JP4967408B2 - Vehicle motion design device and vehicle motion control device - Google Patents

Description

  The present invention relates to a vehicle motion design device and a vehicle motion control device for use in designing the motion performance of a vehicle.

  In the development work of new vehicles, in addition to the physical specifications and specifications of the vehicle's mechanism or system, the sensibility “flavoring” brought about by the motor performance of the vehicle is emphasized. This type of “seasoning” is appropriately adjusted through repeated tests by a test driver based on the concept of the vehicle after the prototype vehicle is manufactured. However, in such a method, it is necessary to repeat the cycle of design, trial manufacture, and evaluation, and there is a problem that costs or man-hours increase. In order to solve such problems, the time series of the jerk of the object is based on the assumption that the jerk of the object is deeply involved in the pleasant and unpleasant sensations that humans feel when moving with the object. Has been proposed to construct a neural network that outputs human sensory evaluation results in response to input, and to objectively evaluate the object's motion comfort or abnormal motion without relying on the evaluator. (For example, refer to Patent Document 1). The computer simulates the vehicle characteristics with multiple physical parameters and gives the evaluator stimulation based on the physical parameters from the simulator to let the evaluator experience the vehicle characteristics and evaluate the vehicle characteristics reproduced through the stimulation. When an evaluation result that satisfies the evaluator is obtained, the evaluator adjusts the physical parameters according to the sensitivity evaluation result, causes the evaluator to experience the adjusted vehicle characteristics again, and the evaluator satisfies the sensitivity evaluation result. A simulation device that outputs physical parameters as vehicle design data has also been proposed (see, for example, Patent Document 2). In addition, Patent Documents 3 and 4 exist as prior art documents related to the present invention.

Japanese Patent No. 3203535 JP 7-271289 A Japanese Patent No. 3454413 JP-A-6-206473

  However, when a neural network is used, the relationship between the input value and the output value is modeled nonlinearly, and the inside of the network becomes a black box, so the correlation between the output value and the input value cannot be grasped. Therefore, even if it is possible to output the sensitivity evaluation for the physical parameter to be evaluated (additional speed in the above conventional example), it is predicted how the physical parameter is manipulated to obtain the optimum evaluation result. It is impossible or difficult. Therefore, trial and error work such as preparing various physical parameters that can be considered, inputting them, and checking the output is required, and the design man-hours cannot be reduced.

  In a simulation apparatus that entrusts an evaluator to adjust physical parameters, it is necessary to prepare all physical parameters of the vehicle and reproduce them on the simulator in a highly realistic state. These operations require considerable costs and man-hours. The evaluation based on the evaluator's sensitivity is different from the physical parameter. For example, even if the physical parameters that determine the characteristics of the passenger compartment are the adjustment items such as the position of the front pillar and the area of the windshield, the sensitivity evaluation is directly linked to such physical values. Absent. The evaluator's sensitivity evaluation is a subjective and ambiguous evaluation that the overall balance is good and the atmosphere is good. Therefore, it is almost impossible for the evaluator to determine the optimum combination of physical parameters according to the sensitivity. Even if this can be achieved, trial and error will be required as a result, and design man-hours will not be reduced.

  In addition, even if athletic performance is designed according to the intended user group at the vehicle development stage, after the vehicle is provided to the market, the evaluation of the athletic performance is performed according to the individuality of the vehicle occupant (user). Expected to be different. Therefore, it is advantageous if the vehicle performance can be adjusted to reflect the user's intention. However, it is customary for general users of vehicles not to know the physical parameters that determine the vehicle performance, and an environment in which the vehicle performance can be easily adjusted for such general users. It is also necessary to provide.

  Therefore, the present invention provides a vehicle motion design device that can clarify the relationship between a physical parameter related to the vehicle performance and the occupant's sensitivity evaluation for the performance, and the vehicle occupant can easily adjust the vehicle performance. An object of the present invention is to provide a possible vehicle motion control device.

The vehicle motion design device of the present invention has a sensitivity that stores an emotional psychological model that quantitatively expresses the relationship between a plurality of physical parameters related to vehicle motion performance and a plurality of psychological parameters that indicate an occupant's sensitivity evaluation related to the motion performance. A psychological model database, an input unit for inputting the value of any one of the physical parameters or the psychological parameters, and the emotional psychological model database, the parameters input to the input unit A vehicle motion sensitivity psychological model calculation unit that calculates the value of the other parameter corresponding to the value as an evaluation value, and an output unit that outputs the evaluation value calculated by the vehicle motion sensitivity psychological model calculation unit , As an input unit, a vehicle motion value input unit for inputting the value of the physical parameter is provided, and as the output unit, the psychological value is input. A sensitivity evaluation value output unit that outputs a parameter value as the evaluation value is provided, and the vehicle motion sensitivity psychological model calculation unit is configured to output the psychological parameter corresponding to the physical parameter value input to the vehicle motion value input unit. The above-described problem is solved by calculating the value as an evaluation value (claim 1).

  In the vehicle motion design device of the present invention, when one of the values of the physical parameter or the psychological parameter is input from the input unit, the value of the input parameter corresponds to the quantitative relationship expressed in the emotional psychological model. The value of the other parameter is calculated as an evaluation value, and the calculated evaluation value is output from the output unit. In this case, it is possible to clearly grasp the correspondence between the input value of the parameter and the evaluation value of the output parameter, using the quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model as a clue. Therefore, when a physical parameter value is given to the input unit, the relationship between the input physical parameter value and the effect that the input value has on the psychological parameter, in other words, the effect on the occupant's sensitivity evaluation, is clearly understood. can do. On the other hand, when the value of the psychological parameter is given to the input unit, it is possible to clearly grasp the correspondence between the occupant's sensibility evaluation and the physical parameters necessary for realizing the sensibility evaluation. As described above, since the relationship between the physical parameter relating to the vehicle performance and the occupant's sensitivity evaluation can be clarified, in the design work of the vehicle performance, the change in either the physical parameter or the psychological parameter is psychological. It is possible to proceed with a procedure such as optimizing an evaluation value while predicting an influence on a parameter or a physical parameter, or acquiring an input value for obtaining an optimal evaluation value. This eliminates the need for trial and error parameter input work, and enables efficient design of vehicle motion performance.

Vehicle motion design apparatus of the present invention, it is possible to output the value of the psychological parameter as an evaluation value of the physical parameter as input. The input of physical parameters and the input of psychological parameters may be selectable, and the vehicle motion sensitivity psychological model calculation unit may be capable of bi-directional calculation between both parameters.

In one form of the vehicle motion design device of the present invention, the emotional psychological model includes the physical parameters and the psychological parameters arranged in a network as nodes, and related nodes are connected by links, by weighting factor according to the strength of the association degree between the nodes are given, the relationship between the psychological parameters and the physical parameter may have a format that is quantitatively expressed (claim 2) . According to this embodiment, and from the node corresponding to the physical parameter to the node corresponding to the psychological parameters by following the links with reference to the weighting factor, and the input value of the physical parameter, psychological parameter corresponding to the input value it is possible to understand the relationship between the commentary value.

In the above embodiment, the vehicle motion sensibility psychological model calculation unit applies the value of the parameter input to the input unit to the node corresponding to the input parameter in the sensibility psychology model as an activation amount of the node. Based on the activation amount of the node that is the link source for each node and the weighting factor of the link while following the link from the node corresponding to the one parameter to the node corresponding to the other parameter repeating the calculation of the activation amount of each node Te, computed activation amount with respect to the node corresponding to the other parameters may also be delivered to the output unit as the evaluation value (claim 3). By repeating the operation described above, the evaluation value of the psychological parameters corresponding to the input values of the physical parameters, can be calculated according to quantitative relationship between the two parameters are expressed in sensitive psychological model.

In the form of calculating the activation amount of the node, the output unit includes the evaluation value calculated by the vehicle motion sensitivity psychological model calculation unit and the sensitivity referred to by the vehicle motion sensitivity psychological model calculation unit. The arrangement of the nodes in the psychological model, the links connecting the nodes, the weighting factor assigned to each link, and the activation amount of each node may be visualized and output (claim 4 ). By visualizing and outputting the structure of the emotional psychological model and the amount of activation of each node, the user of the vehicle motion design device is presented with an evaluation value calculation process for the input value of the parameter, and the input value and evaluation are presented to the user. The correspondence with values can be easily understood.

In one form of the vehicle motion design device of the present invention, the emotional psychological model database includes a plurality of emotional psychological models constructed according to the vehicle class of the vehicle to be evaluated and the user group intended as a purchase layer of the vehicle. Is stored, and a model designating unit for designating the vehicle case and user class is further provided to the vehicle motion sensitivity psychological model computation unit, and the vehicle motion sensitivity psychological model computation unit is designated by the model designating unit. It may be calculated the evaluation value based on Kansei psychology model corresponding to the vehicle class and the user layer (claim 5). According to this aspect, it is possible to select the emotional psychological model according to the vehicle case and the user layer of the vehicle to be evaluated, and to evaluate the exercise performance according to the vehicle case and the user layer.

The vehicle motion control apparatus according to the present invention has a sensitivity that stores a sensitivity psychological model that quantitatively expresses a relationship between a plurality of physical parameters related to the motion performance of the vehicle and a plurality of psychological parameters indicating an occupant's sensitivity evaluation regarding the motion performance. A psychological model database, a sensitivity evaluation value input unit for inputting the value of the psychological parameter as a target sensitivity evaluation value, and the psychological parameter input to the input unit with reference to the sensitivity psychological model database A vehicle motion sensitivity psychological model calculation unit that calculates the value of the physical parameter corresponding to the value; a vehicle motion value output unit that outputs the value of the physical parameter calculated by the vehicle motion sensitivity psychological model calculation unit; A motion control execution unit for controlling a control target device related to the motion performance of the vehicle, and the physical parameter output from the vehicle motion value output unit. Vehicle motion value that changes the control content of the device to be controlled by the motion control execution unit based on the value of the physical parameter output from the vehicle motion value output unit so that motion performance according to the value of A control unit, a vehicle motion value measurement unit that measures the value of the physical parameter in the vehicle, and a vehicle that inputs a measurement value obtained by the vehicle motion value measurement unit to the vehicle motion sensitivity psychological model calculation unit as the value of the physical parameter A movement value input unit, wherein the vehicle movement sensibility psychological model calculation unit refers to the sensibility psychology model database, and the psychological parameter corresponding to the value of the physical parameter input from the vehicle movement value input unit Value of the psychological parameter calculated by the vehicle motion sensibility psychological model calculation unit can be calculated based on the sensitivity evaluation based on the measurement value. Sensitivity evaluation value output unit for visualizing and outputting as a value, Kansei evaluation value difference input unit for inputting a sensitivity evaluation value felt by the occupant with respect to the sensitivity evaluation value based on the measurement value, and Kansei evaluation value difference Based on the psychological parameter value input as the sensitivity evaluation value to the input unit and the physical parameter value input as the measurement value to the vehicle motion value input unit, the sensitivity evaluation value based on the measurement value and the A model correction calculation unit that corrects a quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model so that a difference between the emotional evaluation value felt by the occupant is reduced. Thus, the above-described problem is solved (claim 6 ).

  According to the vehicle motion control device of the present invention, the sensitivity evaluation value target is set, and this is input as a psychological parameter value from the sensitivity evaluation value input unit to the vehicle motion sensitivity psychological model calculation unit. A physical parameter value corresponding to the psychological parameter value is calculated according to the emotional psychological model, and the calculated physical parameter value is output from the vehicle motion value output unit. The vehicle motion value control unit changes the control content of the motion control execution unit so that the motion performance according to the value of the physical parameter given from the vehicle motion value output unit is obtained. In this way, instead of the value of the physical parameter itself, the sensitivity evaluation value, that is, the value of the psychological parameter is input, and the value of the psychological parameter is converted into the value of the physical parameter and used to control the exercise performance. Even a general user of a vehicle who does not have knowledge about physical parameters can adjust the vehicle performance according to his / her sensitivity. Moreover, since the relationship between physical parameters and psychological parameters is quantitatively expressed in the emotional psychological model, the correspondence between the two parameters is clear, and prediction of changes in motor performance when the psychological parameter values are changed The nature will also increase. For this reason, it is possible to relatively easily grasp how the input value of the psychological parameter is changed to obtain the intended exercise performance. Accordingly, it is possible to avoid complicated and complicated exercise performance adjustment work and provide a simple and clear adjustment environment for the exercise performance to the occupant.

According to the vehicle motion control device of the present invention, the value of the physical parameter measured in the vehicle is input from the vehicle motion value measurement unit to the vehicle motion sensitivity psychological model calculation unit via the vehicle motion value input unit, and is input. The value of the physical parameter is converted into the value of the psychological parameter according to the emotional psychological model, and the converted value of the psychological parameter is visualized and output as a sensitivity evaluation value based on the measured value of the motor performance. . When an occupant in contact with the output Kansei evaluation value inputs the Kansei evaluation value that he / she feels into the Kansei evaluation value difference input section, the psychological parameter value corresponding to the Kansei evaluation value and the vehicle movement value input section are measured. Based on the value of the physical parameter input as the value, the model correction calculation unit corrects the quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model. The correction is executed so that the difference between the sensitivity evaluation value based on the measured value and the sensitivity evaluation value felt by the passenger is reduced. As a result, the emotional psychological model is modified to be suitable for the passenger's sensitivity. That is, the quantitative relationship between the physical parameter and the psychological parameter expressed in the emotional psychological model can be changed to a relationship that matches the passenger's sensitivity. Thereby, it becomes possible to reflect a passenger | crew's sensibility more accurately with respect to exercise performance.

In one form of the vehicle motion control device of the present invention, the emotional psychological model is configured such that the physical parameters and the psychological parameters are arranged in a network form as nodes, and related nodes are connected by links, It may have a form in which the relationship between the physical parameter and the psychological parameter is quantitatively expressed by attaching a weighting coefficient according to the strength of the degree of association between the nodes (Claim 7). . The vehicle motion sensibility psychological model calculation unit applies the psychological parameter value input to the sensibility evaluation value input unit to a node corresponding to the psychological parameter in the sensibility psychology model as an activation amount of the node. , Following the link from the node corresponding to the psychological parameter toward the node corresponding to the physical parameter, each node based on the activation amount of the node that is the link source for each node and the weighting factor of the link The calculation of the activation amount of the node may be repeated, and the activation amount calculated for the node corresponding to the physical parameter may be delivered to the vehicle motion value output unit as the value of the physical parameter. According to these embodiments, the emotional psychology model according to one embodiment of the vehicle motion design device described above can be applied to an actual vehicle, and an adjustment environment for motion performance based on the passenger's sensitivity can be constructed.

The vehicle motion control device according to the present invention provides a relationship between a plurality of physical parameters relating to the motion performance of the vehicle and a plurality of psychological parameters indicating an occupant's sensibility evaluation relating to the motion performance. The related nodes are connected by links, and a weighting coefficient corresponding to the strength of the degree of association between the nodes is attached to the links, so that a quantitatively expressed form is obtained. The sensitivity psychological model database storing the psychological psychological model having, the sensitivity evaluation value input unit for inputting the value of the psychological parameter as a target sensitivity evaluation value, and the input to the sensitivity psychological model database, the input Vehicle motion sensibility psychological model calculation for calculating the physical parameter value corresponding to the psychological parameter value input to the unit A vehicle motion value output unit that outputs the value of the physical parameter calculated by the vehicle motion sensitivity psychological model calculation unit, a motion control execution unit that controls a control target device related to the motion performance of the vehicle, The motion control execution unit performs the motion control based on the physical parameter value output from the vehicle motion value output unit so as to obtain motion performance in accordance with the physical parameter value output from the vehicle motion value output unit. A vehicle motion value control unit that changes the control content of the control target device, a vehicle motion value measurement unit that measures the value of the physical parameter in the vehicle, and a measured value obtained by the vehicle motion value measurement unit as the vehicle motion sensitivity psychological model A vehicle movement value input unit that inputs the value of the physical parameter to the calculation unit, and the vehicle movement sensitivity psychological model calculation unit includes the sensitivity psychological model data. The psychological parameter value corresponding to the physical parameter value input from the vehicle motion value input unit can be calculated, and the vehicle motion sensitivity psychological model calculation unit calculates the psychological parameter value. A sensitivity evaluation value output unit that visualizes and outputs a psychological parameter value as a sensitivity evaluation value based on the measurement value, and a sensitivity for inputting a sensitivity evaluation value that the occupant feels for the sensitivity evaluation value based on the measurement value Based on an evaluation value difference input unit, a psychological parameter value input as the sensitivity evaluation value to the sensitivity evaluation value difference input unit, and a physical parameter value input as the measurement value to the vehicle motion value input unit Thus, the physical parameter and the psychological parameter in the emotional psychological model are reduced so that the difference between the emotional evaluation value based on the measured value and the sensitivity evaluation value felt by the occupant is reduced. A model correction calculation unit that corrects a quantitative relationship with the meter, and the vehicle motion sensibility psychological model calculation unit uses the value of the physical parameter input to the vehicle motion value input unit as the sensitivity. Applying the activation amount of the node to the node corresponding to the physical parameter in the psychological model, and tracing the link from the node corresponding to the physical parameter toward the node corresponding to the psychological parameter, for each node Then, the calculation of the activation amount of each node is repeated based on the activation amount of the link source node and the link weight coefficient, and the activation amount calculated for the node corresponding to the psychological parameter The above-described problem is solved by transferring the value to the sensitivity evaluation value output unit as a value (claim 9). According to this vehicle motion control device, for the same reason as the vehicle motion control device described above, the emotional psychological model is modified to be more suitable for the occupant's sensibility, so that the occupant's sensibility is more accurately controlled by controlling the motion performance. It is possible to reflect on. In addition, an emotional psychological model suitable for the vehicle motion design device described above and an emotional psychological model calculation unit that calculates a psychological parameter using the emotional psychological model are also applied to an actual vehicle, and exercise based on the passenger's sensitivity A performance adjustment environment can be constructed.

Moreover, in one form of this vehicle motion control apparatus, the said vehicle motion sensitivity psychological model calculating part makes the value of the psychological parameter input into the said sensitivity evaluation value input part into the node corresponding to the said psychological parameter in the said sensitivity psychological model. The activation amount of the node is applied, and the activation amount of the node that is the link source for each node while tracing the link from the node corresponding to the psychological parameter toward the node corresponding to the physical parameter, The calculation of the activation amount of each node is repeated based on the weighting coefficient of the link, and the activation amount calculated for the node corresponding to the physical parameter is delivered to the vehicle motion value output unit as the value of the physical parameter. (Claim 10). Further, the sensitivity evaluation value input unit includes a sensitivity evaluation value based on the measurement value output from the sensitivity evaluation value output unit, and a sensitivity evaluation value felt by the occupant input from the sensitivity evaluation value difference input unit. Based on the difference, the target sensitivity evaluation value may be corrected and input to the vehicle motion sensitivity psychological model calculation unit (claim 11).

The vehicle motion control apparatus according to the present invention has a sensitivity that stores a sensitivity psychological model that quantitatively expresses a relationship between a plurality of physical parameters related to the motion performance of the vehicle and a plurality of psychological parameters indicating an occupant's sensitivity evaluation regarding the motion performance A psychological model database, a sensitivity evaluation value input unit for inputting the value of the psychological parameter as a target sensitivity evaluation value, and the psychological parameter input to the input unit with reference to the sensitivity psychological model database A vehicle motion sensitivity psychological model calculation unit that calculates the value of the physical parameter corresponding to the value; a vehicle motion value output unit that outputs the value of the physical parameter calculated by the vehicle motion sensitivity psychological model calculation unit; A motion control execution unit for controlling a control target device related to the motion performance of the vehicle, and the physical parameter output from the vehicle motion value output unit. Vehicle motion value that changes the control content of the device to be controlled by the motion control execution unit based on the value of the physical parameter output from the vehicle motion value output unit so that motion performance according to the value of A control unit, a vehicle motion value measurement unit that measures the value of the physical parameter in the vehicle, and a vehicle that inputs a measurement value obtained by the vehicle motion value measurement unit to the vehicle motion sensitivity psychological model calculation unit as the value of the physical parameter A movement value input unit, wherein the vehicle movement sensibility psychological model calculation unit refers to the sensibility psychology model database, and the psychological parameter corresponding to the value of the physical parameter input from the vehicle movement value input unit Value of the psychological parameter calculated by the vehicle motion sensibility psychological model calculation unit can be calculated based on the sensitivity evaluation based on the measurement value. Sensitivity evaluation value output unit for visualizing and outputting as a value, Kansei evaluation value difference input unit for inputting a sensitivity evaluation value felt by the occupant with respect to the sensitivity evaluation value based on the measurement value, and Kansei evaluation value difference Based on the psychological parameter value input as the sensitivity evaluation value to the input unit and the physical parameter value input as the measurement value to the vehicle motion value input unit, the sensitivity evaluation value based on the measurement value and the A model correction operation unit that corrects a quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model so that a difference between the sensitivity evaluation values felt by the occupant is further reduced, The sensitivity evaluation value input unit includes a sensitivity evaluation value based on the measurement value output from the sensitivity evaluation value output unit, and a feeling felt by the occupant input from the sensitivity evaluation value difference input unit. The above-described problem is solved by correcting the target sensitivity evaluation value based on the difference from the sex evaluation value and inputting it to the vehicle motion sensitivity psychological model calculation unit (claim 12).

According to the vehicle motion control device of the present invention, when the target sensitivity evaluation value is corrected based on the difference between the sensitivity evaluation value based on the measured value and the sensitivity evaluation value felt by the occupant, the corrected sensitivity evaluation is performed. The value of the physical parameter is calculated according to the value, and the control content by the motion control execution unit is adjusted so that the motion performance according to the calculated physical parameter value is obtained. For this reason, the difference between the above-mentioned difference regarding the sensitivity evaluation value, that is, the sensitivity evaluation value based on the measured value and the sensitivity evaluation value based on the occupant's actual feeling is also reflected in the adjustment of the control content of the movement performance, thereby It becomes possible to realize the exercise performance that matches the actual feeling.

  As described above, according to the vehicle motion design device of the present invention, using the quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model as a clue, In the design work of vehicle motion performance, the evaluation value is optimized while predicting the effect of the change in the value of either the physical parameter or the psychological parameter on the psychological parameter or the physical parameter, or It is possible to proceed with a procedure such as obtaining an input value for obtaining an optimum evaluation value. This eliminates the need for trial and error parameter input work, and enables efficient design of vehicle motion performance. Further, according to the vehicle motion control apparatus of the present invention, instead of the value of the physical parameter itself, a sensitivity evaluation value, that is, a psychological parameter value is input, and the psychological parameter value is converted into a physical parameter value. Since it is used for controlling the motion performance, even a general user of a vehicle who does not have knowledge about the physical parameters can adjust the motion performance of the vehicle according to his / her sensitivity. Moreover, since the relationship between physical parameters and psychological parameters is quantitatively expressed in the emotional psychological model, the correspondence between the two parameters is clear, and prediction of changes in motor performance when the psychological parameter values are changed The nature will also increase. For this reason, it is possible to relatively easily grasp how the input value of the psychological parameter is changed to obtain the intended exercise performance. Accordingly, it is possible to avoid complicated and complicated exercise performance adjustment work and provide a simple and clear adjustment environment for the exercise performance to the occupant.

[First embodiment]
FIG. 1 shows an embodiment of a vehicle motion design apparatus according to the present invention. The vehicle motion design device 1 of this embodiment quantitatively links a physical parameter group related to vehicle motion performance and a psychological parameter group indicating an occupant's sensitivity evaluation for the motion performance, and the effect of one parameter on the other parameter. Is a device that evaluates and presents it to the user of the device. In order to realize such a function, the vehicle motion design device 1 of the present embodiment includes a sensitivity psychology model database 2, a vehicle motion sensitivity psychology model calculation unit (hereinafter abbreviated as a model calculation unit) 3, a vehicle motion value. An input / output unit 4, a sensitivity evaluation value input / output unit 5, and a vehicle case / user layer designation unit 6 are provided. These configurations are realized by using a single computer or a group of computers connected by a network.

  The Kansei Psychological Model Database 2 is a database that stores a Kansei psychological model that quantitatively expresses the relationship between a plurality of physical parameters related to the vehicle's motor performance and a plurality of psychological parameters indicating the occupant's sensitivity evaluation regarding the vehicle's motor performance. It is. Physical parameters include vehicle longitudinal and lateral accelerations, jerk obtained by differentiating these accelerations with time, vehicle roll, pitch, yaw angular velocity, or their angular acceleration, The sound pressure (or timbre) of the engine mounted on the vehicle, the sound pressure (or timbre) during travel, the pressure (or load) applied to the seat back of the seat, the change in the pressure, the head of the occupant (driver as an example) There are part pitch angles and the like. As is clear from these examples, the physical parameters in the present invention are not limited to physical quantities that determine the movement of the vehicle itself, but include various physical quantities that can be regarded as a kind of movement performance by the occupant. On the other hand, as psychological parameters, there are acceleration feeling, acceleration feeling, comfort feeling, refreshing feeling, light feeling, luxury feeling, weight feeling, stability feeling, high quality, security feeling, and the like. These psychological parameters correspond to various terms used as an index when the occupant expresses the motor performance of the vehicle by its sensitivity.

  FIG. 2 shows an example of the emotional psychological model. In the Kansei psychological model, a plurality of physical parameters and a plurality of psychological parameters are arranged in a network as nodes, and related nodes are connected by links. By attaching a weighting coefficient, the relationship between physical parameters and psychological parameters is expressed quantitatively. In FIG. 2, the node corresponding to the physical parameter described above is arranged at the left end, and the parameter node closest to the psychological quantity is arranged at the right end. Between these parameter nodes, the closer to the physical quantity, the more parameter nodes are arranged on the left side. The weight between links is indicated by the thickness of the line, and the thicker the weight, the greater the weight. For example, the front / rear jerk as a physical parameter has a torque characteristic, a seat shape and a link, and the weight of the link connecting the front / rear jerk and the torque characteristic is larger than that of the link connecting the front / rear jerk and the seat shape. By constructing such an emotional psychological model, it is possible to visualize the relationship between the input and the output and clearly present the relationship between the input value and the output value to the user of the vehicle motion design device 1. Note that the psychological parameters in the present invention are not limited to the parameters arranged at the right end of FIG. 2, and parameters arranged as intermediate parameter nodes can be included in the psychological parameters as long as psychological elements are included. For example, parameter nodes such as “do not fade” and “accelerate” in FIG. 2 are a kind of psychological parameters.

  The emotional psychology model illustrated in FIG. 2 is created individually for each vehicle case and user class and stored in the emotional psychology model database 2. The vehicle grades are classified based on appropriate indicators such as, for example, a class such as a compact class, a middle class, an upper class, and a sports class, a displacement amount, and a vehicle development concept. The user population is determined according to age group and sex such as young men, young women, middle-aged men, middle-aged women, elderly men, and elderly women, occupations, countries or regions, income, etc. Classified based on indicators.

  Next, the construction procedure of the emotional psychology model will be described. As described above, since the emotional psychological model is constructed for each vehicle case and user group, the following procedure is performed for each vehicle case and user layer. First, we conduct an interview survey using the so-called evaluation grid method to produce a network structure (called an evaluation structure diagram) that is the original form of the emotional psychological model. The evaluation structure diagram has a structure in which “evaluation word” that is a word used for evaluation is a node and each evaluation word node is connected by a link. Evaluation words arranged as nodes are appropriately extracted from the words obtained in the interview survey. References introducing the evaluation grid method include, for example, “Extraction of Living Environment Evaluation Structure by Repertoire Grid Development Method” (Junichiro Sakurai, Japanese Architectural Department Planning Papers, No. 367, 15-21) Page, published in 1986).

  Next, a questionnaire survey by the rating scale method is performed using the evaluation words arranged in the evaluation structure diagram. Based on the results of the questionnaire survey and the evaluation structure diagram, the structure of the structure is evaluated using the method of structural equation modeling (for example, “Introduction to Covariance Structure Analysis” (published by Hideki Toyoda, Asakura Shoten, 1998)). A weight coefficient of a link connecting each node arranged in the figure is obtained. Alternatively, a conditional probability may be obtained as a weighting factor using a Bayesian network method. The affective psychological model is constructed by converting the nodes, inter-node links and link weight coefficients (conditional probabilities) obtained in the above manner into data in a predetermined format. As is clear from the above procedure, the emotional psychological model is created individually through interview surveys and questionnaire surveys for each vehicle case and user group, so the node placement, node evaluation word, and weighting factor are Or different for each user group. On the other hand, if the vehicle case and the user group are common, the same emotional psychological model can be used. That is, it is not necessary to prepare a sensitivity psychological model separately for each vehicle to be evaluated.

  Returning to FIG. 1, the model calculation unit 3 refers to the emotional psychological model based on the physical parameter value input from the vehicle motion value input / output unit 4, and the psychological parameter value corresponding to the physical parameter input value. And the calculated psychological parameter value is output to the sensibility evaluation value input / output unit 5 as the occupant's sensibility evaluation value relating to exercise performance. The model calculation unit 3 calculates the value of the physical parameter corresponding to the input value of the psychological parameter while referring to the emotional psychological model based on the value of the psychological parameter input from the sensitivity evaluation value input / output unit 5. The calculated physical parameter value is output to the vehicle motion value input / output unit 4 as a physical evaluation value related to motion performance. The calculation procedure will be described later.

  The vehicle motion value input / output unit 4 receives an input interface for inputting the above-described physical parameter value to the model calculation unit 3 and a physical parameter value output as an evaluation value from the model calculation unit 3 and outputs it to the user Output interface. The sensitivity evaluation value input / output unit 5 receives an input interface for inputting a psychological parameter value to the model calculation unit 3 and a psychological parameter value output as a sensitivity evaluation value from the model calculation unit 3 and outputs it to the user. An output interface is provided. In each of the input / output units 4 and 5, the input of the parameter value can be realized by a combination of display of an input screen on a monitor and an appropriate hardware input device such as a keyboard and a mouse. The output of the parameter value to the user of the apparatus 1 is realized by displaying the calculation result on a monitor (not shown) as an example.

  The vehicle case / user group specifying unit 6 includes an input interface for inputting information specifying the vehicle case and user layer of the vehicle to be evaluated. The user layer is a user layer intended as a purchase layer of the vehicle when developing the evaluation target vehicle. The model calculation unit 3 selects the emotional psychological model corresponding to the vehicle case and user class specified by the vehicle case / user layer specifying unit 6 from the emotional psychological model database 2 and executes a predetermined calculation.

  In FIG. 1, the vehicle motion value input / output unit 4, the sensitivity evaluation value input / output unit 5, and the vehicle case / user layer specifying unit 6 are shown as independent logical devices, but their interface functions are independent of each other. It may be provided and may be integrated. In the vehicle motion design device 1 of this embodiment, these interface functions are integrated into the interface screen 10 shown in FIG. The interface screen 10 includes a vehicle motion value input / output area 11, a sensitivity evaluation value input / output area 12, a calculation instruction area 13, and a model display area 14.

  The vehicle motion value input / output area 11 is a portion corresponding to the interface of the vehicle motion value input / output unit 4. In the area 11, an evaluation target item selection unit 110 and a parameter input / display unit 111 are provided. In the evaluation target item selection unit 110, candidates for evaluation target items related to exercise performance are displayed in a so-called pull-down menu format in response to the click operation of the rightmost button 110a. In the example of FIG. 3, the character “acceleration (after 2 seconds after start)” indicating that the physical parameter 2 seconds after the start of acceleration is selected as the evaluation target item is displayed on the evaluation target item selection unit 110. Yes.

  The parameter input / display unit 111 includes an evaluation word that expresses a plurality of predetermined physical parameters for the evaluation item selected by the evaluation target item selection unit 110, and an input value or a calculated value of each physical parameter. Are provided in a list format. In the example of FIG. 3, since the performance related to acceleration is selected as the evaluation target item in the evaluation target item selection unit 110, the parameter input / display unit 111 displays “ “Front / rear acceleration”, “front / rear jerk”, “front / rear pitch”, “seat back pressure”, “head pitch”, “travel sound pressure” are displayed. The input / display frame 111a functions as a field in which any numerical value (within the upper limit and the lower limit when the upper limit and the lower limit are set) can be input by the user clicking and selecting. Numerical values can be input with an input device such as a keyboard. However, since FIG. 3 shows the interface screen 10 in an initial state in which parameters are not yet input or output, the initial value “0.00” is displayed in the input / display frame 111a.

  The sensitivity evaluation value input / output area 12 is a portion corresponding to the interface of the sensitivity evaluation value input / output unit 5. In the area 12, an evaluation target item selection unit 120 and a parameter input / display unit 121 are provided. In the evaluation target item selection unit 120, in response to the click operation of the button 120a on the right end, evaluation word candidates to be subjected to sensitivity evaluation are displayed in a so-called pull-down menu format. In the example of FIG. 3, the phrase “acceleration feeling (elongation feeling)” meaning that the feeling of acceleration growth has been selected as the object of sensitivity evaluation is displayed on the evaluation object item selection unit 120. The feeling of growth corresponds to an evaluation word arranged at the rightmost psychological parameter node in the emotional psychological model shown in FIG.

  The parameter input / display unit 121 in FIG. 3 includes an evaluation word representing each of a plurality of psychological parameters predetermined for the evaluation item selected by the evaluation target item selection unit 120, and an input value of each psychological parameter. Alternatively, an input / display frame 121a indicating a calculated value is provided in a list format. In the example of FIG. 3, since the feeling of acceleration growth is selected as the evaluation target item by the evaluation target item selection unit 120, the parameter input / display unit 121 displays “ The words “accelerated”, “ascending as expected”, “does not fade”, “get out quickly”, “pressed”, “feels high” are displayed. The input / display frame 121a functions as a field in which an arbitrary numerical value (within the upper limit and lower limit when an upper limit and a lower limit are set) can be input by the user clicking and selecting. Numerical values can be input with an input device such as a keyboard. However, since FIG. 3 shows the interface screen 10 in an initial state in which parameters are not yet input or output, the initial value “0.00” is displayed in the input / display frame 121a.

  In the calculation instruction area 13, a sensitivity evaluation value conversion button 130, a vehicle movement value conversion button 131, a vehicle case selection unit 132, a user layer selection unit 133, and a model display button 134 are provided. The sensitivity evaluation value conversion button 130 is a clickable input button for instructing the model calculation unit 3 to calculate the evaluation value of the psychological parameter corresponding to the physical parameter input to the vehicle motion value input / output area 11. The vehicle motion value conversion button 131 is a clickable input button for instructing the model calculation unit 3 to calculate a physical parameter corresponding to the psychological parameter input to the sensitivity evaluation value input / output area 12. In the vehicle selection section 132, vehicle selection candidates are displayed in a so-called pull-down menu format in response to the click operation of the rightmost button 132a. In the user layer selection unit 133, user layer selection candidates are displayed in a so-called pull-down menu format in response to the click operation of the button 133a at the right end. These selection units 132 and 133 correspond to the interface of the vehicle case / user group designation unit 6 of FIG. Furthermore, the model display button 134 is used for displaying the car model selected by the car model selecting unit 132 and the emotional psychological model corresponding to the user group selected by the user group selecting unit 133 in the model display area 14. This is an input button that can be clicked.

  In the model display area 14, in response to the click operation of the model display button 134, the emotional psychological model corresponding to the selected vehicle case and user class is visualized and displayed. The emotional psychological model is displayed in such a manner that the arrangement of parameter nodes, the evaluation words corresponding to each node, the links connecting the nodes, and the weights attached to the links can be grasped visually. As an example, the thickness of the link is set so as to increase as the weight (weight coefficient) increases. Further, an activation amount display unit 140 is provided in each parameter node. The activation amount display unit 140 displays activation amounts of all nodes included in the emotional psychological model used by the model calculation unit 3 in the calculation. The node activation amount will be described later.

  Next, the operation of the vehicle motion design device 1 will be described. First, a case where a physical parameter value is input and a corresponding psychological parameter value is output as a sensitivity evaluation value will be described. When the user of the vehicle motion design device 1 selects the vehicle case and user layer of the vehicle to be evaluated by the vehicle case selection unit 132 and the user layer selection unit 133, the selection result is the vehicle case / user layer designation unit. 6 is transferred to the model calculation unit 3. The model calculation unit 3 reads the emotional psychological model corresponding to the given vehicle case and user class from the emotional psychological model database 2. Next, when the user inputs a physical parameter value related to the motion performance of the vehicle to be evaluated into the vehicle motion value input / output area 11 and clicks the sensitivity evaluation value conversion button 130, the model is input from the vehicle motion value input / output unit 4. The input value of the physical parameter is delivered to the calculation unit 3. The input value of the physical parameter may be a value measured using a prototype vehicle, or may be a target value at the time of design. The model calculation unit 3 applies the input value of the physical parameter to the corresponding node of the emotional psychological model as an activation amount, and uses the following equation (1) while following the link from the left end to the right end of the model in FIG. The calculation of the activation amount of each node is repeated.

Here, in Expression (1), the activation amount A _j of the node j is the output value of n nodes i (i = 1 to n) having links to the node j, that is, the activation amount a _i and the link weight. This is a value obtained by adding an error θ _j including individual differences to the sum of products with coefficients (or conditional probabilities) w _ij . That is, as shown in FIG. 4, the case of calculating the activation quantity A _j of node j, when the respective activation of n nodes to be the link source of that node j was a ₁ ~a _n , The product of these activation amounts and the node weighting factors w _1j , w _2j ... W _nj given to the link between the nodes is calculated for each node, and the error inherent to the node j is added to the sum of the obtained products. By adding θ _j , the activation amount A _j of the node _j is given.

  When the activation amount is calculated to the right end of the emotional psychological model, the calculation by the model calculation unit 3 is completed. Then, the model calculation unit 3 outputs the calculated activation amount of each node (including the activation amount given as an input value of the physical parameter) to the sensitivity evaluation value input / output unit 5 for processing. Finish. The sensitivity evaluation value input / output unit 5 evaluates the activation amount of the node corresponding to the psychological parameter displayed on the parameter input / display unit 121 of the sensitivity evaluation value input / output area 12 among the calculated activation amounts. The value is displayed in the input / display frame 121a of the parameter input / display unit 121 as a value. In addition, the sensitivity evaluation value input / output unit 5 displays the activation amount of each node on the activation amount display unit 140 of the emotional psychological model displayed in the model display area 14.

  On the other hand, the operation when inputting the value of the psychological parameter and outputting the value of the physical parameter corresponding to the value as the physical evaluation value of the exercise performance is as follows. First, when the user of the vehicle motion design device 1 designates the vehicle case and the user layer, the emotional psychological model is read from the emotional psychological model database 2 into the model calculation unit 3 in response to this. When the user of the device 1 inputs the value of the psychological parameter into the sensitivity evaluation value input / output area 12 and clicks the vehicle motion value conversion button 131, the input value of the psychological parameter is input from the sensitivity evaluation value input / output unit 5 to the model calculation unit 3. Is delivered. The input value of the psychological parameter can be appropriately determined based on a sensibility element that the designer wants to have for the vehicle to be evaluated. That is, it is only necessary to appropriately set target sensitivity evaluation values and input those values as psychological parameter values. The model calculation unit 3 that has received the input value of the psychological parameter fits the input value of the psychological parameter as the activation amount of the corresponding node of the emotional psychological model, and follows the link from the right end to the left end of the model in FIG. The calculation of the activation amount of each node is repeated using the above equation (1).

  When the activation amount is calculated to the left end of the emotional psychological model, the calculation by the model calculation unit 3 is completed. Then, the model calculation unit 3 outputs the calculated activation amount of each node (including the activation amount given as an input value of the psychological parameter) to the vehicle movement value input / output unit 4 for processing. Finish. The vehicle movement value input / output unit 4 calculates the activation amount of the node corresponding to the physical parameter displayed on the parameter input / display unit 111 of the vehicle movement value input / output area 11 among the calculated activation amounts. Is displayed in the input / display frame 111a of the parameter input / display unit 111. Further, the vehicle motion value input / output unit 4 displays the activation amount of each node on the activation amount display unit 140 of the emotional psychological model displayed in the model display area 14.

  According to the vehicle motion design apparatus 1 described above, if approximate physical parameter values related to vehicle motion performance are determined even at the development concept proposal stage or design stage where no prototype vehicle exists, the values of those physical parameters are determined. Is input and the sensitivity evaluation value is output, so that the sensitivity evaluation of the user of the vehicle with respect to the motion performance of the vehicle can be predicted. Alternatively, if the concept or sensibility that you want to appeal to the vehicle user is determined, you can quantify them and enter them as sensibility evaluation values to output the values of the physical parameters required to express the target concept or sensibility The output value can be used as an index for the motion design of the vehicle.

  In addition, in the emotional psychology model, the evaluation word itself is a node, and weights are given to the links connecting the nodes, so that the relationship between the physical parameter and the psychological parameter is expressed quantitatively. Can clearly grasp the relationship. Therefore, it is possible to understand the process through which the output value is calculated with respect to the input value, and it is possible to predict the change of the output value with respect to the change of the input value. As a result, it is possible to predict how the input value should be changed in order to obtain the target evaluation value (output value). For this reason, trial and error input work is not required, and man-hours and costs required for designing vehicle motion performance can be reduced.

  In particular, the interface screen 10 visually outputs the structure of the emotional psychological model, that is, the arrangement of the nodes, the evaluation words corresponding to the nodes, the state of the links connecting the nodes, the link weighting coefficients, and the calculated values. By visually outputting the activation amount of the node together, the calculation process from the input value to the output value can be clearly presented to the user of the device 1. For this reason, the user of the device 1 can manipulate which input value and how to make the output value coincide with or approach the target value while referring to the activation amount of the node or the weighting factor of the link. Alternatively, the input operation can be performed while predicting how much the input value is changed and what kind of influence the output value will have. Thereby, it is possible to further reduce the man-hour and cost of the design work. Since the sensitivity evaluation value is obtained using the sensitivity psychological model, there is an advantage that objective sensitivity evaluation can be performed without being affected by the fluctuation of the sensitivity of the evaluator.

  Furthermore, the Kansei Psychological Model was built based on interview surveys and questionnaire surveys with vehicle users, so it was based on Kansei evaluations of actual purchasers without relying on the sensibilities of experts such as test drivers. Exercise design can be performed.

  In the first embodiment described above, each of the vehicle motion value input / output unit 4 and the sensitivity evaluation value input / output unit 5 corresponds to an input unit and an output unit. The vehicle motion value input / output unit 4 corresponds to a vehicle motion value input unit and a vehicle motion value output unit, and the sensitivity evaluation value input / output unit 5 corresponds to a sensitivity evaluation value input unit and a sensitivity evaluation value output unit. Further, the vehicle case / user class designation unit 6 corresponds to a model designation unit. However, the vehicle motion design apparatus of the present invention is not limited to the configuration of the above embodiment, and can be appropriately changed. For example, the input / output units 4 and 5 may be provided separately as an input unit and an output unit. The vehicle motion design device according to the present invention may perform a calculation in only one direction so that only one of the physical parameter and the psychological parameter is input as an input value and only the other is output as an evaluation value. That is, the vehicle motion design device may be configured with only one of the input units 4 and 5 as the input unit and the other as the output unit. When the design work to which the vehicle motion design device is applied is limited to a specific vehicle case / user group, the emotional psychological model database may store only the emotional psychological model corresponding to the vehicle case / user group. . In the case where the difference between the emotional psychological models corresponding to the vehicle case / user group is so small as to be negligible, a common emotional psychological model may be used among a plurality of vehicle character / user layers. The mode of visually outputting the structure and activation amount of the emotional psychological model to the user of the vehicle motion design device is not limited to the example based on the screen display, and may be printed output or the like.

[Second form]
FIG. 5 shows an embodiment of a vehicle motion control device according to the present invention. The vehicle motion control device 21 according to the present embodiment is mounted on a vehicle to be controlled and uses the above-described emotional psychological model to calculate a physical parameter corresponding to the emotional evaluation value input by the vehicle occupant, It is a device that realizes the motion performance desired by the occupant by controlling the motion performance of the vehicle based on the obtained physical parameters. In order to realize such a function, the vehicle motion control device 21 of the present embodiment includes a sensitivity psychological model database 22, a vehicle motion sensitivity psychological model calculation unit (hereinafter abbreviated as a model calculation unit) 23, and a sensitivity evaluation value. An input unit 24, a vehicle motion value output unit 25, and a vehicle motion value control unit 26 are provided.

  Similar to the database 2 of the first embodiment described above, the emotional psychological model database 22 is a sensitivity that quantitatively expresses the relationship between a plurality of physical parameters related to vehicle motion performance and a plurality of psychological parameters indicating the occupant's sensitivity evaluation. It stores a psychological model. The structure and construction method of the emotional psychological model may be the same as in the first embodiment. However, since the apparatus 21 of this embodiment is mounted on a vehicle, only the emotional psychological model corresponding to the vehicle case and user class of the vehicle may be stored in the emotional psychological model database 22. Based on the psychological parameter value input from the sensitivity evaluation value input unit 24, the model calculation unit 23 calculates a physical parameter value corresponding to the input value of the psychological parameter while referring to the emotional psychological model. The value of the physical parameter is output to the vehicle motion value output unit 25 as a physical evaluation value of motion performance. In short, the model calculation unit 23 inputs the vehicle motion value in response to the input of the psychological parameter (sensitivity evaluation value) from the sensitivity evaluation value input / output unit 5 among the functions of the model calculation unit 3 of the first embodiment. The output unit 4 has a function of outputting the calculation result of the physical parameter. The calculation procedure in the model calculation unit 23 is as described in the first embodiment.

  The sensitivity evaluation value input unit 24 includes an interface function necessary for inputting psychological parameters among the functions of the sensitivity evaluation value input / output unit 5 of the first embodiment. A specific example of the interface realized by the sensitivity evaluation value input unit 24 will be described later. The vehicle movement value output unit 25 has a function of receiving the physical parameter calculated by the calculation unit 23 and outputting the physical parameter to the vehicle movement value control unit 26. The vehicle motion value control unit 26 receives physical parameters from the vehicle motion value output unit 25, determines a vehicle control method necessary to realize the motion performance determined by the physical parameters, and the determined control. The physical parameters are processed according to the method, and the processed parameters are delivered to the control computer of each part of the vehicle as a control command related to the exercise performance. Although the control computer may be selected as appropriate, in the illustrated embodiment, the engine control computer 27, the transmission control computer 28, and the suspension control computer 29 are used as the control computer that receives a control command from the vehicle motion value control unit 26. The movement value control unit 26 is connected. These control computers 27 to 29 each correspond to a motion control execution unit that controls devices to be controlled (engine, transmission, and suspension device) related to the motion performance of the vehicle.

  The engine control computer 27 is provided with a fuel injection amount of an engine mounted on the vehicle, fuel injection timing, valve operating characteristics of the intake valve (lift amount, operating angle, or timing of opening and closing), supercharging of the supercharger. It is a computer unit for controlling the engine operating state such as pressure to a target state. The transmission control computer 28 is a computer unit for controlling the shift speed, shift timing, and the like of the transmission that is interposed between the engine of the vehicle and the drive wheels. The suspension device control computer 29 is a computer unit for independently controlling the damping force, vehicle height, etc. of the vehicle suspension device in the front-rear and left-right directions of the vehicle. In addition to the above, a computer for controlling a control target device related to the motion performance of the vehicle may be appropriately added as a motion control execution unit that receives a control command from the vehicle motion value control unit 26. For example, in the case of a vehicle equipped with a driving force control system capable of controlling the driving force distribution to the front and rear wheels of the vehicle, a computer for controlling the driving force distribution is based on a control command from the vehicle motion value control unit 26. May be operated. A computer or the like for controlling the driving load of engine accessories such as a generator or the driving load of the air conditioner may be operated based on a control command from the vehicle motion value control unit 26.

  Next, an example of an input interface provided in the sensitivity evaluation value input unit 24 will be described with reference to FIGS. 6 and 7. In this example, as shown in FIG. 6, a touch panel type display 210 is provided at a position where an occupant can reach, for example, on the center console on the side of the steering wheel 200 in the driver's seat. An interface screen 211 shown in FIG. 7 is displayed on the display 210. On the interface screen 211, evaluation words respectively corresponding to a plurality of psychological parameters prepared as input items are displayed side by side, and a setting device 212 for setting values of each psychological parameter, that is, a sensitivity evaluation value. The evaluation word is displayed in association with 1: 1. The setting device 212 is provided with a slider 213 that can be virtually operated in the vertical direction, and the vertical position of the slider 213 corresponds to the setting value of the psychological parameter. For example, the setting value of the psychological parameter increases as the slider 213 is operated upward. The sensitivity evaluation value input unit 24 recognizes the position of the slider 213 in the vertical direction, specifies the value of the psychological parameter desired by the occupant, and outputs the specified value to the calculation unit 23 as an input value for sensitivity evaluation. Although FIG. 7 shows an example in which a sensitivity evaluation value related to acceleration feeling is input, when inputting another type of sensitivity evaluation value, the interface screen 211 displayed on the display 210 may be switched. The sensitivity evaluation value input unit 24 is not limited to inputting a sensitivity evaluation value, that is, a psychological parameter value using an interface screen, and may be a device for inputting a sensitivity evaluation value using a physical input device.

  Next, operation | movement of the vehicle motion control apparatus 21 of this form is demonstrated. When an occupant of a vehicle, for example, a driver inputs a psychological parameter value (sensitivity evaluation value) to the sensibility evaluation value input unit 24 according to his / her desired motor performance with respect to the vehicle, the input value is modeled from the sensibility evaluation value input unit 24. It is delivered to the calculation unit 23. The model calculation unit 23 applies the input value of the psychological parameter to the emotional psychological model, and uses the above equation (1) while following the link from the right end to the left end of the model in FIG. Repeat the calculation.

  When the activation amount is calculated up to the left end of the emotional psychological model, the calculation by the model calculation unit 23 ends. And the model calculating part 23 outputs the calculated activation amount of each node to the vehicle movement value output part 25, and complete | finishes a process. The vehicle movement value output unit 25 outputs the activation amount of the node corresponding to the physical parameter among the calculated activation amounts to the vehicle movement value control unit 26 as a physical evaluation value related to the movement performance. The evaluation value given to the vehicle motion value control unit 26 corresponds to a physical parameter value necessary for realizing the motion performance input by the occupant as the sensitivity evaluation value, and the vehicle motion value control unit 26 determines the physical parameter value. A vehicle motion control method is determined based on the value.

  In other words, the vehicle motion value control unit 26 takes in the value of the given physical parameter as a target value related to the control of the vehicle motion performance, and in order to achieve the target value, the engine control computer 27, the transmission control computer 28 or A method for optimally controlling the vehicle performance is determined using all or any of the suspension control computers 29. Then, the vehicle motion value control unit 26 processes the physical parameter given from the vehicle motion value output unit 25 according to the determined control method, and uses the processed parameter as a control command related to the motion performance of the control computers 27 to 29. Give to all or part.

  The control computers 27 to 29 to which a control command is given from the vehicle motion value control unit 26 controls the operation state of the engine according to the control command, controls the operation of the transmission, or controls the operation of the suspension device. The movement performance of the vehicle is adjusted to match the sensitivity evaluation value input by the occupant. For example, in the interface screen 211 shown in FIG. 7, when the occupant operates the slider 213 to emphasize the “feeling of getting out quickly” regarding acceleration feeling, the “torque characteristics”, “foot” The activation amount of the parameter node expressed as “around design” increases, and the values of “longitudinal acceleration”, “front / rear jerk”, and “front / rear pitch”, which are physical parameters linked to them, increase. The vehicle motion value control unit 26 changes the torque control procedure of the engine so that the torque increases more in the initial stage of acceleration, for example, in response to the increase in the values of these physical parameters, and to produce a further acceleration feeling. It is determined that it is necessary to increase the front / rear pitch angle in the initial stage of acceleration, and as a control method for realizing these controls, the engine torque control map is changed in the initial stage of acceleration, and the hydraulic pressure applied to the shock absorber of the suspension system Operations such as changing the control map are output to the engine control computer 27 and the suspension control computer 29 as control commands. The engine control computer 27 and the suspension system control computer 29 that have received the control command change the control content in accordance with the control command, and the fuel injection amount of the engine at the initial stage of acceleration so that the “feeling of swiftness” is emphasized. Change the control law such as the supercharging characteristics of the turbocharger or the control law such as the hydraulic pressure of the rear-wheel side shock absorber of the suspension system. The motion performance related to acceleration may be changed by changing the shift timing of the transmission control computer 28.

  According to the vehicle motion control device 21 described above, even a passenger who is not familiar with the structure of a vehicle or the configuration of various control systems is a general term used when evaluating motion performance with sensitivity. By inputting a request for motion performance according to a certain evaluation word, the control content regarding the motion performance of the vehicle can be changed so that the motion performance desired by the user is realized. Accordingly, the vehicle performance can be easily optimized according to the passenger's preference or mood, and the passenger's satisfaction can be enhanced.

[Third embodiment]
FIG. 8 shows another embodiment of the vehicle motion control device according to the present invention. Note that the apparatus of this embodiment is also mounted on a vehicle to be controlled. In FIG. 8, the same reference numerals are given to portions common to the above-described second embodiment, and detailed description thereof is omitted. The vehicle motion control device 31 according to the present embodiment calculates the value of the physical parameter while referring to the emotional psychological model stored in the emotional psychological model database 22 based on the emotional evaluation value input by the occupant, and the value of the physical parameter In common with the second embodiment, the control content of the exercise performance is changed according to the above. On the other hand, in the motion control device 31, the controlled motor performance is measured and re-evaluated, and according to the difference between the sensitivity evaluation value obtained by the re-evaluation and the sensitivity evaluation value felt by the occupant, The second embodiment is different from the second embodiment in that the sensibility evaluation value given to the model calculation unit is corrected to achieve exercise performance that matches the sense of the occupant. In order to realize such a function, the vehicle motion control device 31 according to the present embodiment includes a vehicle motion sensitivity psychological model calculation unit (hereinafter abbreviated as a model calculation unit) in addition to the sensory psychology model database 22 similar to the second mode. 33), a vehicle motion value input / output unit 34, a sensitivity evaluation value input / output unit 35, a vehicle motion value measurement unit 36, a sensitivity evaluation value difference input unit 37, and a model correction calculation unit 38. Yes. The vehicle motion value input / output unit 34 is connected to a vehicle motion value control unit 26 similar to that of the second embodiment as an output destination of physical parameters. The vehicle motion value control unit 26 includes various types of motion control execution units as motion control execution units. Control computers 27 to 29 are connected.

  Similar to the model calculation unit 3 of the first embodiment, the model calculation unit 33 calculates a psychological parameter value (sensitivity evaluation value) corresponding to the input value of the physical parameter using the emotional psychological model, and the psychological parameter The calculation of the value of the physical parameter corresponding to the input value is executed. The vehicle motion value input / output unit 34 is input as an input interface for inputting physical parameter values to the model calculation unit 33 and the model correction calculation unit 38, and is output from the model calculation unit 33 as a physical evaluation value of motion performance. An output interface for receiving the value of the physical parameter and outputting it to the vehicle motion value control unit 26 is provided. The sensitivity evaluation value input / output unit 35 inputs a target sensitivity evaluation value, that is, a psychological parameter value to the model calculation unit 33, and the model calculation unit 33 as a sensitivity evaluation value related to exercise performance. An output interface for receiving the value of the psychological parameter to be output and outputting it to the vehicle user (occupant) is provided.

  The vehicle motion value measuring unit 36 is provided as means for inputting a physical parameter value to the vehicle motion value input / output unit 34. In other words, the vehicle motion value measuring unit 36 includes various sensors, amplifiers, and amplifiers for measuring various physical quantities such as longitudinal acceleration and longitudinal jerk prepared as physical parameters in the emotional psychological model in the vehicle on which the device 31 is mounted. It is comprised as a measuring device containing a filter etc. However, the measurement of the physical quantity here includes the case of estimation based on the output value of the sensor or the like.

  The sensibility evaluation value difference input unit 37 is based on the feeling of the occupant when the sensation evaluation value felt by the occupant is different from the psychological parameter value (sensitivity evaluation value) calculated by the model calculation unit 33. It has an interface for inputting sensitivity evaluation values. The model correction calculation unit 38 inputs / outputs the sensitivity evaluation value input / output based on the physical parameter value given from the vehicle motion value input / output unit 34 and the sensitivity evaluation value based on the occupant's actual feeling given from the sensitivity evaluation value difference input unit 37. The emotional psychological model is modified so that the difference between the sensitivity evaluation value output to the unit 35 and the sensitivity evaluation value input to the sensitivity evaluation value difference input unit 37 decreases (including cancellation).

  In FIG. 8, the sensitivity evaluation value input / output unit 35 and the sensitivity evaluation value difference input unit 37 are shown as logical devices independent of each other, but their interface functions may be provided independently of each other or integrated. May be. In the vehicle motion control device 31 of this embodiment, these interface functions are integrated into the interface screen 300 shown in FIG. Similar to the interface screen 211 shown in FIG. 7, the interface screen 300 is displayed on a display installed at a position where a passenger can reach, such as on the center console. On the interface screen 300, the evaluation words corresponding to the sensitivity evaluation values to be evaluated are displayed side by side, and the values of the psychological parameters, that is, the calculated values of the sensitivity evaluation values (output values from the model calculation unit 33) and A setting / display unit 310 for inputting a sensitivity evaluation value felt by the occupant is displayed in association with the evaluation word in a 1: 1 ratio. The setting / display unit 310 is provided with a first slider 311 and a second slider 312 that are virtually movable in the vertical direction. The first slider 311 is provided to indicate a sensitivity evaluation value calculated by the model calculation unit 33, and the second slider 312 is provided to input a sensitivity evaluation value that the occupant feels.

  The vertical position of the first slider 311 changes according to the magnitude of the sensitivity evaluation value output from the model calculation unit 33 to the sensitivity evaluation value input / output unit 35. In other words, the sensitivity evaluation value input / output unit 35 changes the position of the first slider 311 in accordance with the sensitivity evaluation value output from the model calculation unit 33, thereby making the calculation result of the sensitivity evaluation value visible to the occupant. Output to. On the other hand, the vertical position of the second slider 312 can be changed as appropriate by the occupant. Therefore, the amount of vertical displacement of the sliders 311 and 312 corresponds to the difference between the sensitivity evaluation value (sensitivity evaluation value based on the measured value) output from the model calculation unit 33 and the sensitivity evaluation value felt by the occupant. In order to make it possible to distinguish between the first slider 311 and the second slider 312, the word “actual feeling” is written on the second slider 312 in FIG. 9. In addition, the slider may be identifiable by color, shape, or the like.

  FIG. 9 shows an example in which a sensitivity evaluation value related to acceleration feeling is output and a sensitivity evaluation value as an actual feeling related to acceleration feeling is input. However, when other types of sensitivity evaluation values are input / output, the display 210 is displayed. The interface screen 300 displayed on the screen may be switched. The interface for inputting the actual feeling by the occupant is not limited to the example of FIG. 9, and an input device such as a physical lever or dial may be used.

  Next, operation | movement of the vehicle motion control apparatus 31 of this form is demonstrated. In the vehicle motion control device 31 of the present embodiment, the physical quantity corresponding to the physical parameter included in the emotional psychological model is measured by the vehicle motion value measuring unit 36 while the vehicle is traveling, and the measured value is the physical parameter. An input value is appropriately input to the model calculation unit 33 via the vehicle motion value input / output unit 34. The model calculation unit 33 applies the input value of the physical parameter as an activation amount to the corresponding node of the emotional psychological model, and uses the above equation (1) while following the link from the left end to the right end of the model in FIG. The calculation of the activation amount of each node is repeated.

  When the activation amount is calculated up to the right end of the emotional psychological model, the calculation by the model calculation unit 33 ends. Then, the model calculation unit 33 outputs the calculated activation amount of each node to the sensitivity evaluation value input / output unit 35 and ends the process. The sensitivity evaluation value input / output unit 35 changes the position of the first slider 311 based on the activation amount corresponding to the evaluation word displayed on the interface screen 300 in FIG. 9 among the calculated activation amounts. Thus, the sensitivity evaluation value is visually output to the vehicle occupant.

  When the position of the second slider 312 is adjusted according to the sensitivity evaluation value that the occupant has perceived for the output of the sensitivity evaluation value, the sensitivity evaluation value difference input unit 37 has a sensitivity corresponding to the position of the second slider 312. The evaluation value is output to the sensitivity evaluation value input / output unit 35 and the model correction calculation unit 38. When the sensitivity evaluation value based on the occupant's actual feeling is output from the sensitivity evaluation value difference input unit 37, the model correction calculation unit 38 receives the physical parameter input value received from the vehicle motion value input / output unit 34 and the sensitivity evaluation value difference. The sentiment psychology model stored in the sentiment psychology model database 22 is corrected using the set with the sentiment evaluation value received from the input unit 37. The correction is based on the sensitivity evaluation value calculated by the model calculation unit 33 corresponding to the input value of the physical parameter given from the vehicle motion value input / output unit 34 and the occupant input inputted by the sensitivity evaluation value difference input unit 37. The difference from the feeling evaluation value based on the actual feeling is reduced (including cancellation). That is, the input value of the physical parameter given from the vehicle motion value input / output unit 34 is applied as the activation amount to the node corresponding to the physical parameter of the emotional psychological model, and the node corresponding to the psychological parameter of the emotional psychological model The sensitivity evaluation value given from the sensitivity evaluation value difference input unit 37 is applied as the activation amount, and the link weight coefficient is recalculated so that no contradiction arises in the relationship between these activation amounts. However, the error given to the node may be corrected in order to reduce the difference.

  On the other hand, the sensitivity evaluation value input / output unit 35 detects a difference between the sensitivity evaluation value received from the model calculation unit 33 and the sensitivity evaluation value received from the sensitivity evaluation value difference input unit 37, and in accordance with the difference, the model The sensitivity evaluation value received from the calculation unit 33 is corrected, and the corrected sensitivity evaluation value is output to the model calculation unit 33 as a psychological parameter input value (target sensitivity evaluation value). For example, when the sensitivity evaluation value based on actual feeling is smaller (lower) than the sensitivity evaluation value calculated by the model calculation unit 33, the calculated sensitivity evaluation value is increased to an extent corresponding to the difference between them ( High) and output to the model calculation unit 33. When the sensitivity evaluation value based on the actual feeling is larger than the sensitivity evaluation value calculated by the model calculation unit 33, the calculated sensitivity evaluation value is set slightly smaller, or the model calculation unit is not modified as it is. To 33.

  The model calculation unit 33 that has received the corrected sensitivity evaluation value from the sensitivity evaluation value input / output unit 35 changes the activation amount of the parameter node corresponding to the sensitivity evaluation value to the corrected sensitivity evaluation value, and the emotional psychological model The amount of activation of each node is calculated by repeating the calculation of the above equation (1) while following the link from the right end to the left end. When the calculation is completed up to the left end of the emotional psychological model, the model calculation unit 33 outputs the activation amount of the node at the left end of the sensitivity psychological model to the vehicle motion value input / output unit 34 as the calculated value of the physical parameter. The vehicle motion value input / output unit 34 outputs the value of the physical parameter given from the model calculation unit 33 to the vehicle motion value control unit 26. And the vehicle motion value control part 26 outputs the control command according to the given physical parameter to all or a part of the control computers 27 to 29, thereby reflecting the sensitivity evaluation value based on the occupant's actual feeling. Control of motor performance is realized.

  According to the above vehicle motion control device 31, in addition to the same functions and effects as those of the second embodiment described above, the following functions and effects are also exhibited. The sensitivity evaluation value calculated by the model calculation unit 33 is input to the sensitivity evaluation value felt by the occupant, and the sensitivity psychological model is corrected so that the difference between them is reduced. Therefore, the correction is repeated. Thus, it is possible to change the quantitative relationship between the physical parameter and the psychological parameter expressed in the emotional psychological model to match the sensitivity of the vehicle occupant. As a result, the vehicle motion control device 31 can be configured so that the vehicle motion performance conforming to the passenger's sensitivity evaluation can be created easily and accurately. In addition, the actual movement performance of the vehicle is measured, the measured value is given to the model calculation unit 33 as an input value of the physical parameter, the sensitivity evaluation value is calculated, and the calculation result is visually output to the occupant. The sensibility evaluation value shown to the occupant shows how the motor performance produced by the vehicle driver's maneuvering is the general user of the vehicle, that is, the sensibility of the user assumed in constructing the emotional psychological model It has a meaning as an indicator of whether or not it is evaluated. Therefore, the driver can objectively determine whether his / her driving is good or not by referring to the sensitivity evaluation value presented by the sensitivity evaluation value input / output unit 35. Accordingly, the sensitivity evaluation value calculated by the model calculation unit 33, such as giving the driver a chance to change rough driving, can be used as advice for driving.

  In the third embodiment described above, the vehicle motion value input / output unit 34 corresponds to a vehicle motion value input unit and a vehicle motion value output unit, and a sensitivity evaluation value input / output unit 35 outputs a sensitivity evaluation value input unit and a sensitivity evaluation value output. It corresponds to the part. However, each of these input / output units 34 and 35 may be divided into an input unit and an output unit.

  This invention is not restricted to each form mentioned above, It can implement with a various form. For example, physical parameters or psychological parameters are not limited to the examples shown in the respective forms, and may be changed as appropriate. The interface for inputting or outputting parameters is not limited to the above-described form, and an appropriate configuration may be adopted. The input interface and the output interface may be clearly separated.

The functional block diagram which shows one form of the vehicle motion design apparatus of this invention. The figure which shows an example of a sensitivity psychological model. The figure which shows an example of the interface screen for inputting and outputting a physical parameter and a psychological parameter. The figure for demonstrating the calculation method of the activation amount in the node of a sentiment psychology model. The functional block diagram which shows one form of the vehicle motion control apparatus of this invention. The figure which shows arrangement | positioning of the interface for inputting a sensitivity evaluation value. The figure which shows an example of the interface screen for inputting a sensitivity evaluation value. The functional block diagram which shows the other form of the vehicle motion control apparatus of this invention. The figure which shows an example of the interface screen for inputting the input and output of a sensitivity evaluation value, and the difference of a sensitivity evaluation value.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle motion design apparatus 2 Vehicle motion sensitivity psychological model database 3 Vehicle motion sensitivity psychological model calculating part 4 Vehicle motion value input / output part 5 Sensitivity evaluation value input / output part 6 Vehicle case / user layer designation | designated part 21, 31 Vehicle motion control apparatus 22 Vehicle motion sensitivity psychological model database 23 Vehicle motion sensitivity psychological model calculation unit 24 Kansei evaluation value input unit 25 Vehicle motion value output unit 26 Vehicle motion value control unit 27 Engine control computer 28 Transmission control computer 29 Suspension device control computer 34 Vehicle motion value Input / output unit 35 Kansei evaluation value input / output unit 36 Vehicle motion value measurement unit 37 Kansei evaluation value difference input unit 38 Model correction calculation unit

Claims (12)

A sensitivity psychological model database storing a psychological psychological model that quantitatively expresses the relationship between a plurality of physical parameters related to the motor performance of the vehicle and a plurality of psychological parameters indicating the sensitivity evaluation of the occupant regarding the motor performance;
An input unit for inputting the value of one of the physical parameters or the psychological parameters;
With reference to the emotional psychological model database, a vehicle motion emotional psychological model calculation unit that calculates the value of the other parameter corresponding to the value of the parameter input to the input unit as an evaluation value;
An output unit that outputs an evaluation value calculated by the vehicle motion sensitivity psychological model calculation unit ,
As the input unit, a vehicle motion value input unit for inputting the value of the physical parameter is provided, and as the output unit, a sensitivity evaluation value output unit for outputting the value of the psychological parameter as the evaluation value is provided, The vehicle motion design apparatus, wherein the vehicle motion sensitivity psychological model calculation unit calculates the value of the psychological parameter corresponding to the value of the physical parameter input to the vehicle motion value input unit as an evaluation value . In the emotional psychological model, the physical parameters and the psychological parameters are arranged in a network as nodes, related nodes are connected by links, and the links are in accordance with the strength of relevance between the nodes. The vehicle motion design device according to claim 1 , wherein the vehicle motion design apparatus has a form in which a relationship between the physical parameter and the psychological parameter is quantitatively expressed by adding a weight coefficient. The vehicle motion sensibility psychological model calculation unit applies the value of the parameter input to the input unit to a node corresponding to the input parameter in the sensibility psychology model as an activation amount of the node, and While following the link from the node corresponding to the parameter toward the node corresponding to the other parameter, based on the activation amount of the node that is the link source for each node and the weighting factor of the link, The vehicle motion design device according to claim 2 , wherein the calculation of the activation amount is repeated, and the activation amount calculated for the node corresponding to the other parameter is delivered to the output unit as the evaluation value. The output unit, together with the evaluation value calculated by the vehicle motion sensibility psychology model calculation unit, connects the nodes arranged in the sensitivity psychology model referenced by the vehicle motion sensitivity psychology model calculation unit, and the nodes 4. The vehicle motion design device according to claim 3 , wherein the link, the weighting factor assigned to each link, and the activation amount of each node are visualized and output. The emotional psychological model database stores a plurality of emotional psychological models constructed according to a vehicle class of a vehicle to be evaluated and a user layer intended as a purchase layer of the vehicle, and the vehicle motion emotional psychological model calculation unit A model designating unit for designating the vehicle case and the user class is further provided, and the vehicle motion sensibility psychological model calculation unit is a sensibility psychological model corresponding to the car case and the user group designated by the model designating unit. based computing the evaluation value, the vehicle motion design apparatus according to claim 1, characterized in that. A sensitivity psychological model database storing a psychological psychological model that quantitatively expresses the relationship between a plurality of physical parameters related to the motor performance of the vehicle and a plurality of psychological parameters indicating the sensitivity evaluation of the occupant regarding the motor performance;
A sensitivity evaluation value input unit for inputting the value of the psychological parameter as a target sensitivity evaluation value;
A vehicle motion sensitivity psychological model calculation unit that calculates the value of the physical parameter corresponding to the value of the psychological parameter input to the input unit with reference to the sensitivity psychology model database;
A vehicle motion value output unit that outputs the value of the physical parameter calculated by the vehicle motion sensitivity psychological model calculation unit;
A motion control execution unit that controls a control target device related to the motion performance of the vehicle;
By the motion control execution unit based on the physical parameter value output from the vehicle motion value output unit so as to obtain motion performance according to the physical parameter value output from the vehicle motion value output unit. A vehicle motion value control unit for changing the control content of the control target device;
A vehicle motion value measurement unit for measuring the value of the physical parameter in the vehicle;
A vehicle motion value input unit that inputs a measurement value by the vehicle motion value measurement unit to the vehicle motion sensitivity psychological model calculation unit as a value of the physical parameter;
The vehicle motion sensibility psychological model calculation unit can calculate the value of the psychological parameter corresponding to the value of the physical parameter input from the vehicle motion value input unit with reference to the sensitivity psychology model database,
A sensitivity evaluation value output unit that visualizes and outputs the value of the psychological parameter calculated by the vehicle motion sensitivity psychological model calculation unit as a sensitivity evaluation value based on the measurement value;
A sensitivity evaluation value difference input unit for inputting a sensitivity evaluation value that the occupant feels for a sensitivity evaluation value based on the measurement value;
Based on the value of the psychological parameter input as the sensitivity evaluation value to the sensitivity evaluation value difference input unit and the value of the physical parameter input as the measurement value to the vehicle motion value input unit. A model correction calculation unit that corrects a quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model so that a difference between the emotional evaluation value and the sensitivity evaluation value felt by the occupant is reduced; ,
Car you, further comprising both motion control device. In the emotional psychological model, the physical parameters and the psychological parameters are arranged in a network as nodes, related nodes are connected by links, and the links are in accordance with the strength of relevance between the nodes. The vehicle motion control device according to claim 6 , wherein the vehicle motion control device has a form in which a relationship between the physical parameter and the psychological parameter is quantitatively expressed by adding a weight coefficient. The vehicle motion sensibility psychological model calculation unit applies the value of the psychological parameter input to the sensibility evaluation value input unit to the node corresponding to the psychological parameter in the sensibility psychological model as the activation amount of the node, and While following the link from the node corresponding to the psychological parameter toward the node corresponding to the physical parameter, based on the activation amount of the node that is the link source for each node and the weighting factor of the link, The vehicle according to claim 7 , wherein the calculation of the activation amount is repeated, and the activation amount calculated for the node corresponding to the physical parameter is delivered to the vehicle motion value output unit as the value of the physical parameter. Motion control device. The relationship between a plurality of physical parameters related to vehicle performance and a plurality of psychological parameters indicating the occupant's sensibility evaluation related to the performance is arranged in a network as the physical parameters and the psychological parameters. Are connected by a link, and a weighting factor corresponding to the strength of the degree of association between the nodes is attached to the link, so that a sentiment psychology having a sentiment psychology model having a form expressed quantitatively is stored. A model database;
A sensitivity evaluation value input unit for inputting the value of the psychological parameter as a target sensitivity evaluation value;
A vehicle motion sensitivity psychological model calculation unit that calculates the value of the physical parameter corresponding to the value of the psychological parameter input to the input unit with reference to the sensitivity psychology model database;
A vehicle motion value output unit that outputs the value of the physical parameter calculated by the vehicle motion sensitivity psychological model calculation unit;
A motion control execution unit that controls a control target device related to the motion performance of the vehicle;
By the motion control execution unit based on the physical parameter value output from the vehicle motion value output unit so as to obtain motion performance according to the physical parameter value output from the vehicle motion value output unit. A vehicle motion value control unit for changing the control content of the control target device;
A vehicle motion value measurement unit for measuring the value of the physical parameter in the vehicle;
A vehicle motion value input unit for inputting a measurement value by the vehicle motion value measurement unit to the vehicle motion sensitivity psychological model calculation unit as a value of the physical parameter;
With
The vehicle motion sensibility psychological model calculation unit can calculate the value of the psychological parameter corresponding to the value of the physical parameter input from the vehicle motion value input unit with reference to the sensitivity psychology model database,
A sensitivity evaluation value output unit that visualizes and outputs the value of the psychological parameter calculated by the vehicle motion sensitivity psychological model calculation unit as a sensitivity evaluation value based on the measurement value;
A sensitivity evaluation value difference input unit for inputting a sensitivity evaluation value that the occupant feels for a sensitivity evaluation value based on the measurement value;
Based on the value of the psychological parameter input as the sensitivity evaluation value to the sensitivity evaluation value difference input unit and the value of the physical parameter input as the measurement value to the vehicle motion value input unit. A model correction calculation unit that corrects a quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model so that a difference between the emotional evaluation value and the sensitivity evaluation value felt by the occupant is reduced; ,
Further comprising
The vehicle motion sensibility psychological model calculation unit applies the value of the physical parameter input to the vehicle motion value input unit to a node corresponding to the physical parameter in the sensibility psychology model as an activation amount of the node, While following the link from the node corresponding to the physical parameter to the node corresponding to the psychological parameter, each node is based on the activation amount of the node that is the link source for each node and the weighting factor of the link Repeating the calculation of the activation amount, and passing the activation amount calculated for the node corresponding to the psychological parameter to the sensitivity evaluation value output unit as the value of the psychological parameter.
Car both motion controller you wherein a. The vehicle motion sensibility psychological model calculation unit applies the value of the psychological parameter input to the sensibility evaluation value input unit to the node corresponding to the psychological parameter in the sensibility psychological model as the activation amount of the node, and While following the link from the node corresponding to the psychological parameter toward the node corresponding to the physical parameter, based on the activation amount of the node that is the link source for each node and the weighting factor of the link, The vehicle according to claim 9, wherein the calculation of the activation amount is repeated, and the activation amount calculated for the node corresponding to the physical parameter is delivered to the vehicle movement value output unit as the value of the physical parameter. Exercise design device. The sensitivity evaluation value input unit is a difference between a sensitivity evaluation value based on the measurement value output from the sensitivity evaluation value output unit and a sensitivity evaluation value felt by the occupant input from the sensitivity evaluation value difference input unit. The vehicle motion control apparatus according to claim 9 , wherein the target sensitivity evaluation value is corrected based on the input and input to the vehicle motion sensitivity psychological model calculation unit. A sensitivity psychological model database storing a psychological psychological model that quantitatively expresses the relationship between a plurality of physical parameters related to the motor performance of the vehicle and a plurality of psychological parameters indicating the sensitivity evaluation of the occupant regarding the motor performance;
A sensitivity evaluation value input unit for inputting the value of the psychological parameter as a target sensitivity evaluation value;
A vehicle motion sensitivity psychological model calculation unit that calculates the value of the physical parameter corresponding to the value of the psychological parameter input to the input unit with reference to the sensitivity psychology model database;
A vehicle motion value output unit that outputs the value of the physical parameter calculated by the vehicle motion sensitivity psychological model calculation unit;
A motion control execution unit that controls a control target device related to the motion performance of the vehicle;
By the motion control execution unit based on the physical parameter value output from the vehicle motion value output unit so as to obtain motion performance according to the physical parameter value output from the vehicle motion value output unit. A vehicle motion value control unit for changing the control content of the control target device;
A vehicle motion value measurement unit for measuring the value of the physical parameter in the vehicle;
A vehicle motion value input unit for inputting a measurement value by the vehicle motion value measurement unit to the vehicle motion sensitivity psychological model calculation unit as a value of the physical parameter;
With
The vehicle motion sensibility psychological model calculation unit can calculate the value of the psychological parameter corresponding to the value of the physical parameter input from the vehicle motion value input unit with reference to the sensitivity psychology model database,
A sensitivity evaluation value output unit that visualizes and outputs the value of the psychological parameter calculated by the vehicle motion sensitivity psychological model calculation unit as a sensitivity evaluation value based on the measurement value;
A sensitivity evaluation value difference input unit for inputting a sensitivity evaluation value that the occupant feels for a sensitivity evaluation value based on the measurement value;
Based on the value of the psychological parameter input as the sensitivity evaluation value to the sensitivity evaluation value difference input unit and the value of the physical parameter input as the measurement value to the vehicle motion value input unit. A model correction calculation unit that corrects a quantitative relationship between the physical parameter and the psychological parameter in the emotional psychological model so that a difference between the emotional evaluation value and the sensitivity evaluation value felt by the occupant is reduced; ,
Further comprising
The sensitivity evaluation value input unit is a difference between a sensitivity evaluation value based on the measurement value output from the sensitivity evaluation value output unit and a sensitivity evaluation value felt by the occupant input from the sensitivity evaluation value difference input unit. based on, modify the sensitivity evaluation value and the target input to the vehicle motion sensitive psychological model calculation unit, drive both the motion controller you wherein a.

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