JP4728363B2 - 操舵制御装置 - Google Patents
操舵制御装置 Download PDFInfo
- Publication number
- JP4728363B2 JP4728363B2 JP2008086085A JP2008086085A JP4728363B2 JP 4728363 B2 JP4728363 B2 JP 4728363B2 JP 2008086085 A JP2008086085 A JP 2008086085A JP 2008086085 A JP2008086085 A JP 2008086085A JP 4728363 B2 JP4728363 B2 JP 4728363B2
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- JP
- Japan
- Prior art keywords
- steering
- rear wheel
- wheel side
- roll rate
- vehicle speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 230000007246 mechanism Effects 0.000 description 17
- 238000004088 simulation Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 239000000725 suspension Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0521—Roll rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
Description
<自動車の概略構成>
先ず、図1を参照して、実施形態に係るステアバイワイヤ方式の4輪操舵自動車(以下、単に自動車と記す)の概略構成について説明する。説明にあたり、4本の車輪やそれらに対して配置された部材、すなわち、タイヤやサスペンション等については、それぞれ数字の符号に前後左右を示す添字を付して、例えば、左前輪3fl、右前輪3fr、左後輪3rl、右後輪3rrと記すとともに、総称する場合には車輪3と記す。
操舵ECU7は、マイクロコンピュータやROM、RAM、周辺回路、入出力インタフェース、各種ドライバ等から構成されており、通信回線(本実施形態では、CAN(Controller Area Network))を介して各センサ12,15〜17、前輪転舵機構5および両後輪転舵機構6l,6r等と接続されている。図2に示すように、操舵ECU7は、入力インタフェース31と、前輪ベース値設定部32と、後輪操舵割合設定部33と、後輪ベース値設定部34と、車速ゲイン設定部35と、ロールレイト推定部36と、前輪目標舵角設定部37と、後輪目標舵角設定部38と、出力インタフェース39とを収容している。
図3に示すように、ロールレイト推定部36は、操舵角センサ12の検出結果に基づいて第1ロールレイト変化量Rra1’を算出する第1車両モデル41と、操舵角センサ12の検出結果に基づいて第1横加速度推定値Gya1を算出する第2車両モデル42と、後述するロールレイト推定値Rreに基づいて第2ロールレイト変化量Rra2’を算出する第3車両モデル43と、ロールレイト推定値Rreに基づいて第2横加速度推定値Gya2を算出する第4車両モデル44と、第1横加速度推定値Gya1から第2横加速度推定値Gya2を減じる第1減算器45と、横Gセンサ16の検出した横加速度Gyから第1減算器45の算出結果を減じる第2減算器46と、第2減算器46の算出結果に所定のオブザーバゲインを乗じることで第3ロールレイト変化量Rra3’を得るゲインブロック47と、第1〜第3ロールレイト変化量Rra1’〜Rra3’を合算する加算器48と、加算器48の算出結果を積分することによってロールレイト推定値Rreを算出する積分器49とを有している。
自動車Vの運転時において、操舵ECU7内では、図4のフローチャートにその手順を示す前後輪操舵制御を所定の処理インターバルで繰り返し実行される。前後輪操舵制御を開始すると、操舵ECU7は、図5のステップS1で、操舵角センサ12から入力した操舵角δに基づき、前輪側操舵ベース値Sfbsを設定する。次に、操舵ECU7は、ステップS2で、車速センサ15から出力された車速vに基づき、図5に示す車速−後輪操舵割合マップから後輪操舵割合Rrsを検索した後、ステップS3で、前輪側操舵ベース値Sfbsに後輪操舵割合Rrsを乗じることにより、後輪側操舵ベース値Srbsを設定する。
3 車輪
5 前輪転舵機構
6l 左後輪転舵機構
6r 右後輪転舵機構
7 操舵ECU
12 操舵角センサ
15 車速センサ
16 横Gセンサ
22 前輪操舵アクチュエータ
24l 左後輪操舵アクチュエータ
24r 右後輪操舵アクチュエータ
32 前輪ベース値設定部
33 後輪操舵割合設定部
34 後輪ベース値設定部
35 車速ゲイン設定部
36 ロールレイト推定部
37 前輪目標舵角設定部
38 後輪目標舵角設定部
V 自動車
Claims (1)
- 前輪と後輪とが電気的に操舵制御される車両に搭載され、前記操舵制御に供される操舵制御装置であって、
乗員の運転操作と車両の運動状態との少なくとも一方に基づき、操舵量を設定する操舵量設定手段と、
車体の横加速度とヨーレイトとのうち少なくとも一方に基づき、ロールレイトを推定するロールレイト取得手段と、
前記ロールレイトに基づき、前記操舵量を補正するための操舵補正量を設定する補正量設定手段とを備え、
前記補正量設定手段は、車速に基づいて前輪側車速ゲインと後輪側車速ゲインとを設定した後、前記ロールレイトに前輪側車速ゲインを乗じることによって前輪側操舵補正量を設定し、前記ロールレイトに後輪側車速ゲインを乗じることによって後輪側操舵補正量を設定することを特徴とする操舵制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008086085A JP4728363B2 (ja) | 2008-03-28 | 2008-03-28 | 操舵制御装置 |
EP09155132.5A EP2105370B1 (en) | 2008-03-28 | 2009-03-13 | Steering control device |
US12/411,807 US8180530B2 (en) | 2008-03-28 | 2009-03-26 | Steering control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008086085A JP4728363B2 (ja) | 2008-03-28 | 2008-03-28 | 操舵制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009234520A JP2009234520A (ja) | 2009-10-15 |
JP4728363B2 true JP4728363B2 (ja) | 2011-07-20 |
Family
ID=40673651
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008086085A Expired - Fee Related JP4728363B2 (ja) | 2008-03-28 | 2008-03-28 | 操舵制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8180530B2 (ja) |
EP (1) | EP2105370B1 (ja) |
JP (1) | JP4728363B2 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2888164B1 (fr) * | 2005-07-05 | 2007-08-31 | Renault Sas | Procede et systeme anti-roulis d'un vehicule et vehicule correspondant |
DE102013110490A1 (de) | 2013-09-23 | 2015-03-26 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren und Vorrichtung zur Regelung der Gier- und Querdynamik eines Fahrzeugs |
KR101480652B1 (ko) * | 2013-12-11 | 2015-01-09 | 현대자동차주식회사 | 차선 변경 제어 장치 및 그 변경 제어 방법 |
DE102017200144B4 (de) | 2016-01-22 | 2019-05-02 | Ford Global Technologies, Llc | Rückfallbetriebsmodus für ein Verfahren für das Betreiben eines Kraftfahrzeugs mit einem aktiven Querstabilisator und einer aktiven Lenkung |
KR102277285B1 (ko) * | 2017-06-30 | 2021-07-14 | 현대모비스 주식회사 | 후륜 조향 제어 장치 및 방법 |
US20190118858A1 (en) * | 2017-10-24 | 2019-04-25 | Schaeffler Technologies AG & Co. KG | Adaptive wheel base rear steering control |
US10661829B2 (en) * | 2018-06-08 | 2020-05-26 | GM Global Technology Operations LLC | Performance active and adaptive steering response and feel in real-time for steer-by-wire vehicle |
CN111301515A (zh) * | 2019-12-10 | 2020-06-19 | 东风越野车有限公司 | 后轮线控电液转向系统的控制方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05131945A (ja) * | 1991-11-13 | 1993-05-28 | Toyota Motor Corp | 四輪操舵車の後輪操舵制御装置 |
JP2000219146A (ja) * | 1999-02-01 | 2000-08-08 | Toyota Motor Corp | 車輌の走行制御装置 |
JP2002114140A (ja) * | 2000-10-05 | 2002-04-16 | Toyota Motor Corp | 車輌のロール挙動制御装置 |
US20030065430A1 (en) * | 2001-10-01 | 2003-04-03 | Jianbo Lu | Attitude sensing system for an automotive vehicle |
US20050222728A1 (en) * | 2004-04-01 | 2005-10-06 | Hac Aleksander B | Feedforward control of motor vehicle roll angle |
JP2006036123A (ja) * | 2004-07-29 | 2006-02-09 | Nissan Motor Co Ltd | ステアリング装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05131946A (ja) * | 1991-11-13 | 1993-05-28 | Toyota Motor Corp | 車両の後輪操舵制御装置 |
JP3353770B2 (ja) * | 1999-08-19 | 2002-12-03 | 三菱電機株式会社 | 電動式パワーステアリング制御装置 |
JP2004050978A (ja) | 2002-07-19 | 2004-02-19 | Honda Motor Co Ltd | タイヤの線形領域判定装置及びタイヤの線形領域判定プログラム、並びに車両の運転操作装置及びステアバイワイヤ車両の転舵制御方法 |
EP1692030A4 (en) * | 2003-12-02 | 2007-10-24 | Bishop Innovation Ltd | STEERING SYSTEM |
-
2008
- 2008-03-28 JP JP2008086085A patent/JP4728363B2/ja not_active Expired - Fee Related
-
2009
- 2009-03-13 EP EP09155132.5A patent/EP2105370B1/en not_active Expired - Fee Related
- 2009-03-26 US US12/411,807 patent/US8180530B2/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05131945A (ja) * | 1991-11-13 | 1993-05-28 | Toyota Motor Corp | 四輪操舵車の後輪操舵制御装置 |
JP2000219146A (ja) * | 1999-02-01 | 2000-08-08 | Toyota Motor Corp | 車輌の走行制御装置 |
JP2002114140A (ja) * | 2000-10-05 | 2002-04-16 | Toyota Motor Corp | 車輌のロール挙動制御装置 |
US20030065430A1 (en) * | 2001-10-01 | 2003-04-03 | Jianbo Lu | Attitude sensing system for an automotive vehicle |
US20050222728A1 (en) * | 2004-04-01 | 2005-10-06 | Hac Aleksander B | Feedforward control of motor vehicle roll angle |
JP2006036123A (ja) * | 2004-07-29 | 2006-02-09 | Nissan Motor Co Ltd | ステアリング装置 |
Also Published As
Publication number | Publication date |
---|---|
US20090248248A1 (en) | 2009-10-01 |
JP2009234520A (ja) | 2009-10-15 |
EP2105370B1 (en) | 2013-06-05 |
US8180530B2 (en) | 2012-05-15 |
EP2105370A1 (en) | 2009-09-30 |
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