両の旋回をアシストするため、車両が発生させるヨーレートが目標ヨーレートとなるように前記ステアリングギヤ比を制御するステアリング旋回アシスト制御部258aと、ステアリング操舵系とは独立して車体にモーメントを付加する左右独立駆動可能な電動駆動輪において、車両のロールに基づいて、車両が発生させるヨーレートが目標ヨーレートとなるように前記電動駆動輪の駆動力を制御する左右駆動力制御部258bと、を備える。
【選択図】図7
Description
γ_tgt:目標ヨーレート
θh:ステアリング操舵角
V:車両速度
T:車両の時定数
S:ラプラス演算子
N:ステアリングギヤ比
l:車両ホイールベース
lf:車両重心点から前輪中心までの距離
lr:車両重心点から後輪中心までの距離
m:車両重量
Kftgt:目標コーナリングパワー(前方輪)
Krtgt:目標コーナリングパワー(後方輪)
γ_F/B=a×γ_clc+(1−a)×γ_sens ・・・・(6)
a=−20×γ_diff+2
a=+20×γ_diff+2
Δγ=γ_tgt−γ_F/B ・・・・(7)
差分Δγは、ヨーレート補正量として、付加ステアアングル演算部240と旋回アシスト制御部258に入力される。
ACT_δ=δstd+ACT_addδ ・・・(11)
Mx_ratio=ACT_Mx/Mx_clc ・・・(16)
actSt_G=Mx_clc/ACT_Mx ・・・(17)
adjStθ=actSt_G×ACTθ ・・・(18)
ACT_Gratio=adjStθ/ACTδ ・・・(19)
adjStθ=actSt_G×θh ・・・(20)
モーション変化率=((γ_F/B)/γ_tgt)/(Mx_sens/Mx_clc)
258 旋回アシスト制御部
258a ステアリング旋回アシスト制御部
258b 左右駆動力制御部
1000 車両
Claims (10)
- ステアリングホイールの操舵角とタイヤ舵角との間のステアリングギヤ比が変更可能なアクティブステアリングシステムにおいて、車両の旋回をアシストするため、車両が発生させるヨーレートが目標ヨーレートとなるように前記ステアリングギヤ比を制御するステアリング旋回アシスト制御部と、
ステアリング操舵系とは独立して車体にモーメントを付加する左右独立駆動可能な電動駆動輪において、車両のロールに基づいて、車両が発生させるヨーレートが目標ヨーレートとなるように前記電動駆動輪の駆動力を制御する左右駆動力制御部と、
を備えることを特徴とする、車両の制御装置。 - 前記ステアリング旋回アシスト制御部は、車両の前記ロールが所定の条件よりも小さい場合は、車両が発生させる前記ヨーレートと前記目標ヨーレートとの差分に相当する付加タイヤ舵角を付加するように前記ステアリングギヤ比を制御することを特徴とする、請求項1に記載の車両の制御装置。
- 前記左右駆動力制御部は、車両の前記ロールが前記所定の条件よりも小さい場合は、前記電動駆動輪の駆動力の制御によるヨーレートの発生を行わないことを特徴とする、請求項2に記載の車両の制御装置。
- 前記ステアリング旋回アシスト制御部は、車両の前記ロールが前記所定の条件を超える場合は、ドライバーのステアリング操舵角に相当するタイヤ舵角を付加するように前記ステアリングギヤ比を制御することを特徴とする、請求項2に記載の車両の制御装置。
- 前記左右駆動力制御部は、前記車両のロールが前記所定の条件を超える場合は、前記電動駆動輪の駆動力の制御によってヨーレートを発生させることを特徴とする、請求項4に記載の車両の制御装置。
- 前記左右駆動力制御部は、車両の前記ロールが前記所定の条件を超える場合は、前記ステアリング旋回アシスト制御部が発生しようとするヨーレートの少なくとも一部を前記電動駆動輪の駆動力の制御によって発生させることを特徴とする、請求項4又は5に記載の車両の制御装置。
- 前記所定の条件は、前記ステアリング旋回アシスト制御部による旋回アシストを行った場合の旋回アシストロールレートの値が、前記ステアリング旋回アシスト制御部による旋回アシストを行わない場合の目標ロールレートの値以上となる条件であることを特徴とする、請求項2〜6のいずれかに記載の車両の制御装置。
- 前記所定の条件は、前記旋回アシストロールレートの値に車両のロールレートに対するヨーレートの比率から求まるゲインを乗算して得られた値が、前記目標ロールレートの値以上となる条件であることを特徴とする、請求項7に記載の車両の制御装置。
- 前記ゲインは、前記比率が小さいほど大きな値とされることを特徴とする、請求項8に記載の車両の制御装置。
- ステアリングホイールの操舵角とタイヤ舵角との間のステアリングギヤ比が変更可能なアクティブステアリングシステムにおいて、車両の旋回をアシストするため、車両が発生させるヨーレートが目標ヨーレートとなるように前記ステアリングギヤ比を制御するステップと、
ステアリング操舵系とは独立して車体にモーメントを付加する左右独立駆動可能な電動駆動輪において、車両のロールに基づいて、車両が発生させるヨーレートが目標ヨーレートとなるように前記電動駆動輪の駆動力を制御するステップと、
を備えることを特徴とする、車両の制御方法。
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Application Number | Priority Date | Filing Date | Title |
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JP2016185703A JP6663333B2 (ja) | 2016-09-23 | 2016-09-23 | 車両の制御装置及び車両の制御方法 |
US15/646,253 US10272943B2 (en) | 2016-09-23 | 2017-07-11 | Control unit for vehicle and control method for vehicle |
CN201710665187.0A CN107867286B (zh) | 2016-09-23 | 2017-08-07 | 车辆的控制装置及车辆的控制方法 |
DE102017119154.2A DE102017119154A1 (de) | 2016-09-23 | 2017-08-22 | Steuerungseinheit und steuerungsverfahren für ein fahrzeug |
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DE102016001592A1 (de) * | 2016-02-11 | 2017-08-17 | Audi Ag | Verfahren zur Beeinflussung der Fahrtrichtung von Kraftfahrzeugen |
JP6279121B1 (ja) * | 2017-03-24 | 2018-02-14 | 株式会社ショーワ | 制御装置、および、ステアリング装置 |
CN109774783B (zh) * | 2017-11-10 | 2022-05-13 | 现代自动车株式会社 | 用于电动转向的控制方法和控制系统 |
JP6553256B1 (ja) * | 2018-06-29 | 2019-07-31 | 株式会社ショーワ | ステアリング制御装置及びステアリング装置 |
US11119482B2 (en) * | 2019-02-07 | 2021-09-14 | GM Global Technology Operations LLC | System and method for control of an autonomous vehicle |
US11376955B2 (en) * | 2019-08-29 | 2022-07-05 | Kawasaki Motors, Ltd. | Utility vehicle |
US11590977B2 (en) * | 2019-12-31 | 2023-02-28 | Rivian Ip Holdings, Llc | Systems and methods for providing a vehicle with a torque vectored K-turn mode |
US11447175B2 (en) * | 2020-05-31 | 2022-09-20 | Steering Solutions Ip Holding Corporation | Steer ratio synchronization for steer-by-wire systems |
CN114248831B (zh) * | 2020-09-25 | 2024-06-07 | 本田技研工业株式会社 | 电动转向装置 |
CN113074746A (zh) * | 2021-03-24 | 2021-07-06 | 巨石云智能科技(苏州)有限公司 | 一种无人车的导航方法、装置及无人车 |
CN114312751A (zh) * | 2022-01-13 | 2022-04-12 | 西安理工大学 | 一种4wid/s电动汽车变角传动比控制方法 |
SE2250335A1 (en) * | 2022-03-17 | 2023-09-18 | Sentient Ab | An improved steering system, a steering system arrangement and a method for steering control |
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JP3189610B2 (ja) * | 1995-02-20 | 2001-07-16 | トヨタ自動車株式会社 | 車両挙動制御装置 |
US6415215B1 (en) * | 2000-02-23 | 2002-07-02 | Koyo Seiko Co., Ltd. | Vehicle attitude control apparatus |
EP1391330B1 (en) * | 2002-08-20 | 2010-02-24 | Mando Corporation | An anti-roll or anti-yaw suspension device for vehicles |
JP4638185B2 (ja) * | 2004-08-04 | 2011-02-23 | 富士重工業株式会社 | 車両の挙動制御装置 |
JP4720998B2 (ja) | 2005-12-12 | 2011-07-13 | トヨタ自動車株式会社 | 車輌の操舵制御装置 |
CN101193785B (zh) * | 2005-12-27 | 2011-07-06 | 本田技研工业株式会社 | 车辆控制装置 |
JP5261962B2 (ja) * | 2007-04-06 | 2013-08-14 | 日産自動車株式会社 | 旋回挙動制御装置、自動車、及び旋回挙動制御方法 |
US8483926B2 (en) * | 2007-04-17 | 2013-07-09 | Nissan Motor Co., Ltd. | Device and method for estimating frictional condition of ground contact surface of wheel |
US8521349B2 (en) * | 2010-06-10 | 2013-08-27 | Ford Global Technologies | Vehicle steerability and stability control via independent wheel torque control |
JPWO2012005260A1 (ja) * | 2010-07-09 | 2013-09-05 | 日産自動車株式会社 | 車両の左右輪駆動力配分制御装置 |
WO2012043683A1 (ja) * | 2010-09-28 | 2012-04-05 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置 |
JP5808977B2 (ja) * | 2011-08-19 | 2015-11-10 | Ntn株式会社 | 車両のヨーモーメント発生旋回効率化装置 |
EP3057848B1 (en) * | 2013-10-16 | 2018-04-11 | Sentient AB | Method in order to control vehicle behaviour |
JP6299415B2 (ja) * | 2014-05-16 | 2018-03-28 | 株式会社ジェイテクト | ステアリング装置 |
JP6055525B1 (ja) * | 2015-09-02 | 2016-12-27 | 富士重工業株式会社 | 車両の走行制御装置 |
JP6585444B2 (ja) * | 2015-09-25 | 2019-10-02 | Ntn株式会社 | 車両姿勢制御装置 |
JP6222621B2 (ja) * | 2015-11-06 | 2017-11-01 | マツダ株式会社 | 車両用挙動制御装置 |
JP6578212B2 (ja) * | 2016-01-08 | 2019-09-18 | Ntn株式会社 | 車両の旋回制御装置 |
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