JP2019166904A - Vehicle state estimation device, controller, suspension controller, suspension device, steering controller, and steering device - Google Patents

Abstract

To suitably estimate a state of a vehicle.SOLUTION: A vehicle state estimation part 1200 comprises a main calculation part 1210 which performs calculation for a state quantity concerning a vehicle state. An input value to the main calculation part 1210 includes ground load fluctuation of a wheel. The ground load fluctuation of the wheel is calculated with reference to a map with a tire effective radius R, which is calculated by a wheel effective radius calculation part in a tire ground load fluctuation calculation part 1220 as an input and with a ground load with an output.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicle state estimation device, a control device, a suspension control device, a suspension device, a steering control device, and a steering device that estimate a vehicle state.

  In order to improve the riding comfort of the vehicle and to realize high steering stability, a technique for estimating the state of the vehicle and controlling the vehicle based on the estimated state is known. In such a technique, a vehicle model is used to estimate the state of the vehicle.

  For example, Patent Literature 1 discloses a technique for determining a control amount of a vehicle adjustment member based on an optimal feedback gain set in advance according to a dynamic model related to the vehicle height.

  Patent Document 2 discloses a technique for acquiring an estimated yaw rate and a reference yaw rate based on a vehicle model and controlling steering characteristics based on these yaw rates. As other techniques, for example, Patent Documents 3 to 5 are known.

Sho 61-178212 (August 9, 1986) JP 2004-189117 A (released July 8, 2004) Japanese Patent Laying-Open No. 2006-107862 (released on June 20, 2016) Japanese Patent Laying-Open No. 2006-168887 (published September 23, 2016) JP 2014-8885 A (published January 20, 2014)

  An object of this invention is to implement | achieve the vehicle state estimation apparatus and control apparatus which can estimate the state of a vehicle suitably. In addition, by using estimation results of the vehicle state estimation device and the control device, a suspension control device, a suspension device, a steering control device, and a steering device that can realize high riding comfort and high steering stability are realized. The purpose is to do.

  For this purpose, the vehicle state estimation device according to the present invention is an in-vehicle vehicle state estimation device that estimates a vehicle state, and calculates a wheel ground load variation that is a variation of a wheel ground load in the vehicle. A grounding load fluctuation calculation unit, a wheel effective radius calculation part that calculates a wheel effective radius with reference to one or a plurality of input values, and a calculation part that performs a calculation using a vehicle model. The calculation unit calculates a ground load variation of the wheel with reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, and the calculation unit calculates the ground load. One or a plurality of output values are calculated by referring to one or a plurality of input values including a wheel ground load variation calculated by the variation calculation unit and performing a calculation on a state quantity relating to the vehicle state.

  For this purpose, the control device according to the present invention includes a vehicle state estimation unit that estimates a vehicle state, a reference vehicle model calculation unit that performs a calculation related to a reference vehicle model, and an output value of the vehicle state estimation unit. A subtraction unit that subtracts a reference output that is an output value of the reference vehicle model calculation unit from an estimation output, an integration unit that integrates a subtraction result by the subtraction unit, and an estimation state that is a calculation target of the vehicle state estimation unit A first amplifying unit for amplifying an amount; a second amplifying unit for amplifying an integration result by the integrating unit; a third amplifying unit for amplifying a state quantity which is a calculation target of the reference vehicle model calculating unit; An addition unit for adding the amplification result by the first amplification unit, the amplification result by the second amplification unit, and the amplification result by the third amplification unit, wherein the vehicle state estimation unit is a vehicle Wheel ground load A ground contact load fluctuation calculation unit for calculating the wheel ground load fluctuation which is a fluctuation amount of the wheel, a wheel effective radius calculation unit for calculating the wheel effective radius with reference to one or a plurality of input values, and an operation using the vehicle model. A grounding load variation calculation unit, wherein the grounding load variation calculation unit refers to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a grounding load as an output. The calculation unit refers to one or a plurality of input values including the wheel ground load variation calculated by the ground load variation calculation unit, and performs one or a plurality of calculations on the state quantity related to the vehicle state. The output value of is calculated.

  A suspension control device according to the present invention is a suspension control device that controls a damping force of a suspension, and includes a vehicle state estimation unit that estimates a vehicle state, and the vehicle state estimation unit includes a wheel ground load in a vehicle. A ground contact load fluctuation calculation unit for calculating the wheel ground load fluctuation which is a fluctuation amount of the wheel, a wheel effective radius calculation unit for calculating the wheel effective radius with reference to one or a plurality of input values, and an operation using the vehicle model. A grounding load variation calculation unit, wherein the grounding load variation calculation unit refers to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a grounding load as an output. The calculation unit refers to one or a plurality of input values including the wheel ground load variation calculated by the ground load variation calculation unit, and calculates a state quantity related to the vehicle state. Calculating one or more output values by performing.

  The suspension device according to the present invention includes a suspension and a suspension control unit that controls a damping force of the suspension, and the suspension control unit includes a vehicle state estimation unit that estimates a vehicle state. The vehicle state estimation unit calculates a wheel effective radius with reference to one or a plurality of input values, and a ground load variation calculation unit that calculates a wheel ground load variation which is a variation of a wheel ground load in a vehicle. A wheel effective radius calculation unit; and a calculation unit that performs calculation using a vehicle model. The ground load variation calculation unit inputs the wheel effective radius calculated by the wheel effective radius calculation unit and outputs a ground load. The wheel ground contact load fluctuation is calculated with reference to the map, and the calculation unit calculates the wheel ground load fluctuation calculated by the ground load fluctuation calculation unit. Referring to one or more input values including, for calculating one or more output values by performing calculations on the state quantity relating to the vehicle state.

  A steering control device according to the present invention is a steering control device that controls an assist torque or a reaction torque applied to a steering member that is steered by a driver. A contact load fluctuation calculation unit for calculating a contact load fluctuation of a wheel, a wheel effective radius calculation unit for calculating a wheel effective radius with reference to one or a plurality of input values, and a calculation unit for performing a calculation using a vehicle model; The ground load variation calculation unit calculates the ground load variation of the wheel with reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, The arithmetic unit refers to one or a plurality of input values including the wheel ground load variation calculated by the ground load variation calculation unit, and performs an operation on a state quantity related to the vehicle state. Calculating one or more output values.

  The steering apparatus according to the present invention is a steering apparatus including a steering member that is operated by a driver and a steering control unit that controls assist torque or reaction torque applied to the steering member. The steering control unit includes a ground load variation calculation unit that calculates a wheel ground load variation that is a variation of a wheel ground load in a vehicle, and a wheel effective radius that calculates a wheel effective radius with reference to one or more input values. A radius calculation unit, and a calculation unit that performs a calculation using a vehicle model, wherein the ground load variation calculation unit inputs the wheel effective radius calculated by the wheel effective radius calculation unit and outputs a ground load. With reference to a map, the ground load fluctuation of the wheel is calculated, and the calculation unit includes one or more input values including the ground load fluctuation of the wheel calculated by the ground load fluctuation calculation unit. Reference, calculates one or more output values by performing calculations on the state quantity relating to the vehicle state.

  According to the vehicle state estimation device according to the present invention, the state of the vehicle can be estimated appropriately. Moreover, according to the suspension control device, the suspension device, the steering control device, and the steering device according to the present invention, high ride comfort and high steering stability can be realized.

It is a figure which shows the example of schematic structure of the vehicle which concerns on Embodiment 1 of this invention. It is a schematic sectional drawing which shows the schematic structural example of the hydraulic shock absorber in the suspension apparatus concerning Embodiment 1 of this invention. It is a block diagram which shows the example of schematic structure of ECU which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structural example of the reference | standard vehicle model calculating part which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structural example of the vehicle state estimation part which concerns on Embodiment 1 of this invention. It is a map regarding the tire rigidity which the vehicle state estimation part which concerns on Embodiment 1 of this invention refers. It is a block diagram which shows the schematic structural example of ECU which concerns on Embodiment 2 of this invention. It is a block diagram which shows the structural example of the vehicle state estimation part which concerns on Embodiment 2 of this invention. It is a block diagram which shows the structural example of the estimated state quantity reconstruction part with which the vehicle state estimation part which concerns on Embodiment 2 of this invention is provided.

Embodiment 1
Hereinafter, Embodiment 1 of the present invention will be described in detail.

(Configuration of vehicle 900)
FIG. 1 is a diagram illustrating a schematic configuration example of a vehicle 900 according to the present embodiment. As shown in FIG. 1, a vehicle 900 includes a suspension device (suspension) 100, a vehicle body 200, wheels 300, tires 310, a steering member 410, a steering shaft 420, a torque sensor 430, a steering angle sensor 440, a torque application unit 460, a rack. A pinion mechanism 470, a rack shaft 480, an engine 500, an ECU (Electronic Control Unit, control device, steering control device, suspension control device, suspension control unit) 600, a power generation device 700, and a battery 800 are provided. Here, the suspension device 100 and the ECU 600 constitute the suspension device according to the present embodiment. In addition, the steering member 410, the steering shaft 420, the torque sensor 430, the steering angle sensor 440, the torque application unit 460, the rack and pinion mechanism 470, the rack shaft 480, and the ECU 600 constitute a steering device. Examples of the vehicle 900 include a gasoline vehicle, a hybrid electric vehicle (HEV vehicle), and an electric vehicle (EV vehicle).

  The wheel 300 to which the tire 310 is attached is suspended from the vehicle body 200 by the suspension device 100. Since the vehicle 900 is a four-wheeled vehicle, four suspension devices 100, wheels 300, and tires 310 are provided.

  The tires and wheels of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are the tire 310A and the wheel 300A, the tire 310B and the wheel 300B, the tire 310C and the wheel 300C, and the tire 310D and the wheel, respectively. Also referred to as 300D. Hereinafter, similarly, the configurations associated with the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are denoted by reference signs “A”, “B”, “C”, and “D”, respectively. There is.

  The suspension device 100 includes a hydraulic shock absorber, an upper arm, and a lower arm. In addition, as an example, the hydraulic shock absorber includes a solenoid valve that is an electromagnetic valve that adjusts a damping force generated by the hydraulic shock absorber. However, this does not limit the present embodiment, and the hydraulic shock absorber may use an electromagnetic valve other than the solenoid valve as an electromagnetic valve for adjusting the damping force. For example, the electromagnetic valve using an electromagnetic fluid (magnetic fluid) may be provided as the electromagnetic valve.

  The engine 500 is provided with a power generation device 700, and the electric power generated by the power generation device 700 is stored in the battery 800.

  The steering member 410 operated by the driver is connected to one end of the steering shaft 420 so that torque can be transmitted, and the other end of the steering shaft 420 is connected to the rack and pinion mechanism 470.

  The rack and pinion mechanism 470 is a mechanism for converting the rotation around the axis of the steering shaft 420 into a displacement along the axial direction of the rack shaft 480. When the rack shaft 480 is displaced in the axial direction, the wheel 300A and the wheel 300B are steered through the tie rod and the knuckle arm.

  The torque sensor 430 detects the steering torque applied to the steering shaft 420, in other words, the steering torque applied to the steering member 410, and provides the ECU 600 with a torque sensor signal indicating the detection result. More specifically, the torque sensor 430 detects torsion of a torsion bar provided in the steering shaft 420 and outputs the detection result as a torque sensor signal. Note that a magnetostrictive torque sensor may be used as the torque sensor 430.

  The steering angle sensor 440 detects the steering angle of the steering member 410 and provides the detection result to the ECU 600.

  The torque application unit 460 applies assist torque or reaction force torque corresponding to the steering control amount supplied from the ECU 600 to the steering shaft 420. The torque application unit 460 includes a motor that generates assist torque or reaction torque according to the steering control amount, and a torque transmission mechanism that transmits the torque generated by the motor to the steering shaft 420.

  Specific examples of the “control amount” in this specification include a current value, a duty ratio, an attenuation rate, an attenuation ratio, and the like.

  In the above description, “connected so that torque can be transmitted” means that the other member is rotated so as to rotate with the rotation of one member, and includes, for example, any of the following cases: .

  -When one member and the other member are integrally molded.

  -When the other member is fixed directly or indirectly to one member.

  ・ When one member and the other member are connected to each other via a joint member or the like.

  In the above example, the steering device in which the steering member 410 to the rack shaft 480 are always mechanically connected has been described as an example. However, this does not limit the present embodiment. The steering device according to the present embodiment may be a steer-by-wire steering device, for example. The matters described below in this specification can also be applied to a steer-by-wire steering device.

  The ECU 600 performs overall control of various electronic devices included in the vehicle 900. More specifically, ECU 600 controls the magnitude of the assist torque or reaction force torque applied to steering shaft 420 by adjusting the steering control amount supplied to torque application unit 460.

  ECU 600 controls suspension device 100 by supplying a suspension control amount. More specifically, ECU 600 controls the opening and closing of the solenoid valve by supplying a suspension control amount to the solenoid valve provided in the hydraulic shock absorber included in suspension device 100. In order to enable this control, a power line for supplying driving power from the ECU 600 to the solenoid valve is provided.

  The vehicle 900 includes a wheel speed sensor 320 that is provided for each wheel 300 and detects the wheel speed of each wheel 300 (the wheel angular speed ω of the wheel). Further, the vehicle 900 includes a lateral G sensor 330 that detects lateral acceleration of the vehicle 900, a longitudinal G sensor 340 that detects acceleration in the longitudinal direction of the vehicle 900, a yaw rate sensor 350 that detects the yaw rate of the vehicle 900, and an engine 500. An engine torque sensor 510 that detects the torque to be generated, an engine speed sensor 520 that detects the speed of the engine 500, and a brake pressure sensor 530 that detects the pressure applied to the brake fluid of the brake device may be provided. . Detection results by these various sensors are supplied to ECU 600.

  Although illustration is omitted, the vehicle 900 includes an ABS (Antilock Brake System) that is a system for preventing wheel lock at the time of braking, a TCS (Traction Control System) that suppresses idling of the wheel at the time of acceleration, and the like. A brake device capable of ESC (Electronic Stability Control) control, which is a vehicle behavior stabilization control system having an automatic brake function for a yaw moment control during turning, a brake assist function, and the like, is provided.

  Here, ABS, TCS, and ESC compare the wheel speed determined according to the estimated vehicle speed with the wheel speed detected by the wheel speed sensor 320, and the values of these two wheel speeds are predetermined values. When it is different as described above, it is determined that the vehicle is in the slip state. ABS, TCS, and ESC are intended to stabilize the behavior of the vehicle 900 by performing optimal brake control and traction control according to the traveling state of the vehicle 900 through such processing.

  Further, detection results from the various sensors described above are supplied to the ECU 600 and control signals are transmitted from the ECU 600 to the respective units via a CAN (Controller Area Network) 370.

(Suspension device 100)
FIG. 2 is a schematic cross-sectional view illustrating a schematic configuration example of the hydraulic shock absorber in the suspension device 100 according to the present embodiment. As shown in FIG. 2, the suspension device 100 includes a cylinder 101, a piston 102 slidably provided in the cylinder 101, and a piston rod 103 fixed to the piston 102. The cylinder 101 is partitioned into an upper chamber 101a and a lower chamber 101b by a piston 102, and the upper chamber 101a and the lower chamber 101b are filled with hydraulic oil. In addition, although illustration is abbreviate | omitted in FIG. 2, the gas chamber is provided in the suspension apparatus 100 so that a burst may be prevented.

  As shown in FIG. 2, the suspension device 100 includes a communication path 104 that allows the upper chamber 101 a and the lower chamber 101 b to communicate with each other, and the damping force of the suspension device 100 is adjusted on the communication path 104. A solenoid valve 105 is provided.

  The solenoid valve 105 includes a solenoid 105 a and a valve 105 b that is driven by the solenoid 105 a and changes the flow path cross-sectional area of the communication path 104.

  The solenoid 105a moves the valve 105b in and out according to the suspension control amount supplied from the ECU 600, thereby changing the cross-sectional area of the communication path 104 and changing the damping force of the suspension device 100.

  Note that an active suspension or an air suspension may be used as the suspension device 100.

(ECU 600)
Hereinafter, the ECU 600 will be specifically described with reference to different drawings. FIG. 3 is a diagram illustrating a schematic configuration example of the ECU 600.

  As shown in FIG. 3, ECU 600 (control device) includes control amount calculation unit 1000 and vehicle state estimation unit (vehicle state estimation device) 1200. Each vehicle unit 1300 illustrated in FIG. 3 represents each unit of the vehicle 900 that is controlled with reference to the calculation result by the control amount calculation unit 1000 and various sensors for obtaining the state quantity of the vehicle 900. Examples of each part of the vehicle 900 to be controlled include the suspension device 100 and the torque application unit 460. Examples of various sensors include an angular velocity sensor, a lateral G sensor 330, a front and rear G sensor 340, and a yaw rate sensor 350 of each vehicle. Can be mentioned.

(Control amount calculator)
As shown in FIG. 3, the control amount calculation unit 1000 includes a reference vehicle model calculation unit 1100, a subtraction unit 1012, an integration unit 1014, a first amplification unit 1021, a second amplification unit 1022, a third amplification unit 1023, And an adder 1024.

  The reference vehicle model calculation unit 1100 performs a calculation using the reference vehicle model on the input value, and supplies a reference output as a calculation result to the subtraction unit 1012. In addition, the reference vehicle model calculation unit 1100 supplies various state quantities to be calculated to the third amplification unit 1023 as reference state quantities. The reference output output by the reference vehicle model calculation unit 1100 has a meaning as a target value in vehicle control. Here, the normative output constitutes at least a part of various state quantities to be calculated.

As an example of the input to the reference vehicle model calculation unit 1100, as shown in FIG. 3, the wheel angular velocity ω _{fl to} ω _rr of the wheel, the operation input, and the ground load of each wheel estimated by the vehicle state estimation unit 1200 described later fluctuations _dF z0fl ~dF each wheel of a road surface displacement z calculated from _{z0rr 0fl ~z 0rr} the like. Here, the operation input includes the steering angle of the steering member 410. Here, the ground load change _dF z0fl ~dF _z0rr of each wheel, refers to a variation in the ground contact load of each wheel.

In the present specification, the subscripts “fl”, “fr”, “rl”, and “rr” are subscripts for clearly indicating that they relate to the left front, right front, left rear, and right rear wheels, respectively. is there. As described above, these subscripts may be collectively displayed as “ω _{fl to} ω _rr ”, for example. The same applies to all parameters.

As an example of the normative output that the normative vehicle model calculation unit 1100 supplies to the subtracting unit 1012, the sprung speed u in the front-rear direction of the vehicle body 200, the sprung speed v in the lateral direction, the vertical sprung speed w, the roll rate p, Pitch rate q, Yaw rate r, Roll angle phi, Pitch angle theta, Yaw angle psi, Suspension displacement SusSt _{fl to} SusSt _rr of each wheel, _Unsprung vertical displacement z _{1flm to} z _1rrm of each wheel, _Unsprung vertical of each wheel speed _w 1flm ~w 1rrm, actual steering angle [delta], and the physical quantity can be mentioned, which may be represented by at least one or a combination of Jitsukaji angular velocity d?. Further, as examples of the reference state quantity that the reference vehicle model calculation unit 1100 supplies to the third amplification unit 1023, the sprung speed u in the longitudinal direction of the vehicle body 200, the sprung speed v in the lateral direction, the vertical sprung speed w, Roll rate p, pitch rate q, yaw rate r, roll angle phi, pitch angle theta, yaw angle psi, suspension stroke displacement SusSt _{fl to} SusSt _rr of each wheel, unsprung vertical displacement of each wheel z _{1flm to} z _1rrm , each wheel unsprung vertical velocity _w 1flm ~w 1rrm of the actual steering angle [delta], and at least one can be cited of Jitsukaji angular velocity d?. The specific configuration of the reference vehicle model calculation unit 1100 will be described later.

  The subtracting unit 1012 acquires an estimated output from a vehicle state estimating unit 1200 described later, subtracts the normative output output from the normative vehicle model calculating unit 1100 from the acquired estimated output, and supplies the subtraction result to the integrating unit 1014. .

As an example of the estimated output that the vehicle state estimation unit 1200 estimates and supplies to the subtraction unit 1012, the longitudinal sprung speed of the vehicle body 200, the sprung speed in the lateral direction, the sprung vertical speed, the roll rate, the pitch rate, and the roll Expressed by angle, pitch angle, yaw angle, suspension stroke displacement of each wheel, unsprung vertical displacement of each wheel, unsprung vertical velocity of each wheel, actual rudder angle, actual rudder angular velocity, or a combination thereof The physical quantity that can be mentioned. Further, as an example of an estimated state quantity estimated by the vehicle state estimation unit 1200 and supplied to the first amplification unit 1021, the sprung speed u in the front-rear direction of the vehicle body 200, the sprung speed v in the lateral direction, and the sprung vertical speed w, roll rate p, pitch rate q, yaw rate r, the roll angle phi, the pitch angle theta, the yaw angle psi, suspension stroke displacement of each wheel SusSt _fl ~SusSt _rr, unsprung vertical displacement _z 1flm ~z 1rrm of each wheel, unsprung vertical velocity _w 1flm ~w 1rrm of the wheels, the actual steering angle [delta], and at least one can be cited of Jitsukaji angular velocity d?.

  Note that the physical quantities that can be estimated by the vehicle state estimation device of the present invention are “state quantities” to be calculated by the vehicle state estimation unit 1200, “physical quantities that can be expressed by any combination of the respective state quantities”, “Tire longitudinal force and tire lateral force calculated by the tire model calculation unit 1240”, “Slip ratio and slip angle calculated by the slip calculation unit 1230”, and “output of the tire contact load fluctuation calculation unit 1220” can be obtained. “Tire contact load”, “Tire effective radius calculated by tire contact load fluctuation calculation unit 1220”, “Reference tire effective radius calculated by reference tire effective radius calculation unit 1270”, and “Road surface displacement calculation unit 1280” Road surface displacement ".

  The integration unit 1014 integrates the subtraction result from the subtraction unit 1012. The result of integration is supplied to the second amplifying unit 1022.

  The first amplifying unit 1021 amplifies the estimated state amount supplied from the vehicle state estimating unit 1200 using the amplification coefficient K1, and supplies the amplified result to the adding unit 1024.

  The second amplifying unit 1022 amplifies the integration result by the integrating unit 1014 using the amplification coefficient K2, and supplies the amplified result to the adding unit 1024.

  The third amplifying unit 1023 amplifies the normative state quantity supplied from the normative vehicle model calculating unit 1100 using the amplification coefficient K3, and supplies the amplification result to the adding unit 1024.

  The addition unit 1024 adds the amplification result by the first amplification unit 1021, the amplification result by the second amplification unit 1022, and the amplification result by the third amplification unit 1023, and adds the addition result to the vehicle state estimation unit 1200. , And the vehicle parts 1300. The addition result by the addition unit 1024 represents the calculation result by the control amount calculation unit 1000.

  The control amount calculation unit 1000 integrates the subtraction result obtained by the subtraction unit 1012 and the subtraction unit 1012 that subtracts the reference output that is the output value of the reference vehicle model calculation unit 1100 from the estimated output that is the output value of the vehicle state estimation unit 1200. Integrating unit 1014, a first amplifying unit 1021 that amplifies an estimated state quantity to be calculated by the vehicle state estimating device 1200, a second amplifying unit 1022 that amplifies an integration result by the integrating unit 1014, and a reference vehicle model A third amplifying unit 1023 that amplifies a reference state quantity that is a calculation target of the calculating unit 1100, an amplification result by the first amplifying unit 1021, an amplification result by the second amplifying unit 1022, and a third amplifying unit 1023 Since the addition unit 1024 that adds the amplification results is provided, the vehicle 900 can follow the reference model characteristics without deviation.

  Further, since the control amount calculation unit 1000 includes the integration unit 1014, the vehicle 900 can follow the reference model characteristics without deviation.

(Standard vehicle model calculation unit)
Next, the configuration of the reference vehicle model calculation unit 1100 will be specifically described with reference to FIG. FIG. 4 is a block diagram illustrating a configuration example of the reference vehicle model calculation unit 1100. As shown in FIG. 4, the reference vehicle model calculation unit 1100 includes a main calculation unit 1110, a reference vehicle model tire ground contact load calculation unit 1120, a slip calculation unit 1130, a tire model calculation unit 1140, a steering stability / comfort control unit 1150. And a reference tire effective radius calculation unit 1160.

(Main calculation part)
The main calculation unit 1110 refers to one or a plurality of input values and calculates one or a plurality of output values by performing a linear calculation on a state quantity related to the vehicle state. The main calculation unit 1110 may be simply referred to as a calculation unit.

  As shown in FIG. 4, the main calculation unit 1110 includes a first input matrix calculation unit 1111, a second input matrix calculation unit 1112, a third input matrix calculation unit 1113, a fourth input matrix calculation unit 1118, an addition A unit 1114, an integration unit 1115, a system matrix calculation unit 1116, and an observation matrix calculation unit 1117. Here, the first input matrix calculator 1111, the second input matrix calculator 1112, the third input matrix calculator 1113, and the fourth input matrix calculator 1118 are also referred to as a first calculator.

As an example, road surface displacements (vertical displacements) z _0fl , z _0fr , z _0rl , and z _0rr are input to the first input matrix operation unit 1111 that performs operations related to the input matrix B 0 with respect to the road surface input. Here, as road surface displacement z _0fl , z _0fr , z _0rl , z _0rr , those calculated by a vehicle state estimation unit 1200 described later are used.

First input matrix calculator 1111, the road surface displacement _z 0fl ~z 0rr inputted, calculates the input matrix B0, and supplies to the adder 1114 the result of the calculation.

  For example, the second input matrix calculation unit 1112 that calculates the input matrix B1 with respect to the operation amount calculates the input matrix B1 with respect to the steering angle of the steering member 410 and supplies the calculated result to the addition unit 1114.

Third input matrix calculator 1113 which performs operations on input matrix B2 in the tire longitudinal / lateral force, each wheel of the tire longitudinal force _F x0fl ~F x0rr supplied from the tire model calculating unit 1140 to be described later, and each wheel The input matrix B2 is calculated for the tire lateral forces F _{y0fl to} F _y0rr , and the calculated result is supplied to the adder 1114.

  A fourth input matrix calculation unit 1118 that performs calculation related to the input matrix B3 with respect to the additional suspension force, assist torque, and reaction force torque reflecting the control result is based on the output of the steering stability / comfort control unit 1150 described later. The input matrix B3 is calculated, and the calculated result is supplied to the adder 1114.

  The adder 1114 includes a first input matrix calculator 1111, a second input matrix calculator 1112, a third input matrix calculator 1113, a fourth input matrix calculator 1118, and a system matrix calculator 1116 described later. Are added, and the addition result is supplied to the integration unit 1115.

The integrating unit 1115 integrates the addition result supplied from the adding unit 1114. The integration result by the integration unit 1115 is supplied to the third amplification unit 1023, the system matrix calculation unit 1116, and the observation matrix calculation unit 1117 described above. In addition, of the integration result by the integrating unit _1115, z 1flm ~z 1rrm is supplied to the norms vehicle model tire grounding load calculating unit 1120.

  The system matrix calculation unit (second calculation unit) 1116 calculates the system matrix A with respect to the integration result obtained by the integration unit 1115 and supplies the calculated result to the addition unit 1114.

  The observation matrix calculation unit (third calculation unit) 1117 calculates the observation matrix C with respect to the integration result obtained by the integration unit 1115 and supplies the calculated result to the above-described subtraction unit 1012 as a reference output. The result of calculating the observation matrix C is also supplied to the slip calculation unit 1130.

  In addition, the calculation in each part with which the main calculating part 1110 is provided is performed as a linear calculation. Therefore, according to the main calculation part 1110 which has said structure, the linear calculation about the state quantity regarding the vehicle state which referred the 1 or several input value can be performed suitably.

Moreover, the input to the main calculation part 1110 is not restricted to said example, For example,
-Steering torque-Wheel angular velocity of each wheel-Actual steering angle of each wheel-At least one of the driving torque of each wheel is input to the main calculation unit 1110, and the main calculation unit 1110 performs linear calculation on these input values. It may be configured to execute. In this case, for example, the main calculation unit 1110 includes a vehicle model switching unit that switches each vehicle model represented by each system matrix A, input matrix B, and observation matrix C, and the vehicle model switching unit is configured as described above. Each vehicle model can be switched with reference to the input.

  Further, the vehicle 900 may be configured to include a load amount detection unit, and the main calculation unit 1110 may be configured to input a detection value by the load amount detection unit. In this case, for example, the main calculation unit 1110 includes a vehicle model switching unit that switches each vehicle model represented by the system matrix A, the input matrix B, and the observation matrix C corresponding to each loading amount, and the vehicle model It can be set as the structure which a switching part switches each vehicle model according to the detected value by a load amount detection means. The load amount detecting means may be configured to detect the load amount with a sensor or may be configured to detect the load amount without a sensor.

The input to the main calculation unit 1110 is
・ Yaw rate ・ Front and rear G
・ Horizontal G
-Brake pressure-ESC flag, TCS flag, ABS flag-Engine torque-It is good also as a structure further including at least any one of engine speed. In this case, for example, the main calculation unit 1110 includes a vehicle model switching unit that switches each vehicle model represented by each system matrix A, input matrix B, and observation matrix C, and the vehicle model switching unit is configured as described above. Each vehicle model can be switched with reference to the input.

(Example of state quantities to be calculated by the main calculation unit)
An example of a state quantity to be calculated by the main calculation unit 1110 is expressed as a state quantity vector x as follows.

  Hereinafter, the x direction indicates a traveling direction (front-rear direction) of the vehicle 900, the z direction indicates a vertical direction, and the y direction indicates a direction (lateral direction) perpendicular to both the x direction and the z direction.

here,
u, v, and w are x, y, and z direction components of the sprung speed of the vehicle body 200,
p, q, and r are the x-axis, y-axis, and z-axis direction components of the sprung angular velocity of the vehicle body 200, that is, the roll rate, pitch rate, and yaw rate. Also,

Are three components of Euler angles (represented as phi, theta, and psi, respectively, and phi represents a roll angle, theta represents a pitch angle, and psi represents a yaw angle).
SusSt _{fl to} SusSt _rr are the suspension stroke displacement of each wheel, and the above is the state quantity observed in the body coordinate system that moves in the same manner as on the spring.

_Further, z 1flm ~z 1rrm is unsprung vertical displacement of the _wheels, w 1flm ~w 1rrm is unsprung vertical velocity of each wheel. _{However, z 1flm ~z 1rrm, w 1flm} ~w 1rrm the translation in the x and y directions, as well as rotational movement of the z-axis direction only (yaw), the amount of state observed by the coordinate system of the same motion as the spring It is.

Δ is an actual rudder angle,
dδ is the actual steering angular speed.

  The actual rudder angle δ and the actual rudder angular velocity dδ may be set individually for each wheel 300, but in the present specification, as an example, it is set only for the front wheels, and Switchback is not considered.

(Example of main calculation unit output)
The type of normative output output by the main arithmetic unit 1110 is determined by how the observation matrix C is selected. As an example, if the standard output output by the main calculation unit 1110 is expressed as a specific state quantity vector y, the longitudinal sprung speed u, the lateral sprung speed v, and the sprung vertical speed of the vehicle body 200 are expressed as follows. w, roll rate p, pitch rate q, yaw rate r, the roll angle phi, the pitch angle theta, the yaw angle psi, suspension stroke displacement of each wheel SusSt _fl ~SusSt _rr, unsprung vertical displacement _z 1flm ~z 1rrm of each wheel, each wheel unsprung vertical velocity _w 1flm ~w 1rrm, contains the actual steering angle [delta], and Jitsukaji angular velocity d?.

  Further, the normative output output from the main arithmetic unit 1110 is a physical quantity that can be expressed by any of the state quantities included in the state quantity vector x described above or a combination thereof.

(Example of equation of motion to be calculated by the main calculation unit)
An example of an equation of motion to be calculated by the main calculation unit 1110 is as follows. Further, the dot “•” added on each physical quantity represents time differentiation.

  ・ The following equations of motion for sprung translation and rotation

  ・ The following equations of motion for Euler angles

  ・ The following equation of motion for unsprung vertical motion

  ・ The following equation of motion for actual rudder (however, tire reversion is not considered)

  ・ Suspension force of each wheel

  ・ Suspension stroke displacement

In the above equations of motion and relations,
m is the sprung mass of the vehicle (that is, the mass of the vehicle body 200),
F _x , F _y , and F _z are forces in the x, y, and z directions acting on the vehicle spring (that is, the vehicle body 200),
M _x, M _y, M _z is a moment x, y, with respect to the z-axis acting on the spring of the vehicle,
I _x , I _y , I _z are moments of inertia about the x, y, z axes on the vehicle spring,
I _zx is the y-axis inertial product.

k _2f and k _2r are spring constants of the springs for the front and rear wheels,
c _2f and c _2r are damper damping coefficients for the front and rear wheels,
F _contfl , F _contfr , F _contrl , and F _contrr are suspension forces added as a result of control.

F _zfl , F _zfr , F _zrl , F _zrr are the suspension force of each wheel,
z _{fl to} z _rr are the sprung vertical displacement in each wheel,
w _{fl to} w _rr are the sprung vertical speed at each wheel,
z _{1 fl} to z _1RR are unsprung vertical displacement of the wheels,
_w 1fl ~w 1rr is the unsprung vertical velocity at each wheel,
The above is the state quantity observed in the body coordinate system that moves in the same manner as on the spring.

m1 is the unsprung mass, k ₁ is rigid with respect to the tire vertical displacement. F _{zflm to} F _zrrm are suspension reaction forces applied under the spring of each wheel, and only the translational motion in the x and y directions and the rotational motion (yaw) in the z-axis direction are the same as on the spring. An observed physical quantity in the coordinate system.

Α is the steering angle,
I _s is the wheel inertia moment around the kingpin axis,
c _s is the kingpin equivalent viscous friction coefficient,
k _s is an equivalent elastic modulus around the kingpin axis.

M _cont is an assist torque added as a result of the control.

  In addition to the equation of motion listed above, the main calculation unit 1110 may set the equation of motion related to the wheel rotation motion as a calculation target. In addition, there are a plurality of relational expressions (for example, coordinate transformations and the like) associated with each other in the physical quantities appearing in the above-described motion equations, and each motion equation is solved together with these relational expressions.

(Linearization of equations of motion and implementation in the main calculation unit)
The above equation of motion is generally non-linear and can be expressed as follows.

Here, x is a vector indicating the state quantity, and f (x) and g (x) are functions of x and are expressed as vectors.

  The nonlinear equation of motion is Taylor-expanded and the initial values of the respective state quantities are substituted into the Jacobian matrix to obtain the following matrix A, and the following matrices B and C are obtained by the same method.

  As a result, the linearized equation of motion is expressed in the state space as follows.

  Here, the matrix A corresponds to the above-described system matrix A, the matrix B corresponds to the above-described input matrices B0, B1, B2, and B3, and the matrix C corresponds to the above-described observation matrix C.

  From the above description, it can be seen that the main calculation unit 1110 shown in FIG. 4 is configured to linearly calculate the target equation of motion.

(Other configurations of the reference vehicle model calculation unit)
Subsequently, among the configurations included in the reference vehicle model calculation unit 1100, configurations other than the main calculation unit 1110 will be described.

(Standard vehicle model tire contact load calculation part)
Norms vehicle model tire grounding load calculating unit 1120, as a result of integration by the integrating section 1115, calculated by the state quantity of the unsprung vertical displacement of the wheels being part _z 1flm ~z 1rrm, the vehicle state estimation unit 1200 to be described later _{Using the} following _formula , the road surface displacement z _{0fl to} z _{0rr of} each wheel and the steady value F _{z0constfl to} F _z0constrr of the ground load are used to calculate the reference vehicle model tire ground contact load F _{z0fl to} F _z0rr. . The steady values F _{z0constfl to} F _z0constrr of the ground load are obtained, for example, by measuring the ground load value in a stationary state on a flat road surface in advance, for example, before shipment.

F _z0fl = -k ₁ (z _1flm -z _0fl ) + F _z0constfl
F _z0rl = -k ₁ (z _1rlm -z _0rl ) + F _z0constrl
F _z0fr = -k ₁ (z _1frm -z _0fr ) + F _z0constfr
F _z0rr = -k ₁ (z _1rrm -z _0rr ) + F _z0constrr
The calculated reference vehicle model tire ground contact loads F _{z0fl to} F _z0rr are input to the tire model calculation unit 1140 and the reference tire effective radius calculation unit 1160. Reference tire effective radius calculating section 1160, using the normative vehicle model tire grounding load _F z0fl ~F _z0rr calculating at normative vehicle model tire grounding load calculating unit 1120, for example, a second of the reference tire effective radius to be described later The reference tire effective radius R _{efl to} R _err is calculated using the equation.

(Slip calculation part)
The slip calculation unit 1130 refers to the calculation result by the observation matrix calculation unit 1117, the calculation result by the reference tire effective radius calculation unit 1160, and the wheel angular velocities ω _{fl to} ω _rr of each wheel detected by the wheel speed sensor 320. Then, the slip ratios s _{fl to} s _rr of each wheel are calculated, and the slip angles β _{fl to} β _rr of each wheel are calculated as a calculation result by the observation matrix calculation unit 1117. Further, the calculated result is supplied to the integrating unit 1131 and the tire model calculating unit 1140.

(Tire model calculation unit)
The tire model calculation unit 1140 performs non-linear calculation that directly or indirectly refers to at least a part of the calculation result by the main calculation unit 1110. In the example shown in FIG. 4, the tire model computing unit 1140, the observation matrix calculator of each wheel obtained by calculation by the 1117 slip ratio s _fl ~s _rr, slip angle β _fl ~β _rr of each wheel, and normative vehicle model performing non-linear operation with reference to norms vehicle model tire grounding load _F z0fl ~F _z0rr the tire grounding load calculating unit 1120 has calculated. That is, in the example illustrated in FIG. 4, the tire model calculation unit 1140 performs a nonlinear calculation that indirectly refers to at least a part of the calculation result by the main calculation unit 1110.

More specifically, the tire model computing unit 1140, each wheel slip ratio s _fl ~s _rr, slip angle β _fl ~β _rr of each wheel, and normative vehicle model tire grounding load _F z0fl ~F _z0rr of each wheel Refer to Then, by using an arithmetic expression for the tire model, and calculates each wheel tire longitudinal force _F x0fl ~F x0rr, and tire lateral force _F y0fl ~F y0rr of each wheel. Although the specific calculation formula by the tire model calculation unit 1140 does not limit the present embodiment, for example, an approximate formula that is generally known is representative of the left front wheel.

Can be used. Here, _FPx0fl in the first equation represents the tire longitudinal force of the left front wheel when _traveling straight. Each variable is a value that depends on tire characteristics and F _z0fl . F _Py0fl in the second formula represents the tire lateral force when there is no tire longitudinal force.

  Here, in the reference vehicle model calculation unit 1100 according to the present embodiment, the main calculation unit 1110 performs linear calculation, and the tire model calculation unit 1140 directly or indirectly outputs at least a part of the calculation result by the main calculation unit 1110. Performs the referenced non-linear operation. By adopting a configuration in which the linear calculation unit and the non-linear calculation unit are separated as described above, it is possible to suitably perform the calculation of the state quantity using the vehicle model.

  In addition, since the tire model calculation unit 1140 performs a nonlinear calculation based on the tire model, the nonlinear calculation can be suitably separated from the linear calculation.

  Further, as described above, the third input matrix calculation unit 1113 takes in the non-linear calculation result by the tire model calculation unit 1140 as an input, so that the non-linear calculation result can be suitably loaded into the linear calculation by the main calculation unit 1110. . Therefore, the main calculation unit 1110 can perform highly accurate calculation while performing linear calculation.

(Maneuvering stability / riding comfort control unit 1150)
The steering stability / riding comfort controller 1150 determines the control amount for controlling each part of the reference vehicle model, and acts on the reference output output by the observation matrix calculator 1117 in order to supply to each part. The output from the steering stability / riding comfort control unit 1150 is supplied to the fourth input matrix calculation unit 1118, and the input matrix B3 is calculated.

  As an example, the steering stability / riding comfort control unit 1150 performs skyhook control, roll posture control, pitch posture control and unsprung control, actual steering angle control processing, and control amount selection processing.

  Here, the skyhook control is ride comfort control (vibration control) that suppresses the shaking of the reference vehicle model when overcoming road surface irregularities and enhances the ride comfort.

  In the skyhook control, as an example, the skyhook target control amount is determined with reference to the sprung vertical speed, the stroke speed of the four wheels, the pitch rate, and the roll rate, and the result is the target of the control amount selection process. .

  In the roll attitude control, the roll target control amount is calculated with reference to the roll rate at the time of steering and the steering angle, and the result is set as the target of the control amount selection process.

  In the pitch attitude control, the pitch control is performed with reference to the acceleration / deceleration pitch rate, the pitch target control amount is calculated, and the result is set as the target of the control amount selection process.

  In the unsprung control, the unsprung vibration suppression control target control amount is determined with reference to the unsprung vertical speed of each wheel, and the determination result is used as the target of the control amount selection process. In the actual rudder angle control, a target control amount is calculated with reference to the actual rudder angle, and the result is set as a target of the control amount selection process.

  In the control amount selection process, the target control amount having the largest value among the skyhook target control amount, the roll target control amount, the pitch target control amount, the unsprung vibration suppression control target control amount, and the actual steering angle target control amount is selected. It may be selected and output.

(Vehicle state estimation part)
Next, the vehicle state estimation unit 1200 will be specifically described with reference to the drawings. The vehicle state estimation unit 1200 performs an operation using the estimation vehicle model on the input value, and supplies an estimated output as a calculation result to the subtraction unit 1012. Further, the vehicle state estimation unit 1200 supplies various state quantities to be calculated to the first amplification unit 1021.

  FIG. 5 is a block diagram illustrating a configuration example of the vehicle state estimation unit 1200. As shown in FIG. 5, the vehicle state estimation unit 1200 includes a main calculation unit 1210, a tire contact load variation calculation unit (contact load variation calculation unit) 1220, a slip calculation unit 1230, a tire model calculation unit 1240, a virtual spring / damper force. A calculation unit 1260, a reference tire effective radius calculation unit (reference wheel effective radius calculation unit) 1270, a road surface displacement calculation unit 1280, an integration unit 1231, an integration unit 1271, and an addition unit 1275 are provided.

(Main calculation part)
The main calculation unit 1210 that performs a calculation using the estimation vehicle model calculates one or a plurality of output values by referring to one or a plurality of input values and performing a linear calculation on a state quantity related to the vehicle state. The main calculation unit 1210 may be simply referred to as a calculation unit.

  As shown in FIG. 5, the main calculation unit 1210 includes a first input matrix calculation unit 1211, a second input matrix calculation unit 1212, a third input matrix calculation unit 1213, a fourth input matrix calculation unit 1218, 5 input matrix calculator 1219, adder 1214, integrator 1215, system matrix calculator 1216, and observation matrix calculator 1217. Here, the first input matrix calculation unit 1211, the second input matrix calculation unit 1212, the third input matrix calculation unit 1213, the fourth input matrix calculation unit 1218, and the fifth input matrix calculation unit 1219 are included. Also referred to as a first arithmetic unit.

The first input matrix calculator 1211 to perform an operation related to the input matrix B00 'with respect to the ground load change input, the variation ground contact load obtained by the tire contact load variation calculating unit ₁₂₂₀ dF z0fl ~dF _z0rr is input.

First input matrix calculation unit 1211, with respect to the inputted ground load fluctuations _dF z0fl ~dF _z0rr, calculates the input matrix B00 ', and supplies to the adder 1214 the result of the calculation.

  For example, the second input matrix calculation unit 1212 that calculates the input matrix B1 ′ with respect to the operation amount calculates the input matrix B1 ′ with respect to the steering angle of the steering member 410 and supplies the calculated result to the addition unit 1214. To do. The input matrix B1 ′ calculated by the second input matrix calculation unit 1212 may be the same as or different from the input matrix B1 calculated by the second input matrix calculation unit 1112.

Third input matrix calculator 1213 for each wheel tire longitudinal force _F x0fl ~F x0rr supplied from the tire model calculating unit 1240 to be described later, and the wheels for performing an operation related to the input matrix B2 'with respect to the tire longitudinal / lateral force The input matrix B2 ′ is calculated for the tire lateral forces F _{y0fl to} F _y0rr . The calculated result is supplied to the adding unit 1214. The input matrix B2 ′ calculated by the third input matrix calculation unit 1213 may be the same as or different from the input matrix B2 calculated by the third input matrix calculation unit 1113.

  Further, the output of the control amount calculation unit 1000 is input to the fourth input matrix calculation unit 1218 that performs a calculation related to the input matrix B4 ′ with respect to the output of the control amount calculation unit 1000. The fourth input matrix calculation unit 1218 calculates the input matrix B4 ′ with respect to the output of the control amount calculation unit 1000, and supplies the calculation result to the addition unit 1214.

  The fifth input matrix calculation unit 1219 that performs calculation related to the input matrix B5 ′ for the virtual spring / damper force calculates the input matrix B5 ′ for the output of the virtual spring / damper force calculation unit 1260 described later, and the calculation result Is supplied to the adder 1214.

  The adder 1214 includes a first input matrix calculator 1211, a second input matrix calculator 1212, a third input matrix calculator 1213, a fourth input matrix calculator 1218, a fifth input matrix calculator 1219, And the output from the system matrix calculation part 1216 mentioned later is added. Then, the addition result is supplied to the integration unit 1215.

  The integration unit 1215 integrates the addition result supplied from the addition unit 1214. The result of integration by the integration unit 1215 is output as an estimated state quantity, and is also supplied to the system matrix calculation unit 1216, the observation matrix calculation unit 1217, and the virtual spring / damper force calculation unit 1260.

  The system matrix calculation unit (second calculation unit) 1216 calculates the system matrix A ′ with respect to the integration result obtained by the integration unit 1215, and supplies the calculated result to the addition unit 1214.

  The observation matrix calculation unit (third calculation unit) 1217 calculates the observation matrix C ′ with respect to the integration result obtained by the integration unit 1215 and supplies the calculated result to the above-described subtraction unit 1012 as an estimated output. The result of calculating the observation matrix C ′ is also supplied to the slip calculation unit 1230.

  In addition, the calculation in each part with which the main calculating part 1210 is provided is performed as a linear calculation. Therefore, according to the main calculation unit 1210 having the above-described configuration, it is possible to suitably perform a linear calculation on a state quantity related to a vehicle state with reference to one or a plurality of input values.

Further, like the main calculation unit 1110, the input to the main calculation unit 1210 is not limited to the above example.
-Steering torque-Wheel angular velocity of each wheel-Actual steering angle of each wheel-At least one of the driving torque of each wheel is input to the main calculation unit 1210, and the main calculation unit 1210 performs linear calculation on these input values. It may be configured to execute. In this case, for example, the main calculation unit 1210 includes a vehicle model switching unit that switches each vehicle model represented by each system matrix A ′, input matrix B ′, and observation matrix C ′, and the vehicle model switching unit However, it can be set as the structure which switches each vehicle model with reference to said input.

  Further, the vehicle 900 may be configured to include a load amount detection unit, and the main calculation unit 1210 may be configured to input a detection value from the load amount detection unit. In this case, for example, the main calculation unit 1210 includes a vehicle model switching unit that switches between the vehicle models represented by the system matrix A ′, the input matrix B ′, and the observation matrix C ′ according to each loading amount, The vehicle model switching unit may be configured to switch each vehicle model according to the detection value by the load amount detection unit. The load amount detecting means may be configured to detect the load amount with a sensor or may be configured to detect the load amount without a sensor.

The input to the main arithmetic unit 1210 is
・ Yaw rate ・ Front and rear G
・ Horizontal G
-Brake pressure-ESC flag, TCS flag, ABS flag-Engine torque-It is good also as a structure further including at least any one of engine speed. In this case, for example, the main calculation unit 1210 includes a vehicle model switching unit that switches each vehicle model represented by each system matrix A ′, input matrix B ′, and observation matrix C ′, and the vehicle model switching unit However, it can be set as the structure which switches each vehicle model with reference to said input.

(Example of state quantities to be calculated by the main calculation unit)
Since the state quantity to be calculated by the main calculation unit 1210 is the same as the state quantity to be calculated by the main calculation unit 1110, detailed description thereof is omitted here. Note that the normative output output by the main calculation unit 1210 is a physical quantity that can be expressed by any of the state quantities included in the state quantity vector x described above or a combination thereof, as with the main calculation unit 1110.

(Linearization of equations of motion and implementation in the main calculation unit)
The detailed explanation of the linearization of the equation of motion and the mounting on the main calculation unit 1210 is omitted for the parts that are the same as those described in the mounting on the main calculation unit 1110. The equation of motion related to the vertical motion of the vehicle state estimator is as follows. Note that the matrices A and C in the linearized equation of motion described in the implementation in the main calculation unit 1110 correspond to the matrices A ′ and C ′ in the main calculation unit 1210. The matrix B in the linearized equation of motion corresponds to the matrices B00 ′, B1 ′, B2 ′, B4 ′, and B5 ′ in the main calculation unit 1210.

  From the above description, it can be seen that the main calculation unit 1210 shown in FIG. 5 is configured to linearly calculate the target equation of motion.

(Other configuration of vehicle state estimation unit)
Subsequently, among the configurations included in the vehicle state estimation unit 1200, configurations other than the main calculation unit 1210 will be described.

(Slip calculation part)
The slip calculation unit 1230 refers to the calculation result by the observation matrix calculation unit 1217, the calculation result by the reference tire effective radius calculation unit 1270, and the wheel angular velocities ω _{fl to} ω _rr of each wheel detected by the wheel speed sensor 320. Then, the slip ratios s _{fl to} s _rr of each wheel are calculated, the slip angles β _{fl to} β _rr of each wheel are calculated as the calculation results by the observation matrix calculation unit 1217, and the calculated results are used as the integration unit 1231 and the tire model. It supplies to the calculating part 1240. The integrating unit 1231 integrates the calculation result supplied from the slip calculating unit 1230, and calculates the integrated slip ratio s. The slip ratio s after integration calculated by the integrating unit 1231 is supplied to the tire contact load fluctuation calculating unit 1220.

(Tire contact load fluctuation calculation part)
The tire contact load fluctuation calculation unit 1220 includes an estimated value of the sprung speed u in the front-rear direction calculated by the integration unit 1215, an estimated value of the pitch rate q, an estimated value of the yaw rate r, and each wheel detected by the wheel speed sensor 320. Reference is made to the wheel angular velocities ω _{fl to} ω _rr . Then, the tire effective radius (wheel effective radius) R _{efl to} R _err of each wheel is calculated. Tire effective radius R _efl to R _err of each wheel, determined by dividing the wheel speed V _fl ~V _rr of each wheel by the wheel angular velocity ω _fl ~ω _rr of each wheel.

The wheel speeds V _{fl to} V _rr of each wheel are as follows using the sprung speed u in the front-rear direction of the vehicle body 200, the pitch rate q, the yaw rate r, and the slip ratios s _{fl to} s _rr of each wheel. It is expressed in

Here, h ₀ represents the distance from the road surface to the center of gravity of the vehicle body 200, tr _f represents the front tread width of the vehicle body 200 multiplied by 0.5, and tr _r represents the vehicle body 200 It represents the rear tread width of 200 multiplied by 0.5. Thus, the tire contact load variation calculating unit 1220, the wheel angular velocity omega, and calculates the front-rear sprung velocity u, the pitch rate q, and with reference to the yaw rate r of the respective wheel tires effective radius R _e. Thus, the tire contact load variation calculating unit 1220, with reference to one or more input values also serves as a wheel effective radius calculation unit for calculating a tire effective radius R _e.

Further, the tire contact load fluctuation calculation unit 1220 determines whether at least one of the input wheel angular velocity ω and the calculated wheel speed V is zero for each of fl, rl, fr, and rr. If one or both of the input ω and the calculated V are not zero, the tire ground contact load fluctuation calculation unit 1220 sets the calculated _Re to true. When one or both of the input ω and the calculated V in any of fl, rl, fr, and rr are zero, the tire contact load variation calculation unit 1220 calculates the corresponding fl, rl, fr, and rr. R _econst is true. R _Econst is R _e is constant value, for example, the value of R _e when the ground load _F z0const.

The tire contact load fluctuation calculation unit 1220 refers to R _e determined to be true, and uses the following equation (first equation relating to contact load fluctuation):

By, to calculate the ground load variation _dF z0fl ~dF _z0rr.

Here, f (R _e ) is a value of the contact load F _z0 determined from the correlation with the tire effective radius R _e, and such a correlation between R _e and F _z0 is shown in FIG. 6, for example. Represented by a map. By referring to such a map, the contact load F _z0 corresponding to the tire effective radii R _efl , R _efr , R _erl , and R _err is obtained.

The calculated ground load fluctuations dF _{z0fl to} dF _z0rr are _supplied to the first input matrix calculator 1211 and a road surface displacement calculator 1280 described later. Also, calculated ground load change _dF z0fl ~dF _z0rr that is, after being added to the ground contact load constant value _F z0constfl ~F z0constrr of each wheel, tire model computing section 1240 and a ground load _F z0fl ~F _z0rr of each wheel This is supplied to a reference tire effective radius calculation unit (reference wheel effective radius calculation unit) 1270 described later.

  As described above, the tire ground contact load fluctuation calculation unit 1220 refers to the wheel angular velocity ω, the sprung longitudinal velocity u, the pitch rate q, the yaw rate r, and the slip ratio s. Then, the ground contact load fluctuation of the wheel is calculated and input to the first input matrix calculation unit 1211 in a feedback manner.

In the present embodiment, the sprung speed u in the front-rear direction of the vehicle body 200, the pitch rate q, the yaw rate r, and the slip ratios s _{fl to} s _rr of each wheel are not sensor values. Thus, in this embodiment, the value calculated in each part of ECU600 is used. For this reason, it is possible to suitably calculate the state quantity without requiring an additional sensor.

  In the present embodiment, the reference tire effective radius calculated by the reference tire effective radius calculation unit 1270 results in the tire contact load fluctuation calculation unit via the slip calculation unit 1230, the tire model calculation unit 1240, and the like as will be described later. Reference is made to 1220. As described above, the reference tire effective radius calculated by the reference tire effective radius calculation unit 1270 is input to the tire contact load variation calculation unit 1220 in a feedback manner. Therefore, the state quantity can be calculated with high accuracy.

(Tire model calculation unit)
The tire model calculation unit 1240 performs non-linear calculation that directly or indirectly refers to at least a part of the calculation result by the main calculation unit 1210. In the example shown in FIG. 5, the tire model computing unit 1240, the observation matrix calculator of each wheel obtained by calculation by the 1217 slip ratio s _fl ~s _rr, slip angle β _fl ~β _rr of each wheel, and the tire contact load performing non-linear operation with reference to the vertical load _F z0fl ~F _z0rr of each wheel variation calculation section 1220 is obtained by adding the ground load fluctuations _dF z0fl ~dF _z0rr and constant value _F z0constfl ~F z0constrr for computing. That is, in the example illustrated in FIG. 5, the tire model calculation unit 1240 performs a nonlinear calculation that indirectly refers to at least a part of the calculation result by the main calculation unit 1210.

More specifically, the tire model computing unit 1240, each wheel slip ratio s _fl ~s _rr, slip angle β _fl ~β _rr of each wheel, and refers to the vertical load _F z0fl ~F _z0rr of each wheel. Then, by using an arithmetic expression for the tire model, and calculates each wheel tire longitudinal force _F x0fl ~F x0rr, and tire lateral force _F y0fl ~F y0rr of each wheel. Although the specific calculation formula by the tire model calculation unit 1240 does not limit the present embodiment, for example, the same formula as the formula used by the tire model calculation unit 1140 can be used.

The tire model calculation unit 1240 that performs non-linear calculation by directly or indirectly referring to at least a part of the calculation result by the main calculation unit 1210 includes the tire longitudinal force F _{x0fl to} F _x0rr of each wheel and the tire of each wheel. It can also be understood as a tire force estimation device that calculates the lateral forces F _{y0fl to} F _y0rr .

(Virtual spring / damper force calculation unit)
Virtual spring-damper force calculating unit 1260, the unsprung vertical displacement _z 1flm ~z 1rrm of each wheel is a part of the result of calculation by the integrator 1215, and each wheel unsprung vertical velocity w _1flm ~w _1rrm, the refer. Then, a force _F s1fl ~F s1rr by virtual spring and a virtual damper for each wheel is calculated by the following equation, and supplies the calculation result to the input matrix calculator 1219 of the fifth.

Here k _S1F to k _S1R is a coefficient to be multiplied to the unsprung displacement of each wheel, c _S1F to c _S1R are coefficients to be multiplied to the unsprung speed of each wheel. Here, in order to consider this virtual spring / damper force,

Is used.

(Reference tire effective radius calculator)
Reference tire effective radius calculation unit 1270 refers to the vertical load _F z0fl ~F _z0rr after steady value addition entered. Then, the reference tire effective radii R _efl , R _efr , R _erl , and R _err of each wheel are calculated by the following expression (second expression relating to the reference tire effective radius). Further, the calculated result is supplied to the slip calculation unit 1230.

Here, B _Reff , D _Reff , F _Reff , and F _z0nom are fitting coefficients obtained from experimental results and the like. K ₁ is the rigidity against the vertical displacement of the tire and is a constant. Further, the first f (R _e) map in the formula according to vertical load variation described above, the relationship is substantially the F _z0 and R _e, which is represented by a second equation according to a tire effective radius for the reference Is equivalent to

The integrating unit 1231 integrates the calculation results supplied from the slip calculating unit 1230, and calculates the integrated slip ratios s _{fl to} s _rr . The slip ratios s _{fl to} s _rr after integration calculated by the integration unit 1231 are supplied to the tire contact load variation calculation unit 1220.

The reference tire effective radii R _{efl to} R _err are supplied to the slip calculation unit 1230.

(Road surface displacement calculator)
Road surface displacement calculation unit 1280, the main operating unit 1210 is the unsprung displacement _z 1flm ~z 1rrm of each calculated wheel, and the ground load fluctuations _dF z0fl ~dF _z0rr of each wheel tire grounding load variation calculating unit 1220 is calculated make use of,

Accordingly, to calculate a road surface displacement _z 0fl ~z 0rr of each wheel. Calculated road surface displacement _z 0fl ~z 0rr is supplied to the normative vehicle model calculation unit 1100.

  Here, in the vehicle state estimation unit 1200 according to the present embodiment, the main calculation unit 1210 performs linear calculation, and the tire model calculation unit 1240 directly or indirectly refers to at least a part of the calculation result by the main calculation unit 1210. Perform nonlinear operation. By adopting a configuration in which the linear calculation unit and the non-linear calculation unit are separated as described above, it is possible to suitably perform the calculation of the state quantity using the vehicle model.

  In addition, since the tire model calculation unit 1240 performs nonlinear calculation based on the tire model, the nonlinear calculation can be suitably separated from the linear calculation.

  In addition, as described above, the third input matrix calculation unit 1213 takes in the non-linear calculation result by the tire model calculation unit 1240 as an input, so that the non-linear calculation result can be suitably loaded into the linear calculation by the main calculation unit 1210. . Therefore, the main calculation unit 1210 can perform highly accurate calculations while performing linear calculations.

Further, as described above, the main calculation unit 1210 of the vehicle state estimation unit 1200 according to the present embodiment includes the contact load fluctuations dF _z0fl , dF _z0fr , dF _z0rl calculated by the tire contact load fluctuation calculation unit 1220 of each wheel, dF _z0rr is input. By adopting such a configuration, it is possible to calculate the state quantity with higher accuracy without having to provide an additional sensor.

  As described above, the vehicle state estimation unit 1200 according to the present embodiment uses only the in-vehicle sensor information provided as standard, and the same vehicle behavior estimation without distinguishing the vehicle behavior caused by the road surface input and the steering input. Thus, the vehicle state can be suitably estimated. In particular, it is possible to realize estimation of vehicle behavior when road surface input and steering input occur simultaneously, which is impossible with the conventional technology.

As is clear from the above description, the vehicle state estimation unit 1200 according to the present embodiment calculates the tire ground contact load fluctuation calculation unit dF _z0 that is the fluctuation of the wheel ground load F _z0 in the vehicle. and 1220, and it includes a wheel effective radius calculation unit for calculating one or more referring to the input value tire effective radius R _e, and a main arithmetic unit 1210 performs calculation using the vehicle model. Then, the tire contact load variation calculating unit 1220 refers to the map of the effective wheel radius calculation unit to output a tire effective radius R _e as an input contact load F _z0 calculated, calculates the ground contact load variation dF _z0 wheel To do. Further, the main calculation unit 1210 _refers to one or a plurality of input values including the wheel contact load variation dF _z0 calculated by the tire contact load variation calculation unit 1220, and performs an operation on a state quantity related to the vehicle state. Alternatively, a plurality of output values are calculated. Therefore, it is possible to preferably calculate the ground load fluctuation of each wheel input to the vehicle state estimation unit 1200.

In the above-described embodiment, the tire contact load variation calculation unit 1220 also serves as a wheel effective radius calculation unit. However, the wheel effective radius calculation unit may be configured independently of the tire contact load variation calculation unit 1220. . For example, the wheel effective radius calculation unit is arranged independently of the tire contact load variation calculation unit 1220, u, q, r, and ω are input, and the calculated tire effective radius _Re is used as the tire contact load variation calculation unit. It may be configured to supply to 1220. Such a configuration is more effective from the viewpoint of reducing the load on the tire contact load fluctuation calculation unit 1220.

  Further, as described above, the tire contact load fluctuation calculation unit 1220 preferably determines the wheel contact load fluctuation by referring to the wheel angular velocity, the estimated value of the sprung longitudinal velocity, the estimated value of the yaw rate, and the estimated value of the pitch rate. Can be calculated.

Further, as described above, the tire contact load fluctuation calculation unit 1220 calculates the tire effective radius _Reconst that is a steady value when one or both of the estimated wheel speed V and the wheel angular speed ω of the vehicle are zero. May be. According to this configuration, the vehicle state that refers to the ground load variation even in the case of a wheel spin (any of V _{fl to} V _rr is zero) or a wheel lock (any of ω _{fl to} ω _rr is zero) It is possible to continue the estimation control. Therefore, the wheel ground load fluctuation dF _z0 can be calculated more suitably.

The estimated value of the wheel speed V and the determination of the wheel angular speed ω are selected from the group consisting of the wheel speed V, the wheel angular speed ω, and the sprung speed u, the pitch rate q, and the yaw rate r that are referred to in the calculation of the wheel speed V. one or more numerical values is, whether or not included in a predetermined range that is acceptable as a tire effective radius R _e is calculated, it is possible to replace the determination of. Alternatively, the determination of the estimated value of the wheel speed V and the determination of the wheel angular speed ω can be replaced with a determination of whether or not the calculated tire effective radius _Re is included in a predetermined range. is there. In the determination based on such a predetermined allowable range, when it is out of the range, the steady value may be adopted as described above, or the vehicle state is controlled by referring to the ground load variation during the out-of-range period. May be stopped.

Further, as described above, the tire contact load fluctuation calculation unit 1220 can further calculate the wheel contact load fluctuation by further referring to the estimated value of the slip ratio. Furthermore, for reference vehicle state estimation unit 1200 may further include a reference tire effective radius calculation unit 1270 for calculating the reference tire effective radius R _e, slip calculating unit 1230, the reference tire effective radius calculation unit 1270 calculates the tire effective radius R _e, further reference to the estimated slip ratio. Therefore, the tire contact load fluctuation calculation unit 1220 can more suitably calculate the wheel contact load fluctuation.

The reference tire effective radius calculating unit 1270 is for calculating the own reference tire effective radius R _e, tires for reference as is the tire effective radius R _e calculated in the tire contact load variation calculating unit 1220 effective radius R _e It is good. Alternatively, the reference tire effective radius calculation unit 1270, and the tire effective radius R _e calculated in the tire contact load variation calculating unit 1220 refers to the reference tire effective radius and a contact load F _z0 supplied from the adder 1275 _Re may be calculated.

  Further, as described above, the one or more input values in the vehicle state estimation unit 1200 may include an operation input. According to such a configuration, the state of the vehicle is preferably estimated to be more effective from the viewpoint of realizing high riding comfort and high steering stability.

  In addition, the vehicle state estimation unit 1200 according to the present embodiment includes a road surface displacement calculation unit that calculates the road surface displacement of the wheel by at least referring to the ground load variation of the wheel, and thus preferably calculates the road surface displacement of the wheel. can do.

Further, as described above, the vehicle state estimation unit 1200 according to the present embodiment includes the virtual spring / damper force calculation unit 1260, and the virtual spring / damper force calculation unit 1260 includes the force ( simply referred to as the force of the virtual _spring) F s1fl ~F s1rr calculates and supplies the calculation result to the input matrix calculator 1219 of the fifth.

According to the inventor's knowledge, when the force by the virtual spring and the virtual damper is not taken into account, the estimation result tends to diverge in the estimation of the state quantity by the vehicle state estimation unit 1200. By calculating the virtual spring / damper forces F _{s1fl to} F _s1rr as described above and supplying the calculation result to the main calculation unit 1210 of the vehicle state estimation unit 1200, such divergence can be suppressed.

The vehicle state estimation unit 1200 also includes a sprung speed u in the longitudinal direction of the vehicle 900, a sprung speed y in the lateral direction, a vertical speed w on the spring, a roll rate p, a pitch rate q, a yaw rate r, and a wheel spring. to estimate the lower vertical velocity _w 1flm ~w 1rrm. Such a configuration is even more effective from the viewpoint of suitably controlling the vehicle state so that the vehicle 900 follows the reference model characteristics without deviation.

  Further, the vehicle state estimation unit 1200 includes a roll angle, a pitch angle, a yaw angle of the vehicle 900, a suspension stroke displacement of each wheel, an unsprung vertical displacement of each wheel, an actual rudder angle, an actual rudder angular velocity, a slip ratio of each wheel, Slip angle of each wheel, tire longitudinal force of each wheel, lateral force of each wheel, ground load fluctuation of each wheel, tire effective radius of each wheel, reference tire effective radius of each wheel, and road surface displacement of each wheel At least one is estimated. Such a configuration is also more effective from the viewpoint of suitably controlling the vehicle state so that the vehicle 900 follows the normative model characteristics without deviation.

  The estimated output (output value) includes a sprung vertical speed, a roll rate, and a pitch rate. Such a configuration is also more effective from the viewpoint of suitably controlling the vehicle state so that the vehicle 900 follows the normative model characteristics without deviation.

Further, the input value further includes an output value of the control amount calculation unit 1000, and the output value further includes the sprung speed u in the longitudinal direction of the vehicle 900, the sprung speed y in the lateral direction of the vehicle, Yaw rate r, vehicle roll angle phi, vehicle pitch angle theta, vehicle yaw angle psi, suspension stroke displacement SusSt _{fl to} SusSt _rr of each wheel, unsprung vertical displacement z _{1flm to} z _1rrm of each wheel, spring of each wheel lower vertical velocity _w 1flm ~w 1rrm, actual steering angle [delta], includes at least one of the actual steering angular velocity d?. Such a configuration is also more effective from the viewpoint of suitably controlling the vehicle state so that the vehicle 900 follows the normative model characteristics without deviation.

  The ECU 600 also includes the vehicle state estimation unit 1200, the reference vehicle model calculation unit 1100, the subtraction unit 1012, the integration unit 1014, the first amplification unit 1021, the second amplification unit 1022, the third amplification unit 1023, and And an adding unit 1024 for adding the amplification results by these amplifying units. And a vehicle state is controlled using the estimation result by the vehicle state estimation part 1200. FIG. For this reason, high riding comfort and high steering stability can be realized.

  In addition, the suspension control device and the suspension device according to the present embodiment include a vehicle state estimation unit 1200 and controls the suspension using an estimation result obtained by the vehicle state estimation unit 1200. For this reason, high riding comfort and high steering stability can be realized.

  In addition, the steering control device and the steering device according to the present embodiment include a vehicle state estimation unit 1200, and perform steering control using an estimation result obtained by the vehicle state estimation unit 1200. For this reason, high riding comfort and high steering stability can be realized.

[Embodiment 2]
Hereinafter, Embodiment 2 of the present invention will be described in detail. In addition, the same code | symbol is attached | subjected about the member similar to the already demonstrated member, and the description is abbreviate | omitted.

(Configuration of vehicle 900)
Similarly to the first embodiment, the vehicle 900 according to the present embodiment includes a lateral G sensor 330 that detects the lateral acceleration of the vehicle 900 in addition to the wheel speed sensor 320, and a longitudinal G that detects the longitudinal acceleration of the vehicle 900. A sensor 340 and a yaw rate sensor 350 that detects the yaw rate of the vehicle 900 are provided.

  Detection results from these various sensors are supplied to the ECU 600a.

(ECU 600a)
A vehicle 900 according to the present embodiment includes an ECU 600a instead of the ECU 600 described in the first embodiment.

  Below, with reference to FIGS. 7-9, ECU600a which concerns on this embodiment is demonstrated concretely. FIG. 7 is a diagram illustrating a schematic configuration example of the ECU 600a.

  As shown in FIG. 7, the ECU 600 a includes a reference vehicle model calculation unit 1100, similar to the ECU 600. The ECU 600a includes a vehicle state estimation unit 1200a instead of the vehicle state estimation unit 1200 included in the ECU 600.

  In addition, the ECU 600a includes a vehicle unit 1300,

Is entered. Here, ω represents the angular velocity of the wheel detected by the wheel speed sensor 320 as in the first embodiment. U _s dated dots, longitudinal G sensor 340 represents the sprung longitudinal acceleration of the vehicle detected. V _s with a dot represents the sprung lateral acceleration of the vehicle detected by the lateral G sensor 330. The ECU 600a also receives an operation input as in the first embodiment. In the present embodiment, the state quantity to which the subscript “s” is attached indicates that the state quantity is detected by the sensor.

  Since the other configuration of the ECU 600a shown in FIG. 7 is the same as that of the first embodiment, the description thereof is omitted here.

(Vehicle state estimation part)
A vehicle state estimation unit 1200a according to the present embodiment will be described with reference to FIG. FIG. 8 is a block diagram illustrating a configuration example of the vehicle state estimation unit 1200a.

  As shown in FIG. 8, the vehicle state estimation unit 1200a according to the present embodiment includes a front road surface displacement calculation unit 1285, a rear road surface displacement calculation unit 1290, in addition to the components included in the vehicle state estimation unit 1200 according to the first embodiment. A first input matrix calculation unit 1211a, a second input matrix calculation unit 1211b, an estimated state quantity reconstruction unit 1210a, a gain application unit 1211c, a subtraction unit 1211d, and a sixth input matrix calculation unit 1211e are provided. The vehicle state estimation unit 1200a does not include the road surface displacement calculation unit 1280 included in the vehicle state estimation unit 1200 according to the first embodiment.

As shown in FIG. 8, in addition to various inputs to the vehicle state estimation unit 1200 according to the first embodiment, the vehicle state estimation unit 1200a
Spring on the longitudinal acceleration of the vehicle detected by the longitudinal G sensor 340 (u _s in dotted)
・ Vehicle sprung lateral acceleration detected by lateral G sensor 330 (v _s with dot)
The vehicle yaw rate r _s detected by the yaw rate sensor 350
Is also entered. The initial speed u_ini is also input to the estimated state quantity reconstruction unit 1210a.

(Front road surface displacement calculator)
The front road surface displacement calculation unit 1285 calculates the unsprung vertical displacements z _1flm and z _{1frm of} the front wheels calculated by the main calculation unit 1210 and the ground contact load fluctuations dF _z0fl and dF _z0fr calculated by the tire contact load fluctuation calculation unit 1220. Using these, the road surface displacements z _0fl and z _0fr of the front wheels are calculated. The specific calculation processing of the road surface displacements z _0fl and z _0fr by the front road surface displacement calculation unit 1285 is the same as that of the road surface displacement calculation unit 1280, and thus the description thereof is omitted here.

(Rear road surface displacement calculator)
The rear road surface displacement calculating unit 1290 calculates the road surface displacement of the rear wheel based on the ground load variation of the front wheel and the unsprung displacement of the front wheel. More specifically, the road surface displacements z _0rl and z _0rr of the rear wheels are calculated using the following equations based on the ground load fluctuations dF _z0fl and dF _{z0fr of} the front wheels and the unsprung vertical displacements z _1flm and z _1frm of the front wheels. calculate.

Here, k ₁ is rigid with respect to the tire vertical displacement, is a constant.

The rear road displacement calculating unit 1290, the front wheel ground load change _dF z0fl, dF z0fr, and the front wheel of the unsprung vertical displacement z _1Flm, based on the z _1FRM, calculated road surface displacement z _0Rl, the z _0Rr, the front wheels of the road surface Compared to displacement
t = WH / V _ave
Is input to the second input matrix calculation unit 1211b with a time delay. Here, WH represents the length of the wheel base of the vehicle 900, and _Vave can use, for example, an average value of four wheels detected by the wheel speed sensor 320. Here, for V _ave , the estimated sprung front-rear velocity may be used, or that obtained by another means such as the use of a GPS sensor may be used.

(Second input matrix calculation unit)
The second input matrix calculation unit 1211b that performs calculation related to the input matrix B0 _r 'for the rear road surface displacement calculates the input matrix B0 _r ' for the output of the rear road surface displacement calculation unit 1290 and adds the calculated results. To the unit 1214.

The subtraction unit 1211d detects the vehicle detected by the front / rear G sensor 340 from the estimated value of the sprung longitudinal acceleration, the estimated value of the sprung lateral acceleration, and the estimated value of the yaw rate, which are outputs of the estimated state quantity reconstructing unit 1210a. sprung longitudinal acceleration (u _s in dotted), the lateral G spring upper lateral directional acceleration of the vehicle sensor 330 has detected (in dotted v _s), and a yaw rate sensor 350 subtracts the yaw rate r _s of the vehicle detected The result obtained in this way is supplied to the gain application unit 1211c.

(Gain application part)
The gain application unit 1211c inputs the result obtained by multiplying the output of the subtraction unit 1211d by the observer gain to the sixth input matrix calculation unit 1211e. The sixth input matrix calculation unit 1211e calculates the input matrix B6 ′ with respect to the output of the gain application unit 1211c, and inputs the calculated result to the addition unit 1214.

Due to the presence of the subtracting unit 1211d and the gain applying unit 1211c, the equations of motion related to F _x , F _y , and M _z among the equations of motion related to the sprung translation and rotational motion described in the first embodiment are related to the present embodiment. The vehicle state estimation unit 1200a is changed as follows.

Here, u with a dot indicates an estimated value of the vehicle sprung longitudinal acceleration, and dot _s is the vehicle sprung longitudinal acceleration detected by the front / rear G sensor 340 as described above. is there. Difference between the u of dotted, and u _s dated dots are calculated by the subtraction unit 1211d as described above. The same applies to v. Further, r represents an estimated value of the yaw rate, and r _s represents the yaw rate detected by the yaw rate sensor 350. The difference between r and r _s is calculated by the subtraction unit 1211d described above.

L ₁ , L ₂ and L ₃ represent observer gains multiplied by the gain application unit 1211c.

Note that. L ₁ , L ₂ , and L ₃ may be configured to use constant values, but may be configured to use values that change according to the speed of the vehicle body.

(Estimated state quantity reconstruction unit)
FIG. 9 is a block diagram illustrating a configuration example of the estimated state quantity reconstruction unit 1210a. As shown in FIG. 9, the estimated state quantity reconstruction unit 1210 a includes an addition unit 1221 and an estimated state quantity recalculation unit 1222. The state quantity before reconstruction is input to the estimated state quantity reconstruction unit 1210a. Of the state quantities before reconstruction, the sprung speed u in the front-rear direction of the vehicle body 200 is added to the initial speed u_ini by the adder 1221 and then input to the estimated state quantity recalculator 1222. Further, the following is input to the estimated state quantity recalculation unit 1222.

・ The lateral sprung speed of the vehicle body 200 v
・ Vertical sprung speed w of vehicle body 200
-Three components of Euler angles (phi, theta, psi)
Spring on the longitudinal acceleration of the vehicle detected by the longitudinal G sensor 340 (u _s in dotted)
・ Vehicle sprung lateral acceleration detected by lateral G sensor 330 (v _s with dot)
Then, the estimated state quantity recalculation unit 1222 is based on the following formula, and the recalculated longitudinal sprung speed u _new , the recalculated lateral sprung speed v _new , and the vehicle sprung longitudinal acceleration And the estimated value of the vehicle sprung lateral acceleration (v with dot).

  Here, the state quantity with the subscript “g” indicates the state quantity in the global coordinate system fixed on the ground, and the state quantity without the subscript “g” is The state quantity in the body coordinate system that moves the same as the spring top is shown. Further, w with dots, which is the acceleration on the spring in the vertical direction of the vehicle body 200, is calculated based on the estimated state quantity.

^G R _B shows a coordinate transformation matrix from the body coordinate system to the global coordinate system, and ^B R _G shows a coordinate transformation matrix from the global coordinate system to the body coordinate system. It is given by the following formula.

The front-rear direction sprung speed u _new and the lateral sprung speed v _new recalculated by the estimated state quantity recalculation unit 1222 are, as shown in FIG. Is output from the estimated state quantity reconstruction unit 1210a and input to the system matrix calculation unit 1216 and the subtraction unit 1211c. Further, u with dots and v with dots calculated by the estimated state quantity recalculation unit 1222 are input to the subtraction unit 1211d together with the state quantity r.

[Example of software implementation]
Control blocks (control amount calculation unit 1000, normative vehicle model calculation unit 1100, vehicle state estimation unit 1200, 1200a) of ECUs 600 and 600a are realized by logic circuits (hardware) formed in an integrated circuit (IC chip) or the like. Alternatively, it may be realized by software using a CPU (Central Processing Unit).

  In the latter case, the ECU 600, 600a includes a CPU that executes instructions of a program that is software that realizes each function, a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU), or A storage device (these are referred to as “recording media”), a RAM (Random Access Memory) that expands the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

100 Suspension device (suspension)
200 body 600, 600a ECU (control device, suspension control device, suspension control unit, steering control device)
1000 Control amount calculation unit 1012 Subtraction unit,
1014 Integration unit 1021 First amplification unit 1022 Second amplification unit 1023 Third amplification unit 1024 Addition unit 1100 Reference vehicle model calculation unit 1110 Main calculation unit (calculation unit)
1111 1st input matrix operation part 1112 2nd input matrix operation part 1113 3rd input matrix operation part 1114 Adder 1115 Integration part 1116 System matrix operation part 1117 Observation matrix operation part 1140 Tire model operation part 1200, 1200a Vehicle state Estimator (vehicle state estimation device)
1210 Main calculation unit (calculation unit, linear calculation unit)
1211 1st input matrix calculating part (1st calculating part)
1212 2nd input matrix calculating part (1st calculating part)
1213 3rd input matrix calculating part (1st calculating part)
1214 Adder 1215 Integrator 1216 System matrix calculator (second calculator)
1217 Observation matrix computing unit (third computing unit)
1240 Tire model calculation unit (nonlinear calculation unit)

Claims (19)

An in-vehicle vehicle state estimation device for estimating a vehicle state,
A contact load variation calculation unit for calculating a wheel contact load variation which is a variation of a wheel contact load in a vehicle;
A wheel effective radius calculation unit that calculates a wheel effective radius with reference to one or more input values;
A calculation unit for performing a calculation using a vehicle model;
With
The contact load variation calculation unit
With reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, the contact load fluctuation of the wheel is calculated,
The calculation unit refers to one or a plurality of input values including the wheel load variation calculated by the ground load variation calculation unit, and calculates one or a plurality of output values by performing a calculation on a state quantity related to the vehicle state. A vehicle state estimation device characterized by calculating. The contact load variation calculation unit
If one or both of the vehicle wheel angular velocity and wheel speed estimate are zero,
The vehicle state estimation device according to claim 1, wherein a wheel effective radius that is a steady value is calculated.   The vehicle state estimation device according to claim 1, wherein the ground load fluctuation calculation unit further calculates a ground load fluctuation of a wheel by further referring to an estimated value of a slip ratio. A reference wheel effective radius calculation unit that calculates a reference wheel effective radius with reference to the contact load variation calculated by the contact load variation calculation unit;
4. The vehicle state according to claim 3, wherein the ground load variation calculation unit further calculates a ground load variation of the wheel by further referring to the reference wheel effective radius calculated by the reference wheel effective radius calculation unit. Estimating device.   The vehicle state estimation device according to claim 4, further comprising estimating a reference wheel effective radius of each wheel.   The vehicle state estimation apparatus according to any one of claims 1 to 5, wherein the one or more input values include an operation input.   A road surface displacement calculating unit that calculates a road surface displacement of the wheel with reference to at least a contact load fluctuation of the wheel is further provided, wherein the one or the plurality of input values include a road surface displacement of the wheel. The vehicle state estimation device according to any one of claims 1 to 6.   The vehicle state estimation apparatus according to any one of claims 1 to 7, wherein the one or more input values include a force by a virtual spring and a damper related to a wheel. The one or more input values to the arithmetic unit include
Acceleration in the front-rear direction detected by the front-rear G sensor,
Lateral acceleration detected by the lateral G sensor, and
The vehicle state estimation device according to any one of claims 1 to 8, wherein the yaw rate detected by the yaw rate sensor is included.   Estimate the vehicle sprung speed in the longitudinal direction, the vehicle sprung speed in the lateral direction, the vehicle sprung vertical speed, the vehicle roll rate, the vehicle pitch rate, the vehicle yaw rate, and the wheel unsprung vertical speed. The vehicle state estimation device according to claim 1, wherein the vehicle state estimation device is a vehicle state estimation device.   Vehicle roll angle, vehicle pitch angle, vehicle yaw angle, suspension stroke displacement of each wheel, unsprung vertical displacement of each wheel, actual rudder angle, actual rudder angular velocity, slip ratio of each wheel, slip angle of each wheel, The tire longitudinal force of each wheel, the lateral force of each wheel, the ground load variation of each wheel, the effective tire radius of each wheel, and the road surface displacement at each wheel are estimated. The vehicle state estimation device described.   The vehicle state estimation device according to any one of claims 1 to 11, wherein the output value includes a sprung vertical velocity, a roll rate, and a pitch rate. The input value further includes an output value of a control amount calculation unit,
The output value is further
Vehicle sprung speed in longitudinal direction, vehicle sprung speed in lateral direction, vehicle yaw rate, vehicle roll angle, vehicle pitch angle, vehicle yaw angle, suspension stroke displacement of each wheel, unsprung vertical of each wheel The vehicle state estimation device according to claim 12, comprising at least one of displacement, unsprung vertical speed of each wheel, actual steering angle, and actual steering angular speed. The contact load variation calculation unit
Wheel angular velocity,
An estimate of the sprung longitudinal velocity,
Estimated pitch rate, and
The vehicle state estimation device according to any one of claims 1 to 13, wherein a ground contact load fluctuation of a wheel is calculated with reference to an estimated value of a yaw rate. A vehicle state estimating unit for estimating a vehicle state;
A reference vehicle model calculation unit for performing calculations related to the reference vehicle model;
A subtracting unit that subtracts a normative output that is an output value of the normative vehicle model computing unit from an estimated output that is an output value of the vehicle state estimating unit;
An integration unit for integrating the subtraction result by the subtraction unit;
A first amplifying unit for amplifying an estimated state quantity that is a calculation target of the vehicle state estimating unit;
A second amplification unit for amplifying the integration result by the integration unit;
A third amplifying unit for amplifying a state quantity that is a calculation target of the reference vehicle model calculating unit;
An addition unit for adding the amplification result by the first amplification unit, the amplification result by the second amplification unit, and the amplification result by the third amplification unit;
The vehicle state estimation unit
A contact load variation calculation unit for calculating a wheel contact load variation which is a variation of a wheel contact load in a vehicle;
A wheel effective radius calculation unit that calculates a wheel effective radius with reference to one or more input values;
A calculation unit for performing a calculation using a vehicle model;
With
The contact load variation calculation unit
With reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, the contact load fluctuation of the wheel is calculated,
The calculation unit refers to one or a plurality of input values including the wheel load variation calculated by the ground load variation calculation unit, and calculates one or a plurality of output values by performing a calculation on a state quantity related to the vehicle state. A control device characterized by calculating. A suspension control device for controlling the damping force of the suspension,
A vehicle state estimation unit for estimating the vehicle state;
The vehicle state estimation unit
A contact load variation calculation unit for calculating a wheel contact load variation which is a variation of a wheel contact load in a vehicle;
A wheel effective radius calculation unit that calculates a wheel effective radius with reference to one or more input values;
A calculation unit for performing a calculation using a vehicle model;
With
The contact load variation calculation unit
With reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, the contact load fluctuation of the wheel is calculated,
The calculation unit refers to one or a plurality of input values including the wheel load variation calculated by the ground load variation calculation unit, and calculates one or a plurality of output values by performing a calculation on a state quantity related to the vehicle state. A suspension control device characterized by calculating. A suspension device comprising a suspension and a suspension control unit for controlling a damping force of the suspension,
The suspension control unit includes a vehicle state estimation unit that estimates a vehicle state,
The vehicle state estimation unit
A contact load variation calculation unit for calculating a wheel contact load variation which is a variation of a wheel contact load in a vehicle;
A wheel effective radius calculation unit that calculates a wheel effective radius with reference to one or more input values;
A calculation unit for performing a calculation using a vehicle model;
With
The contact load variation calculation unit
With reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, the contact load fluctuation of the wheel is calculated,
The calculation unit refers to one or a plurality of input values including the wheel load variation calculated by the ground load variation calculation unit, and calculates one or a plurality of output values by performing a calculation on a state quantity related to the vehicle state. A suspension device characterized by calculating. A steering control device that controls an assist torque or a reaction torque applied to a steering member that is steered by a driver,
A contact load variation calculation unit for calculating a wheel contact load variation which is a variation of a wheel contact load in a vehicle;
A wheel effective radius calculation unit that calculates a wheel effective radius with reference to one or more input values;
A calculation unit for performing a calculation using a vehicle model;
With
The contact load variation calculation unit
With reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, the contact load fluctuation of the wheel is calculated,
The calculation unit refers to one or a plurality of input values including the wheel load variation calculated by the ground load variation calculation unit, and calculates one or a plurality of output values by performing a calculation on a state quantity related to the vehicle state. A steering control device characterized by calculating. A steering device comprising: a steering member that is steered by a driver; and a steering control unit that controls assist torque or reaction torque applied to the steering member,
The steering control unit
A contact load variation calculation unit for calculating a wheel contact load variation which is a variation of a wheel contact load in a vehicle;
A wheel effective radius calculation unit that calculates a wheel effective radius with reference to one or more input values;
A calculation unit for performing a calculation using a vehicle model;
With
The contact load variation calculation unit
With reference to a map having the wheel effective radius calculated by the wheel effective radius calculation unit as an input and a ground load as an output, the contact load fluctuation of the wheel is calculated,
The calculation unit refers to one or a plurality of input values including the wheel load variation calculated by the ground load variation calculation unit, and calculates one or a plurality of output values by performing a calculation on a state quantity related to the vehicle state. A steering device characterized by calculating.

Images