JP5402768B2 - Vehicle motion control device and program - Google Patents

Description

  The present invention relates to a vehicle motion control device and a program, and in particular, derives a vehicle body resultant force to maximize a lateral movement distance for a desired vertical movement distance and speed direction using a map having a simple configuration. The present invention relates to a vehicle motion control device and a program.

  Conventionally, the ratio of the target composite force applied to the vehicle body and the limit composite force estimated from the size of the limit friction circle of each wheel is set as a μ utilization rate, and tires are generated from the size of the limit friction circle and the μ utilization rate. The direction of the tire generation force generated at each control target wheel is set, and the steering of each control target wheel is set based on the set tire generation force and the set tire generation force direction. A vehicle control device that performs cooperative control of braking or steering and driving has been proposed (see Patent Document 1).

  In addition, the amount of avoidance operation for avoiding obstacles existing on the road ahead of the vehicle is determined by the combined force of acceleration force, deceleration force and lateral force generated in the vehicle is greater than the maximum value of the grip force of the vehicle tire. There has been proposed an avoidance operation calculation device that calculates within a smaller range (see Patent Document 2).

  Also, obstacles present on the road on which the vehicle travels are detected, and the target attitude angle after avoiding the host vehicle is set based on the predicted position of the host vehicle and the external environment after the evaluation end time from the current detection time. The risk potential function is set based on the external environment at the current time and the state quantity of the obstacle, and the evaluation value based on the time integral value of the risk and the driving operation amount, the difference between the target attitude angle and the attitude angle of the host vehicle, etc. And an avoidance operation calculation device that derives a trajectory that minimizes the evaluation value has been proposed (see Patent Document 3).

  In addition, a physical quantity determined based on the distance between the own vehicle and the obstacle, the relative speed of the own vehicle with respect to the obstacle, and the lateral movement distance to avoid is introduced, and the physical quantity, the weight of the own vehicle, and the vehicle body composite force are introduced. A map for deriving the direction of the vehicle body composite force for avoiding at the shortest distance by the maximum value of the vehicle is stored in advance, the shortest avoidance distance in straight braking, the shortest avoidance distance in simple lateral movement, and the current vehicle at the current time There has been proposed a vehicle control device that compares the shortest avoidance distance obtained from a map based on the state of an obstacle, selects the shortest avoidance trajectory, and calculates the vehicle body composite force at the current time based on the trajectory (See Patent Document 4).

  In addition, the robot position, the target arrival position that the robot reaches the target, the target speed that the target reaches when the robot reaches the target arrival position, and the maximum speed limit or maximum acceleration limit value of the robot Control the robot so that the sum of the squares of the acceleration of the robot is minimized in a trajectory that takes a speed that does not exceed the maximum speed limit or the maximum acceleration and that takes the same time to reach the target position from the initial position of the robot. An apparatus has been proposed (see Patent Document 5).

  Further, when the vehicle stops at the start position P, an optimum target position and a first movement trajectory composed of an arc having a constant radius r passing through the optimum target position are set based on the status of surrounding objects detected by the object detection means. A predetermined position S is selected on the first movement locus, a second movement locus from the start position P to the predetermined position S is set, and the predetermined position S indicates that the moving distance of the vehicle on the second movement locus is An automatic steering device for a vehicle that is selected to be minimized has been proposed (see Patent Document 6).

JP 2004-249971 A JP 2007-253746 A JP 2007-253745 A JP 2006-347236 A Japanese Patent Laid-Open No. 7-32277 JP 2001-063597 A

  However, in the techniques of Patent Documents 1 to 4, although the avoidance trajectory and the vehicle body composite force are derived, the vehicle body composite force that maximizes the lateral movement distance using the given vehicle body composite force limit value is derived. Is not listed.

  Further, the technique of Patent Document 5 derives an avoidance trajectory that minimizes the sum of squares of acceleration, and the technique of Patent Document 6 provides a trajectory that minimizes the travel distance for the host vehicle to reach the target position. However, it is not described to derive a trajectory that maximizes the lateral movement distance with respect to the desired vertical movement distance.

  In the present invention, when the maximum value of the vehicle body composite force is limited by an ellipse, the lateral movement distance is maximized with respect to the desired vertical movement distance and speed direction using a map of a simple configuration created by the optimal control method. It is an object of the present invention to provide a vehicle motion control device and a program capable of deriving a track and a vehicle body synthesis force to be converted.

To achieve the above object, the vehicle motion control device of the first invention comprises a setting means for setting the velocity direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of the speed of the vehicle Detection means for detecting the vehicle body longitudinal force component F ₁ / m of the maximum value of the vehicle body composite acceleration when the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, The ratio γ ₀ of the vehicle body longitudinal direction component F ₁ and the vehicle body lateral direction component F ₂ of the maximum value of the vehicle body composite force, the movement distance X _e , the vehicle longitudinal component v _x0 of the speed of the host vehicle, and the speed The first parameter using the lateral component v _y0 of the vehicle body and the first parameter using the component F ₁ / m, the ratio γ ₀ , the movement distance X _e , the component v _x0 , and the component v _y0 . Second that is different from the first parameter Parameters and, in the case of setting the components F ₁ and the component F _2, the moving distance element Y _e vehicle body transverse to the moving distance X _e is first introduced to determine the vehicle body resultant force which maximizes 3 of the introduction parameter μ ₁ according to the first parameter and the second parameter among the component F ₁ / m, the ratio γ ₀ , the component X _e , the component v _x0 , and the component v _y0. A first map that defines the relationship between the value μ ₁ ′ under the assumption that one is a specific value, the first parameter, the second parameter, the component F ₁ and the component When F ₂ is set, a second different from the _first introduction parameter μ ₁ introduced to obtain the vehicle body composite force that maximizes the movement distance Y _{e in the} lateral direction of the vehicle body with respect to the movement distance X _e . Under the assumption of the introduction parameter μ ₂ A second map that defines the relationship with the value μ ₂ ′, and the movement when the first parameter, the second parameter, the component F ₁ and the component F ₂ are set. Storage means for storing a third map that defines a relationship between a time t _e that reaches a position determined by the distance X _e and the moving distance Y _e and a time t _e ′ under the assumption; Based on the moving distance X _e set by the setting means, the current speed detected by the detecting means, and the set components F ₁ and F ₂ , the first parameter and the second A parameter is calculated, and using the calculated first parameter, second parameter, the first map, the second map, and the third map, the vehicle lateral to the moving distance _{Xe is} calculated. body if the moving distance element Y _e direction is maximum And derivation means for deriving the time series data of the generation force.

The vehicle motion control device of the second invention comprises a setting means for setting the velocity direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of a detecting means for detecting the speed of the vehicle When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m of the vehicle body composite acceleration maximum value and the vehicle body composite force maximum value The ratio γ ₀ between the longitudinal direction component F ₁ and the lateral direction component F ₂ , the travel distance X _e , the longitudinal direction component v _{x0 of} the speed of the _host vehicle, and the lateral direction component v of the speed. The first parameter using _y0 is different from the first parameter using the component F ₁ / m, the ratio γ ₀ , the movement distance X _e , the component v _x0 , and the component v _y0 . 2 parameters and the above If you set the F ₁ and the component F _2, the moving distance X _e moving distance element Y _e vehicle lateral direction θ of the vehicle body resultant acceleration to be maximized for the components F _{1 /} m, the ratio Direction θ ′ under the assumption that three of γ ₀ , component X _e , component v _x0 , and component v _{y0 according} to the first parameter and the second parameter are specific values Storage means storing a map that defines the relationship between, the movement distance X _e set by the setting means, the current speed detected by the detection means, and the set component F ₁ and the component based on F _2, and calculates the first parameter and the second parameter, the moving distance element Y _e vehicle body lateral derives the vehicle body resultant force of the current time becomes the maximum to the movement distance X _e Deriving means, and comprising That.

The vehicle motion control device of the third invention, setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of a detecting means for detecting the speed of the vehicle When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m of the vehicle body composite acceleration maximum value, and the vehicle body composite force maximum value moving distance Y _e, longitudinal vehicle speed of the host vehicle direction component v _x0, and the vehicle body side of the velocity the longitudinal direction of the vehicle body components F ₁ and the vehicle body lateral ratio gamma ₀ of component F _2, the vehicle body lateral The first parameter using the direction component v _y0 , the first parameter using the component F ₁ / m, the ratio γ ₀ , the moving distance Y _e , the component v _x0 , and the component v _y0. Second parameter different from The component F _1, when setting the component F _2, and the moving distance Y _e, the movement distance in the longitudinal direction of the vehicle body is introduced to determine the vehicle body resultant force which is the shortest with respect to the moving distance Y _e Of the first introduction parameter μ ₁ , the first parameter and the second parameter of the component F ₁ / m, the ratio γ ₀ , the movement distance Y _e , the component v _x0 , and the component v _y0. A first map that defines the relationship between the value μ ₁ ′ under the assumption that the three corresponding to the specific values are: • the first parameter, the second parameter, and the component F ₁ , when the component F ₂ and the movement distance Y _e are set, the first combined force introduced to obtain the vehicle body composite force that makes the movement distance in the vehicle longitudinal direction shortest with respect to the movement distance Y _e introducing parameters mu ₁ different from the second introduction The parameter mu _2, the second map that determines the value mu _{2 'under} the assumption, the relationships, as well as a-said first parameter, a second parameter, with respect to the moving distance Y _e the moving distance of the vehicle front-rear direction is set at time t _e to reach the position determined by the shortest distance X _s and the moving distance Y _e having the shortest, and the time t _{e 'under} the assumption, the relationship Te Storage means storing three maps, the movement distance X _e set by the setting means, the current speed detected by the detection means, and the set components F ₁ , F ₂ , and on the basis of the moving distance Y _e, the first parameter and calculating the second parameter, the first parameter is calculated, the second parameter, the first map, the second map, and Using the third map, the shortest Obtains a release X _s, until said difference between the shortest distance X _s between the moving distance X _e is within the predetermined value, repeatedly obtains the shortest distance X _s while changing the setting of the moving distance Y _e determined, Based on the movement distance Y _e when the difference between the shortest distance X _s and the component X _{e in} the vehicle longitudinal direction of the distance is within a predetermined value, movement in the vehicle body lateral direction with respect to the movement distance X _e distance Y _e are configured to include a deriving means for deriving the time-series data of the vehicle body resultant force which maximizes the.

The vehicle motion control device of the fourth invention, setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of a detecting means for detecting the speed of the vehicle When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m of the vehicle body composite acceleration maximum value, and the vehicle body composite force maximum value moving distance Y _e, longitudinal vehicle speed of the host vehicle direction component v _x0, and the vehicle body side of the velocity the longitudinal direction of the vehicle body components F ₁ and the vehicle body lateral ratio gamma ₀ of component F _2, the vehicle body lateral The first parameter using the direction component v _y0 , the first parameter using the component F ₁ / m, the ratio γ ₀ , the moving distance Y _e , the component v _x0 , and the component v _y0. Second parameter different from The component F _1, when setting the component F _2, and the moving distance Y _e, the moving distance Y _e longitudinal direction of the vehicle movement distance X _e is the body combined acceleration having the shortest direction θ of the relative , Three of the component F ₁ / m, the ratio γ ₀ , the component X _e , the component v _x0 , and the component v _{y0 according} to the first parameter and the second parameter are specific values. A first map defining a relationship with the direction θ ′ under the assumption: and the first parameter, the second parameter, the component F ₁ , the component F ₂ , and the A second map that defines the relationship between the shortest distance X _s of the movement distance in the longitudinal direction of the vehicle body relative to the movement distance Y _e and the value X _s ′ under the assumption when the movement distance Y _e is set. , And storage means that stores information before the setting means Based on the moving distance X _e , the current speed detected by the detecting means, and the set component F ₁ , component F ₂ , and moving distance Y _e , the first parameter and the second And calculating the shortest distance X _s using the calculated first parameter, second parameter, and the second map, and calculating the shortest distance X _s and the moving distance X _e until the difference falls within the predetermined value, the moving distance repeatedly while changing the settings of Y _e seek the shortest distance X _s, the difference between the shortest distance X _s between the vehicle front-rear direction component X _e of the distance Derivation means for deriving a vehicle body resultant force at a current time at which a movement distance Y _{e in the} lateral direction of the vehicle body is maximum with respect to the movement distance X _e , based on the movement distance Y _e when it is within a predetermined value; It is comprised including.

Further, in the first or second invention, the derivation unit sets the moving distance Y _e with respect to the moving distance X _e, the moving distance X _e the components F ₁ and the component F ₂ as a constant value The movement distance y _e in the vehicle body lateral direction with respect to the movement distance X _e is repeatedly obtained while changing, and the movement when the difference between the set movement distance Y _e and the obtained movement distance y _e is within a predetermined value. based on the distance X _e, it can be the moving distance X _e is to derive the shortest avoidance path having the shortest to the moving distance Y _e set.

Further, in the first or second invention, the derivation unit sets the moving distance Y _e with respect to the moving distance X _e, setting of the components F ₁ and the component F ₂ the ratio gamma ₀ as a constant value When the difference between the set moving distance Y _e and the calculated moving distance y _e falls within a predetermined value, the horizontal moving distance y _e with respect to the moving distance X _e is repeatedly obtained. _On the basis of the component F ₁ and the component F ₂ , it is possible to derive a trajectory that minimizes the maximum value of the vehicle body resultant force.

Further, in the first or second invention, the derivation unit sets the moving distance Y _e with respect to the moving distance X _e, wherein the ratio one of the components F ₁ or the component F ₂ as a constant value gamma ₀ When the difference between the set moving distance Y _e and the calculated moving distance y _e falls within a predetermined value, the horizontal moving distance y _e with respect to the moving distance X _e is repeatedly obtained. Based on the ratio γ ₀ , a trajectory that minimizes the other of the component F _{1 and the} component F ₂ can be derived.

The fifth vehicle motion control device of the present invention includes setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of a detecting means for detecting the speed of the vehicle When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body front-rear direction, the vehicle body front-rear direction component F ₁ and the vehicle body lateral direction component F ₂ of the maximum value of the vehicle body composite force and the ratio gamma _0, a first parameter defined by the ratio and, the product of the vehicle body lateral component v _y0 of the speed and the vehicle front-rear direction component v _x0 of speed of the vehicle, the ratio gamma ₀ If the the ratio of the moving distance X _e and moving distance element Y _e vehicle transverse direction, a second parameter defined by the product of the position and the position determined by the moving distance X _e and the moving distance Y _e In order to reach the speed direction Of the first introduction parameter μ ₁ introduced for minimization, the ratio γ ₀ , the movement distance X _e , the movement distance Y _e , the component v _x0 , and the first parameter of the component v _y0. And a first map defining the relationship between the value μ ₁ ′ under the assumption that three values corresponding to the second parameter are specific values, the first parameter, and the second parameter The first introduction parameter μ ₁ introduced in order to minimize the maximum value of the vehicle body composite force in order to be in the speed direction at the position determined by the parameter, the movement distance X _e and the movement distance Y _e A second map defining the relationship between the second introduction parameter μ ₂ different from the value μ ₂ ′ under the assumption, and the first parameter, the second parameter, constant distance traveled _{X e} and the moving distance _{Y e} A storage unit that stores a third map that defines a relationship between a time t _e to reach a full position and a time t _e ′ under the assumption _; and the movement distance X set by the setting unit _e , calculating the first parameter and the second parameter based on the current speed detected by the detection means and the set component F ₁ , component F ₂ , and moving distance Y _e and, the first parameter is calculated, the second parameter, the first map, the second map, and the position determined by the third of the moving distance by using a map X _e and the moving distance Y _e And a vehicle body composite force f at which the maximum value of the vehicle body composite force for reaching the speed direction at the position is minimized, and a difference between the calculated vehicle body composite force f and the maximum value of the vehicle body composite force is within a predetermined value. until the setting of the moving distance Y _e Further to seek the vehicle body resultant force f while repeating the difference between the maximum value of the vehicle body resultant force f and the vehicle body resultant force obtained is based on the moving distance element Y _e when it becomes within a predetermined value, the moving distance Derivation means for deriving time series data of the vehicle body composite force that maximizes the movement distance Y _{e in the} vehicle body lateral direction with respect to X _e .

The vehicle motion control device of the sixth aspect of the present invention, setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of a detecting means for detecting the speed of the vehicle When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body front-rear direction, the vehicle body front-rear direction component F ₁ and the vehicle body lateral direction component F ₂ of the maximum value of the vehicle body composite force and the ratio gamma _0, a first parameter defined by the ratio and, the product of the vehicle body lateral component v _y0 of the speed and the vehicle front-rear direction component v _x0 of speed of the vehicle, the ratio gamma ₀ If the the ratio of the moving distance X _e and moving distance element Y _e vehicle transverse direction, a second parameter defined by the product of the position and the position determined by the moving distance X _e and the moving distance Y _e The maximum value of the vehicle body composite force is The first parameter and the second of the ratio γ ₀ , the movement distance X _e , the movement distance Y _e , the component v _x0 , and the component v _y0 in the direction θ of the minimum vehicle body synthesized acceleration. A first map that defines the relationship with the direction θ ′ under the assumption that three values according to the parameters are specific values; and the first parameter, the second parameter, and the moving distance of X _e and the moving distance Y maximum value in order to become the velocity direction at a position and the position determined by the _e becomes minimum vehicle composite acceleration F _{1 /} m, the vehicle synthetic acceleration F ₁ under the assumption '/ storage means storing a second map that defines the relationship between m ′, the moving distance X _e set by the setting means, the current speed detected by the detection means, and the set speed component _{F 1,} wherein component _{F 2,} and wherein Based on the dynamic distance Y _e, and calculates the first parameter and the second parameter, calculated first parameter was the second parameter, the first map, and the second map reference the moving distance X _e and the moving distance Y maximum value of the vehicle body resultant force to become the velocity direction at a position and the position determined by the _e calculated vehicle body resultant force f as a minimum, obtained the vehicle body resultant force f Te until the difference between the maximum value of the vehicle body resultant force is within a predetermined value, the moving distance repeatedly while changing the settings of Y _e seeking the body resultant force f, obtained of the vehicle body resultant force f and the vehicle body resultant force the difference between the maximum value based on the moving distance element Y _e when it becomes within a predetermined value, the vehicle body resultant force of the current time the moving distance element Y _e vehicle lateral direction is maximized for the moving distance X _e Deriving means for deriving, and comprising To have.

The vehicle motion control device of the seventh aspect of the present invention, setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of a detecting means for detecting the speed of the vehicle In the case where the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m or the vehicle body lateral component F ₂ of the vehicle body composite acceleration maximum value. / M, the moving distance X _e , the moving distance Y _{e in} the lateral direction of the vehicle body, the vehicle longitudinal component v _{x0 of} the speed of the _host vehicle, and the first parameter using the lateral component v _y0 of the vehicle speed in the vehicle body; , The component F ₁ / m or the component F ₂ / m, the moving distance X _e , the moving distance Y _e , the component v _x0 , and the second parameter different from the first parameter using the component v _y0 . Parameters and The speed in the case of setting one of the longitudinal direction of the vehicle body components F ₁ or the vehicle body lateral component F ₂ of the maximum value of the vehicle body resultant force, position and the position determined by the moving distance X _e and the moving distance Y _e The component F ₁ / m or the component F ₂ / m, the moving distance of the first introduction parameter μ ₁ introduced to minimize the other of the component F ₁ or the component F ₂ to become a direction A value μ under the assumption that three of X _e , the moving distance Y _e , the component v _x0 , and the component v _{y0 according} to the first parameter and the second parameter are specific values. ₁ ′, the first map, the first parameter, the second parameter, and the component F ₁ or the component F _{2 when one of the} components F ₁ or F ₂ is set. _e and the moving distance Y _e A second introduction parameter μ ₂ different from the _first introduction parameter μ ₁ introduced to minimize the other of the component F ₁ or the component F ₂ so as to be in the velocity direction at the full position and the position. , A second map defining a relationship with the value μ ₂ ′ under the assumption, and the first parameter, the second parameter, the movement distance X _e and the movement distance Y _e Storage means storing a third map that defines the relationship between the time t _e to reach the position determined by the time t _e ′ under the assumption and the movement distance set by the setting means Calculate the first parameter and the second parameter based on X _e , the current speed detected by the detection means, the set component F ₁ , the component F ₂ , and the moving distance Y _e And the calculated first parameter Data, the second parameter, the first map, the second map, and by using the third map, the moving distance X _e relative to one of the components F ₁ or the component F ₂ set and the components F ₁ or the longitudinal direction of the vehicle body component and the vehicle body side of the maximum value of the vehicle body resultant force and the other is a minimum of the component F ₂ in order to become the velocity direction at a position and the position determined by the moving distance Y _e A ratio γ _f with respect to the direction component is obtained, and the moving distance Y _e until the difference between the obtained ratio γ _f and the ratio γ ₀ between the set component F ₁ and the component F ₂ is within a predetermined value. The ratio γ _f is obtained repeatedly while changing the setting of the movement distance X based on the movement distance Y _e when the difference between the obtained ratio γ _f and the ratio γ ₀ is within a predetermined value. _The vehicle body composite force that maximizes the lateral movement distance Y _e with respect to _e And derivation means for deriving the time series data.
The vehicle motion control device of the eighth invention, setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of a detecting means for detecting the speed of the vehicle In the case where the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m or the vehicle body lateral component F ₂ of the vehicle body composite acceleration maximum value. / M, the moving distance X _e , the moving distance Y _{e in} the lateral direction of the vehicle body, the vehicle longitudinal component v _{x0 of} the speed of the _host vehicle, and the first parameter using the lateral component v _y0 of the vehicle speed in the vehicle body; , The component F ₁ / m or the component F ₂ / m, the moving distance X _e , the moving distance Y _e , the component v _x0 , and the second parameter different from the first parameter using the component v _y0 . Parameters and The speed in the case of setting one of the longitudinal direction of the vehicle body components F ₁ or the vehicle body lateral component F ₂ of the maximum value of the vehicle body resultant force, position and the position determined by the moving distance X _e and the moving distance Y _e The component F ₁ / m or the component F ₂ / m, the movement distance X _e , the movement of the direction θ of the vehicle body synthetic acceleration at which the other of the component F ₁ or the component F ₂ is the minimum in order to become a direction The relationship with the direction θ ′ under the assumption that three of the distance Y _e , the component v _x0 , and the component v _{y0 according} to the first parameter and the second parameter are specific values. A defined first map, and a ratio γ ₀ ′ under the assumption of the first parameter, the second parameter, and the ratio γ ₀ of the component F ₁ and the component F _2. A second map that defines the relationship between And the moving distance X _e set by the setting means, the current speed detected by the detecting means, the set component F ₁ , the component F ₂ , and the moving distance Y _e , The first parameter and the second parameter are calculated, and the set component F _{1 is} set using the calculated first parameter, second parameter, the first map, and the second map. or the moving distance X _e and the components F ₁ or other of the components F ₂ in order to become the velocity direction at a position and the position determined by the moving distance Y _e is minimized to one of the components F ₂ The ratio γ _f between the vehicle longitudinal direction component and the vehicle lateral direction component of the maximum value of the vehicle body composite force is obtained, and the obtained ratio γ _f and the ratio γ ₀ between the set component F ₁ and the component F ₂ are determined. Until the difference is within the specified value, Serial repeated while changing the setting of the moving distance Y _e seek the ratio gamma _f, the difference between the ratio gamma _f obtained with the ratio gamma ₀ is based on the moving distance element Y _e when it becomes within a predetermined value Derivation means for deriving the vehicle body composite force at the current time at which the movement distance Y _{e in the} lateral direction of the vehicle body is maximum with respect to the movement distance X _e .

  In addition, the control unit may further include a control unit that controls at least one of a steering angle, a braking force, and a driving force based on the vehicle body combined force derived by the deriving unit.

In addition, a control unit that controls at least one of a steering angle, a braking force, and a driving force is included, and the setting unit is configured to avoid the obstacle based on the position and size of the obstacle. set the travel distance, the control unit compares the travel distance Y _e which is maximized derived by the deriving means, and a horizontal moving distance to be avoided, which is set by the setting means, is the maximization and when the moving distance Y towards _e is small, performs control for the sudden braking or collision damage estimates a minimum, when sideways movement distance to be the avoidance is small, derived by said deriving means It is possible to perform avoidance control based on the vehicle body synthesis force.

  Further, the first parameter and the second parameter can be changed so that the singular point of each map is parallel to the vertical axis or the horizontal axis of the map.

Furthermore, the setting means, based on the position and size of the obstacle, sets the velocity direction in the vehicle front-rear direction moving distance X _e and the moving distance X _e moved position of said detection means, vehicle It is possible to detect the relative speed of the obstacle to the obstacle.

  In addition, the information processing device may further include notification means for notifying the driver of the vehicle movement state based on the vehicle body resultant force derived by the derivation means.

  Moreover, the vehicle motion control program of 9th invention is a program for functioning a computer as each means which comprises the vehicle motion control apparatus of 1st-8th invention.

  As described above, according to the present invention, when the maximum value of the vehicle body composite force is limited by the ellipse of the aspect ratio, the maximum value of the vehicle body composite force is set, and the distance between the host vehicle and the desired position, Using a map with a simple configuration using parameters calculated based on the speed of the host vehicle, it is possible to derive the trajectory and vehicle body combined force that maximize the lateral movement distance for the desired longitudinal movement distance and speed direction. An effect is obtained.

It is a figure which shows the outline of vehicle motion control. It is a figure for demonstrating the setting of xy coordinate. It is a diagram showing the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 1st Embodiment. It is a block diagram which shows the structure of the vehicle motion control apparatus of 1st Embodiment. It is a flowchart which shows the vehicle motion control routine of 1st Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 2nd Embodiment. It is a flowchart which shows the vehicle motion control routine of 2nd Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 3rd Embodiment. It is a flowchart which shows the vehicle motion control routine of 3rd Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 4th Embodiment. It is a flowchart which shows the vehicle motion control routine of 5th Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 8th Embodiment. It is a flowchart which shows the vehicle motion control routine of 8th Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 9th Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 10th Embodiment. It is a flowchart which shows the vehicle motion control routine of 10th Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 11th Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, a case where an obstacle on a road on which a vehicle travels is assumed and a speed direction at a position passing next to the obstacle is assumed to be a vehicle body front-rear direction will be described.

  An outline of derivation of the vehicle body resultant force and the avoidance trajectory in the vehicle motion control apparatus of the first embodiment will be described.

As shown in FIG. 1, the x component of the vehicle body composite acceleration at time t (the current time is set to t = 0 and t seconds after the current time) at the set xy coordinates is u _x (t), and the vehicle body composite acceleration y The component is u _y (t), the x component of the magnitude of the vehicle body synthesis force is F _x (t), the y component of the magnitude of the vehicle body synthesis force is F _y (t), and the direction of the vehicle body synthesis force is θ ₀ (t ), And the weight of the host vehicle is m, the x component u _x (t) and the y component u _y (t) of the vehicle body combined acceleration are expressed by the following equations (1) and (2). Further, by integrating the expressions (1) and (2), as shown in the following expressions (3) and (4), the x component v _x (t) of the speed with respect to the road surface of the host vehicle and the y of the speed The component v _y (t) is obtained. Further, by integrating the expressions (3) and (4), as shown in the following expressions (5) and (6), the x component X (t) of the moving distance of the host vehicle for t seconds, and the moving distance Y component Y (t) is obtained. An avoidance trajectory is obtained by X (t) and Y (t).

  In the xy coordinates, the position of the host vehicle at t = 0 is the origin, the speed direction (vehicle body longitudinal direction) at the position passing the obstacle is the x axis, and the axis orthogonal to the x axis (vehicle body lateral direction). Set as y-axis (see FIG. 2).

Then, the target position on the xy coordinates at the current time (t = 0) is (X _e , Y _e ), and the speed of the host vehicle with respect to the road surface is v _x (0) = v _x0 , v _y (0) = v _y0 , If the time to reach the speed direction at the target position and the target position was t _e, by setting the x and y components of the maximum value of the vehicle body resultant force, the vertical moving distance X _{e (vehicle} to the target position Vehicle body combined accelerations u _x (t) and u _y (t) (() where the lateral movement distance Y _e (y component of the distance between the host vehicle and the target position) relative to the target position x component) 1), and (2) below), in the context set to a certain value the size Fmax, and the vertical movement distance X _e limits resultant force estimated from the magnitude of the critical friction circle of each wheel, v _x0 And v _y0 as parameters.

The position determined by maximized lateral movement distance Y _e to the longitudinal moving distance X _e and the vertical movement distance X _e is the target position, determined by the desired longitudinal movement distance X _e is set at the initial stage of deriving The position is called the desired position. At the desired position, the lateral movement distance is indefinite.

  Next, the map used in the first embodiment will be described.

First, x ₁ = X (t), x ₂ = v _x (t), x ₃ = Y (t), x ₄ = v _y (t), u ₁ = u _x (t), u ₂ = u _y If it is set as (t), the equation of motion of (1) Formula and (2) Formula can be transformed into a state equation like the following (7) Formula. T is a transposed symbol of a vector and a matrix.

Next, assuming that the limit composite force magnitude F _max and the μ utilization factor (γ ₁ , γ ₂ ) are known, optimal control that minimizes a value obtained by multiplying the lateral movement distance by −1. Think as a problem. Note that the μ utilization rate is a physical index set as a ratio of the target resultant force applied to the vehicle body and the limit resultant force F _max , γ ₁ is the μ utilization rate in the vehicle longitudinal direction, and γ ₂ is the μ in the vehicle lateral direction. It is a utilization rate.

Here, in the present embodiment, the maximum value of the vehicle body composite force that can be generated by the vehicle is limited by an ellipse whose longitudinal direction (or the short axis) is the longitudinal direction of the vehicle (x axis), and μ utilization rate ( The maximum value of the x component (long axis (or short axis) direction) limited by the ellipse and the y component (short of the ellipse) based on γ ₁ , γ ₂ ) and the magnitude F _max of the limit composite force Determine the maximum value of the axis (or long axis).

If put the time to reach the target position and t _e, when expressed an evaluation function I below (8), end condition specified by the following equation (9), and an ellipse represented by the following formula (10) This results in a control problem of finding a control input that minimizes the evaluation function I under the input constraint on the magnitude of the vehicle body composite force limited by

  Here, when a known technique such as Japanese Patent Application Laid-Open No. 2007-283910 is used, a control input represented by the following expression (11) is derived.

However, ν ₁ and ν ₂ are the first introduction parameter and the second introduction parameter introduced to obtain the optimum solution. Further, in the case of γ ₁ ≠ γ ₂ , the magnitude of the vehicle body composite force changes depending on the value of θ (t), and the magnitude of the input | u (t) | Becomes time-varying. In the case of γ ₁ = γ ₂ , the value of | u (t) | shown by the equation (11) is time-invariant.

  Here, variable conversion is performed as shown in the following equation (12).

Then, applying to the equation (7), integrating the time according to the equations (1) to (6), and further setting Y (t _e ) = Y _e , the equation (11) The necessary t _e , ν ₁ , and ν ₂ are m, v _x0 , v _y0 , F ₁ , γ ₀ , and X _{e in} the following nonlinear equations (13), (14), and (16). Is obtained by substituting Further, the horizontal movement distance Y _e when the horizontal movement distance is the maximum with respect to the vertical movement distance X _e satisfies the relationship of the expression (15).

In order to find the solution of this equation, a reduced-dimensional map is derived. First, paying attention to the expressions (13), (14), and (16), an arbitrary positive number a is introduced, and two sets of parameters P and P ′ satisfying the relationship of the following expression (17) are set. Considering, the solutions {μ ₁ , μ ₂ , t _e } and {μ ₁ ′, μ ₂ ′, t _e ′} corresponding to P and P ′ satisfy the relationship of the following equation (18).

From the last equation of equation (17), when a is set as in the following equation (19), v _x0 ′ and v _y0 ′ can be modified as in equation (20) from equation (17).

From this relationship, by setting arbitrary positive numbers to γ ₀ ′, F ₁ ′ / m ′, and X _e ′, v _x0 ′ and v _y0 ′ are obtained by the parameter P of the current time. Therefore, when γ ₀ ′, F ₁ ′ / m ′ and X _e ′ are set to certain values, a map is prepared in advance with v _x0 ′ as the first parameter and _{vy 0} ′ as the second parameter. Just keep it. The values of γ ₀ ′, F ₁ ′ / m ′, and X _e ′ can be freely set by the designer when creating the map.

Here, as an example, a map relating to v _x0 ′ and v _y0 ′ when γ ₀ ′ = F ₁ ′ / m ′ = X _e ′ = 1 is created. As shown in FIG. 3, μ ₁ ′ obtained based on the equations (13), (14), and (16), where v _x0 ′ is the first parameter and v _y0 ′ is the second parameter. A first map in which the value of t 2 is mapped, a second map in which the value of μ ₂ ′ is mapped, and a third map in which the value of t _e ′ is mapped are created.

Then, to obtain {μ ₁ , μ ₂ , t _e } using these maps, γ ₀ ′ = F ₁ ′ / m ′ = X _e = 1 = 1, known m, v _x0 , v _y0 , X _e, from gamma ₀ determined by the x components _{F 1} of the maximum value of the vehicle body resultant force which is determined by the magnitude _{F max} limit resultant force μ utilization factor gamma ₁ and, and μ utilization factor gamma ₁ and gamma ₂ (20) first parameter _v calculates the _x0 'and the second parameter _{v y0'} according to the equation, the output for the calculated parameters _{{μ 1 ', μ 2'} , t e '} to obtain from each map, (18) according to the equation and (19) _{{μ 1 ', μ 2'} , t e '} {μ 1, μ 2, t e} is converted into a time function of the input according to (11) and (12) according (15), calculates the lateral movement distance _{Y e} with the maximum for the desired longitudinal movement distance _{X e.}

_However, in the case of _v y0 _<0, is converted into _{v y0 → -v y0, Y e} → -Y e, seek _{{-μ 1 ', -μ 2'} , t e '} from the map, - [mu] ₁ '→ _{μ 1',} by performing the processing of _{-μ 2 '→ μ 2' {} μ 1, μ 2, t e} or if you get.

As a result, by the integral calculation of Equations (1) to (6), from the longitudinal movement distance X _e and the vehicle speed, the lateral movement distance can be maximized with respect to the longitudinal movement distance X _e . A trajectory is derived.

In the above map, the case where the first parameter and the second parameter are determined as in Expression (20) has been described. However, an arbitrary positive number a is expressed by using the first expression of Expression (17). In the following equation (21), v _y0 ′ shown in the following equation (22) is a first parameter and X _e ′ is a second parameter. For example, γ ₀ ′ = F ₁ ′ / m ′ = As v _x0 ′ = 1, a map as shown in FIG. 4 can be created.

Further, when the second equation of the equation (22) is changed as the following equation (23), a is transformed as the following equation (24). Then, a map is created with v _y0 ′ in equation (22) and F ₁ ′ / m ′ in equation (23) as the first and second parameters, and γ ₀ ′ = X _e ′ = v _x0 ′ = 1. (FIG. 5).

As another case of using another parameter, an arbitrary positive number a is changed to v _x0 ′ shown in the following equation (26) in the following equation (25) using the second equation (17). As shown in FIGS. 6 and 7, assuming that the first parameter and X _e ′ are the second parameters, and γ ₀ ′ = F ₁ ′ / m ′ = 1 and v _y0 ′ = ± 1, for example, as described above. Can create a simple map. Here, when v _y0 > 0, the map shown in FIG. 6 is used, and when v _y0 <0, the map shown in FIG. 7 is used.

Further, when the second equation of the equation (26) is changed as the following equation (27), a is transformed as the following equation (28). Then, v _{x0 in} equation (26) and F ₁ '/ m' in equation (27) are the first and second parameters, and γ ₀ '= X _e ' = 1 and v _y0 '= ± 1. May be created (FIGS. 8 and 9).

  Further, a map in which the map axis is changed and the singular point is moved so as to be parallel to the vertical axis or the horizontal axis may be used.

Specifically, the method of taking the axes of the map shown in FIG. 3 is changed to the following equation (29) or (30), and v _x0 ″ shown in equation (29) is changed to the first parameter and v _y0 'was the second parameter, similarly to the above, gamma _0' = as _{F 1 '/ m' = X} e '= 1, it is possible to create a map as shown in FIG. 10. Similarly, v _x0 ′ shown in the equation (30) is a first parameter and v _y0 ″ is a second parameter, and γ ₀ ′ = F ₁ ′ / m ′ = X _e ′ = As 1, a map as shown in FIG. 11 can be created.

  Thus, by changing the map axis so that the singular point line is parallel to the vertical axis or the horizontal axis, the capacity for storing the map while maintaining the accuracy of the map is compared with the map shown in FIG. It becomes easy to keep it small.

  Furthermore, the way of taking the axis of the map of FIG. 4 is changed, and the singular point is made parallel to the vertical axis or the horizontal axis using the first and second parameters as shown in the following equation (31) or (32). The map is moved so as to become or the method of taking the axis of the map of FIG. 5 is changed, and the first and second parameters as shown in the following formula (33) or (34) are used. By creating a map in which the singular point is moved so as to be parallel to the vertical axis or the horizontal axis, or by changing the way of taking the axes of the maps in FIGS. 6 and 7, the following formula (35) or (36) Use the first and second parameters as shown in Fig. 8 to create a map that moves the singularity so that it is parallel to the vertical or horizontal axis, or change the way the axes of the maps in Figs. Using the first and second parameters as shown in the following formula (37) or (38), Map may be or create is moved so as to be parallel to the longitudinal axis or transverse axis point.

  Hereinafter, the first embodiment using the above map will be described in detail. As shown in FIG. 12, the vehicle motion control apparatus according to the first embodiment includes a sensor group mounted on the vehicle as a traveling state detection unit that detects the traveling state of the host vehicle, and an external environment that detects an external environmental state. Based on the sensor groups mounted on the vehicle as detection means and the detection data from these sensor groups, the in-vehicle device mounted on the host vehicle is controlled so that the host vehicle moves so as to reach the target position. Are provided with a control device 20 for controlling the vehicle motion and a display device 30 for notifying the driver of the vehicle motion control state.

  The sensor group for detecting the running state of the host vehicle of the vehicle motion control device includes a vehicle speed sensor 10 for detecting the vehicle speed, a steering angle sensor 12 for detecting the steering angle, and a throttle opening sensor 14 for detecting the opening of the throttle valve. Is provided. Moreover, you may make it add the information from the GPS apparatus which is not shown in figure.

  Further, as a sensor group for detecting the external environment state, a front camera 16 for photographing the front of the host vehicle and a laser radar 18 for detecting an obstacle in front of the host vehicle are provided. A millimeter wave radar may be provided instead of the laser radar 18 or together with the laser radar 18. Moreover, you may make it add the information from the GPS apparatus which is not shown in figure.

  The front camera 16 is attached to the upper part of the front window of the vehicle so as to photograph the front of the vehicle. The front camera 16 is composed of a small CCD camera or CMOS camera, and captures an area including a road condition ahead of the host vehicle and outputs image data obtained by the photographing. The output image data is input to the control device 20 constituted by a microcomputer or the like. As a camera, it is preferable to provide a front infrared camera in addition to the front camera 16. By using an infrared camera, a pedestrian can be reliably detected as an obstacle. Note that a near-infrared camera can be used instead of the above-described infrared camera, and even in this case, a pedestrian can be reliably detected in the same manner.

  The laser radar 18 is a light emitting element composed of a semiconductor laser that irradiates infrared light pulses, a scanning device that scans the infrared light pulses in the horizontal direction, and red reflected from obstacles in front (pedestrians, vehicles ahead, etc.). It includes a light receiving element that receives an external light pulse, and is attached to the front grille or bumper of the vehicle. The laser radar 18 detects the distance from the host vehicle to the obstacle ahead based on the arrival time of the reflected infrared light pulse until the light receiving element receives the light from the light emitting element as a reference. Can do. Data indicating the distance to the obstacle detected by the laser radar 18 is input to the control device 20. The control device 20 includes a microcomputer including a RAM, a ROM, and a CPU, and a program for a vehicle motion control routine described below is stored in the ROM.

  The control device 20 is connected to a vehicle-mounted device for controlling the vehicle motion so as to reach the target position by controlling at least one of the steering angle, the braking force, and the driving force of the host vehicle. Yes. The vehicle-mounted device includes a steering angle control device 22 such as an electric power steering for controlling the steering angle of the wheels, a braking force control device 24 that controls the braking force by controlling the brake hydraulic pressure, and a driving force. A driving force control device 26 is provided. A detection sensor 24 </ b> A for detecting the braking force is attached to the braking force control device 24. The control device 20 is connected to a display device 30 that notifies the driver of vehicle motion control information by displaying the calculated control input direction θ and the like. In addition, you may make it alert | report toward the target position direction outside a vehicle not only a driver but performing vehicle motion control.

  The steering angle control device 22 is a control means for controlling the steering angle of at least one of the front wheels and the rear wheels superimposed on the steering wheel operation of the driver, mechanically separated from the driver operation, Independently, control means (so-called steer-by-wire) for controlling the steering angle of at least one of the front wheels and the rear wheels can be used.

  As the braking force control device 24, a control device used for so-called ESC (Electronic Stability Control), which controls the braking force of each wheel independently of the driver operation, is mechanically separated from the driver operation. A control device (so-called brake-by-wire) that arbitrarily controls the braking force of the wheel via a signal line can be used.

  As the driving force control device 26, a control device that controls the driving force by controlling the throttle opening, the retard of the ignition advance angle, or the fuel injection amount, and the driving force is controlled by controlling the shift position of the transmission. For example, a control device that controls at least one of the driving force in the front-rear direction and the left-right direction by controlling the torque transfer can be used.

  The control device 20 is connected to a map storage device 28 that stores a map for obtaining a control input. The case where the map shown in FIG. 3 is used as the map of the first embodiment will be described. 4, 5, 6 and 7, 8 and 9, 10, or 11 shown as another example is stored in the map storage device 28 and the map is used. May be. In that case, the first parameter and the second parameter corresponding to the map stored in the map storage device 28 are calculated and used.

  The control device 20 is connected to an alarm device (not shown) that issues an alarm to the driver. As an alarm device, a device that issues a warning by sound or sound, a device that issues a warning by light or visual display, a device that issues a warning by vibration, or a physical quantity such as a steering reaction force is given to the driver to operate the driver. An induced physical quantity imparting device can be used. Further, the display device 30 may be used as an alarm device.

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the first embodiment will be described with reference to FIG.

  In step 100, detection data relating to the traveling state of the host vehicle detected by the vehicle speed sensor 10 and the external environmental state detected by the laser radar 18 and the like are captured. Next, in step 102, an environment map including the position and size of the obstacle on the road on which the vehicle is traveling is created based on the captured detection data.

  Next, in step 104, a desired position for traveling while avoiding an obstacle using the environment map and a speed direction at the desired position are set. Here, the desired position is a position passing the side of the obstacle, and the speed direction at the desired position is the vehicle longitudinal direction. In the present embodiment, the position where the distance in the lateral direction of the vehicle body at the desired position is maximized is the final target position for vehicle motion control.

  Next, in step 106, xy coordinates are set with the set speed direction as the x axis, the direction orthogonal to the x axis as the y axis, and the current position of the vehicle as the origin. That is, the longitudinal direction of the vehicle body at the desired position is the x-axis direction, and the y component in the speed direction at the desired position is zero.

Next, in step 108, the speed of the host vehicle captured as the running state in step 100 and the distance between the host vehicle captured as the external environment state and the obstacle are converted in accordance with the set coordinates, The longitudinal movement distance X _e , the velocity x component v _x0 , and the y component v _y0 are calculated.

Next, in step 110, based on the external environment and the structure and state of the host vehicle, the magnitude F _max of the limit composite force and the x component F ₁ and the y component F of the maximum value of the vehicle body composite force limited by the ellipse. ₂ is set. At this time, the μ utilization factors γ ₁ and γ ₂ of the maximum value of the vehicle body synthesis force are naturally determined. The maximum value of the vehicle body synthesis force is limited by an ellipse whose major axis or minor axis is the x axis. Note that F ₂ is F ₂ = γ ₂ Fmax, and the relationship of the second expression of the expression (12) is derived from this. Therefore, in this step, instead of setting F ₁ and F ₂ , F ₁ and γ ₀ may be set.

Next, in step 112, the first parameter v _x0 ′ and the second parameter v _y0 ′ are calculated according to the equation (20). Next, at step 114, the first to third maps stored in the map storage device 28 are read out, and the maximum value of the vehicle body composite force set at step 110 and the first value calculated at step 112 are read. Using the parameter v _x0 ′ and the second parameter v _y0 ′ as input, the trajectory that maximizes the lateral movement distance with respect to the vertical movement distance X _e and the time series data of the vehicle body composite force are derived.

Specifically, μ ₁ ′ is obtained based on the first map, the first parameter v _x0 ′, and the second parameter v _y0 ′, and the second map, the first parameter v _x0 ′, and to obtain 'mu ₂ based on the' second parameter _{v y0,} third map, obtaining a _{t e} 'on the basis of the first parameter _{v x0',} and the second parameter _{v y0} '. _{Then, {μ 1 ', μ 2} ', t e '} {μ 1, μ 2, t e} according to (18) and (19) was converted to the following equation (11) and (12) The maximum lateral movement distance _Ye is calculated from the input time function according to the equation (15). Then, (1) according to Expression (6), the horizontal moving distance up to track lateral movement distance with respect to the longitudinal moving distance X _e is maximum is derived.

  Next, in step 116, the tire generating force of each wheel necessary for realizing traveling along the lateral movement distance maximization avoidance track is calculated according to the time series data of the vehicle body composite force derived in step 114. In addition, at least one of the steering angle control device 22, the braking force control device 24, and the driving force control device 26 is controlled so that the tire generating force of each wheel can be obtained, and the vehicle motion control information is displayed on the display device 30. . Also, when controlling to avoid obstacles, by issuing an alarm from the alarm device unconditionally, or by displaying on the display device that vehicle motion control for avoiding obstacles is being performed. An alarm may be given. By controlling so as to obtain the tire generating force of each wheel, it is possible to control so as to obtain the target vehicle body generating force.

As described above, according to the vehicle motion control apparatus of the first embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force and By setting a y component, a desired vertical movement distance using a map of a simple configuration using parameters calculated by the vertical movement distance X _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 In addition, it is possible to derive time-series data of the trajectory and the vehicle body combined force that maximize the lateral movement distance in the speed direction.

In the first embodiment, the case where the direction of the vehicle body composite force is obtained using F ₁ and γ ₀ has been described, but it may be obtained using F ₂ and γ ₀ . This is because if the relationship of F ₁ = F ₂ / γ ₀ and F ₁ ′ = F ₂ ′ / γ ₀ ′ is substituted into a method of taking an axis such as (20) or a parameter a such as (19), This is because the map shown in the present embodiment can be applied as it is.

In addition, as shown in FIG. 1, in the case of avoiding an obstacle in the left direction with respect to the vehicle traveling direction, the technique for avoiding the lateral movement distance to the maximum has been described, but in the case of avoiding in the right direction It is also applicable to. By converting the speed of the y component of the vehicle to _{v y0} → _{-v y0,} from the map _{{-μ 1 ', -μ 2'} , t e '} _{sought, -μ 1' → μ 1 '} , -μ By performing the processing ₂ ′ → μ ₂ ′, {μ ₁ , μ ₂ , t _e } corresponding to the right direction can be obtained.

  Moreover, although the case where the speed with respect to the road surface of the own vehicle was used was demonstrated in 1st Embodiment, you may use the relative speed with respect to the desired position of the own vehicle. At this time, since the termination condition of equation (9) is also a relative speed, the y component of the termination speed is 0 with respect to the relative speed.

In the first embodiment, the case where the avoidance control for avoiding the obstacle is performed based on the derived vehicle body composite force has been described. However, the environment including the position and size of the obstacle in step 102 is described above. when the lateral movement distance Y _a to be avoided on the basis of the map is given, as compared to being maximized derived horizontal moving distance Y _e, in the case of Y e _{<Y a} is failure by sudden braking control The braking force control device 24 is controlled so that the vehicle stops in front of the object, or the steering angle control device 22 and the braking force control device 24 are controlled so that the estimated collision damage is minimized. Good. For such control, for example, a known technique such as the technique described in WO2006-070865 can be used.

Next, a second embodiment will be described. In the first embodiment, a case has been described in which the transverse moving distance with respect to the longitudinal moving distance X _e derives the time series data of the lateral movement distance maximize avoidance routes and the vehicle body resultant force to maximize the second embodiment in the form, the first embodiment using different map, the horizontal moving distance with respect to the longitudinal moving distance X _e will be described for deriving the magnitude and direction of the vehicle body resultant force of the current time to a maximum. In addition, about the vehicle motion control apparatus of 2nd Embodiment, about the same structure and process as the vehicle motion control apparatus of 1st Embodiment, description is abbreviate | omitted using the same code | symbol.

  Here, the map used in the second embodiment will be described.

First, as in the first embodiment, the expression (20) is expanded. Then, as an example, a map relating to v _x0 ′ and v _y0 ′ when γ ₀ ′ = F ₁ ′ / m ′ = X _e ′ = 1 is created. As shown in FIG. 14, the vehicle body synthesis obtained based on the above equations (13), (14), and (16) with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter. A map in which the value of the acceleration direction θ ′ is mapped is created.

In order to obtain {θ ′} using this map, γ ₀ ′ = F ₁ ′ / m ′ = X _e ′ = 1, known m, v _x0 , v _y0 , X _e , The first parameter v _x0 ′ and the second parameter v _y0 ′ are calculated from the maximum value x component F ₁ and y component F ₂ according to the equation (20), and the output {θ ′} for the calculated parameter is mapped obtained from the following equation (39), the vertical movement distance X _e of the vehicle body resultant force of the current time to maximize the horizontal travel distance with respect to magnitude and direction are obtained.

However, if v _y0 <0, convert to v _y0 → −v _y0 , Y _e → −Y _e to obtain {−θ ′} from the map, and perform the process of −θ ′ → θ ′ to perform θ Just get.

In addition to the map of θ ′, a map for obtaining Y _e ′ when γ ₀ ′ = F ₁ ′ / m ′ = X _e ′ = 1 is created as in the map in the broken line in FIG. You may keep it. Y _e ′ obtained from this map may be converted by the following equation (40) to obtain the longitudinal movement distance Y _e .

In the above map, the case where the first parameter and the second parameter are defined as in Expression (20) has been described, but v _{y0 expressed in} Expression (22) is the same as in the first embodiment. A map may be created when 'is the first parameter and X _e ' is the second parameter, and γ ₀ '= F ₁ ' / m '= v _x0 ' = 1 (FIG. 15). In this case, similarly to the above Y _{e 'in} the case of using also map seeking is, Y _e obtained from the map by the following equation _(41)' can be converted into Y _e.

Similarly, v _y0 ′ shown in equation (22) is the first parameter, and F ₁ ′ / m ′ shown in equation (23) is the second parameter, and γ ₀ ′ = v _x0 ′ = X _e ′ = A map in the case of 1 may be created (FIG. 16). In this case, similarly to the Y _{e 'in} the case of using also map seeking is, Y _e determined from the map by equation _(40)' can be converted into Y _e.

Similarly, v _x0 ′ shown in the equation (26) is the first parameter, X _e ′ is the second parameter, γ ₀ ′ = F ₁ ′ / m ′ = 1, and _{vy 0} ′ = ± 1. A map of the case may be created (FIGS. 17 and 18). In this case, similarly to the Y _{e 'in} the case of using also map seeking is, Y _e determined from the map by equation _(42)' can be converted into Y _e.

Similarly, v _x0 ′ shown in equation (26) is the first parameter, and F ₁ ′ / m ′ shown in equation (27) is the second parameter, and γ ₀ ′ = X _e ′ = 1, v A map may be created when _y0 ′ = ± 1 (FIGS. 19 and 20). In this case, similarly to the Y _{e 'in} the case of using also it maps seeking is, Y _e determined from the map by equation _(40)' can be converted into Y _e.

  Also, the map axis was changed so that the singularity line was parallel to the vertical or horizontal axis, using the same method as the method of changing the map axis in the first embodiment. You may create a map. For example, FIG. 21 shows a map when the map axis shown in FIG. 14 is changed as shown in equation (29), and FIG. 23 shows a map when changed as shown in equation (30).

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the second embodiment will be described with reference to FIG. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, a case where the map shown in FIG. 14 is used will be described.

In step 100 to step 112, the same processing as in the first embodiment is performed to obtain the first parameter v _x0 ′ and the second parameter v _y0 ′.

Next, at step 200, the map stored in the map storage device 28 is read out, and the maximum value of the vehicle body composite force set at step 110, the first parameter v _x0 ′ calculated at step 112 and the first parameter v _x0 ′ are calculated. as input second parameter v _{y0 ',} the lateral moving distance with respect to the longitudinal moving distance X _e derives the vehicle body resultant force of the current time to a maximum.

Specifically, the direction θ ′ of the vehicle body composite acceleration is obtained based on the map of θ ′, the first parameter v _x0 ′, and the second parameter v _y0 ′, and the longitudinal movement distance X _e is expressed by equation (39). The vehicle body resultant force at the current time at which the lateral movement distance is maximum is derived.

As described above, according to the vehicle motion control apparatus of the second embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force and By setting a y component, a desired vertical movement distance using a map of a simple configuration using parameters calculated by the vertical movement distance X _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 In addition, it is possible to derive the vehicle body composite force at the current time at which the lateral movement distance in the speed direction is maximized. Further, since the number of maps to be used is small compared to the case of deriving the time series data of the vehicle body synthesis force, the capacity for storing the maps can be reduced.

Next, a third embodiment will be described. In the first embodiment, a case has been described in which the transverse moving distance with respect to the longitudinal moving distance X _e derives the time series data of the lateral movement distance maximize avoidance routes and the vehicle body resultant force to maximize the third embodiment In the form, when the convergence calculation is performed using the map for obtaining the vehicle body composite force with the shortest vertical movement distance for avoiding the obstacle, when the maximum value of the vehicle body composite force and the aspect ratio thereof are given, It will be described a case where the horizontal travel distance with respect to the longitudinal moving distance X _e derives the time series data of the lateral movement distance maximize avoidance routes and the vehicle body resultant force be maximized. In addition, about the vehicle motion control apparatus of 3rd Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st or 2nd embodiment, description is abbreviate | omitted using the same code | symbol.

Table In the third embodiment, in the context, such as in FIG. 1, the horizontal moving distance Y _e is given to be avoided, also when expressed an evaluation function I below (43) below, by the following equation (44) The control problem is to obtain a control input that minimizes the evaluation function I under the input constraint condition regarding the magnitude of the vehicle body composite force limited by the ellipse represented by the equation (10) and the ellipse represented by the equation (10). The

  Here, when a known technique such as Japanese Patent Application Laid-Open No. 2007-283910 is used, a control input represented by the following expression (45) is derived.

Here, variable conversion is performed as in the following equation (46).

Then, t _e , ν ₁ , ν ₂ required in the equation (45) are m, v _x0 , v _y0 , F ₁ , γ ₀ , and Y in the nonlinear equations of the following equations (47) to (49). _It is obtained by substituting _e and solving for μ ₁ , μ ₂ , and te. Further, the shortest distance X _s when the vertical movement distance is the shortest with respect to the set horizontal movement distance Y _e satisfies the relationship of the expression (50).

In order to find the solution of this equation, a reduced-dimensional map is derived. First, focusing on the equations (47) to (49) and considering two sets of parameters P and P ′ that satisfy the relationship of the following equation (51) by introducing an arbitrary positive number a, P and P The solutions {μ ₁ , μ ₂ , t _e } and {μ ₁ ′, μ ₂ ′, t _e ′} corresponding to “s” satisfy the relationship of equation (18).

If a is set as the following formula (52) from the last formula of the formula (51), v _x0 ′ and v _y0 ′ can be transformed as the following formula (53) from the formula (51).

From this relationship, by setting arbitrary positive numbers to γ ₀ ′, F ₁ ′ / m ′, and Y _e ′, v _x0 ′ and v _y0 ′ are obtained by the parameter P of the current time. Therefore, when γ ₀ ′, F ₁ ′ / m ′ and Y _e ′ are set to certain values, a map is prepared in advance with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter. Just keep it. The values of γ ₀ ′, F ₁ ′ / m ′, and Y _e ′ can be freely set by the designer when creating the map.

Here, as an example, a map relating to v _x0 ′ and v _y0 ′ when γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1 is created. As shown in FIG. 24, the value of μ ₁ ′ obtained based on the equations (47) to (49) is mapped with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter. A first map, a _second map in which the value of μ ₂ ′ is mapped, and a third map in which the value of t _e ′ is mapped are created.

In order to obtain {μ ₁ , μ ₂ , t _e } using these maps, γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1, known m, v _x0 , v _y0 , Y _e, the gamma ₀ determined by the x components _{F 1} of the maximum value of the vehicle body resultant force which is determined by the magnitude _{F max} limit resultant force μ utilization factor gamma ₁ and, and μ utilization factor gamma ₁ and gamma ₂ (53) first parameter _v calculates the _x0 'and the second parameter _{v y0'} according to the equation, the output for the calculated parameters _{{μ 1 ', μ 2'} , t e '} to obtain from each map, (18) according to the equation and equation (52) _{{μ 1 ', μ 2'} , t e '} {μ 1, μ 2, t e} is converted into a time function of the input according to (45) and (46) below , calculates the vertical movement distance _{X s} shortest according equation (50).

_However, in the case of _Y e _<0, is converted into _{v y0 → -v y0, Y e} → -Y e, seek _{{-μ 1 ', -μ 2'} , t e '} from the map, - [mu] ₁ '→ _{μ 1',} by performing the processing of _{-μ 2 '→ μ 2' {} μ 1, μ 2, t e} or if you get.

As a result, (1) by formula - (6) integral calculation of formula, the lateral movement distance Y _e, and the speed of the vehicle, the shortest avoidance route vertical travel distance is the shortest with respect to the horizontal moving distance Y _e is derived The

  Next, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the third embodiment will be described with reference to FIG. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, a case where the map shown in FIG. 24 is used will be described.

Through step 100 to step 110, at step 300, to set any value to the horizontal movement distance _{Y e.} For example, using the environment map created in the above step 102, the y component of the position passing the side of the obstacle is used as the lateral movement distance _Ye , or the distance obtained by adding a predetermined distance to the y component is the lateral movement distance. Y _e .

Next, in step 112, the same processing as in the first embodiment is performed to calculate the first parameter v _x0 ′ and the second parameter v _y0 ′.

Next, in step 302, the first to third maps stored in the map storage device 28 are read out, and the first parameter v _x0 ′ and the second parameter v _y0 ′ are input and set in step 300 above. The shortest vertical movement distance X _s with the shortest vertical movement distance with respect to the horizontal movement distance Y _e is derived.

Next, in step 304, it is determined whether or not the shortest vertical movement distance X _s with respect to the horizontal movement distance Y _e derived in step 302 is equal to the vertical movement distance X _e calculated in step 108. When X _s = X _e, the process proceeds to step 308, and when X _s ≠ X _e , the process proceeds to step 306. Here, a case where it is determined whether or not X _s = X _e will be described. However, not only when X _s and X _e are equal, but the difference between X _s and X _e is a predetermined value (for example, X _(e.g. 5% of _e ) or less) may also be affirmatively determined.

In step 306, it modifies the value of _{Y e} so _{X s} approaches the _{X e.} Then, the processing from step 302 to step 306 is repeated until it is determined in step 304 that X _s = X _e .

In step 308, the values of {μ ₁ , μ ₂ , t _e } obtained in step 302 above are used as the values of Y _e when it is determined that X _s = X _e (45) and (46) Apply to the equation to obtain the vehicle body composite acceleration that is the control input. Further, according to (1) to (6), the time-series data and the horizontal moving distance maximize avoidance trajectory of the vehicle body resultant force lateral movement distance Y _e with respect to the longitudinal moving distance X _e is maximum is derived.

As described above, according to the vehicle motion control device of the third embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force, The y component and the lateral movement distance _Ye are set, and the vertical movement distance with respect to the lateral movement distance of the simple configuration using the parameters calculated by the x component v _x0 and the y component v _y0 of the _host vehicle speed is _minimized. using the map to, while correcting the set of the lateral movement distance Y _e repeatedly seeking vertical movement distance, the difference between the x component of the distance to the vertical movement distance and the obstacle found is equal to or less than a predetermined value Based on the lateral movement distance Y _e at that time, it is possible to derive time-series data of the trajectory and vehicle body combined force that maximize the lateral movement distance with respect to the desired longitudinal movement distance and speed direction.

Next, a fourth embodiment will be described. In the third embodiment, the convergence calculation is performed using the map for obtaining the vehicle body composite force that minimizes the longitudinal movement distance for avoiding the obstacle, thereby giving the maximum value of the vehicle body composite force and its aspect ratio. when obtained, there has been described a case where the horizontal travel distance with respect to the longitudinal moving distance X _e derives the time series data of the lateral movement distance maximize avoidance routes and the vehicle body resultant force to maximize, in the fourth embodiment, The convergence calculation is performed using a map for obtaining the vehicle body composite force that has the shortest vertical movement distance from that of the third embodiment, so that when the maximum value of the vehicle body composite force and its aspect ratio are given, It will be described for deriving the vehicle body resultant force of the current time to maximize the horizontal travel distance with respect to the moving distance X _e. In addition, about the vehicle motion control apparatus of 4th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-3rd embodiment, description is abbreviate | omitted using the same code | symbol.

  Here, a map used in the fourth embodiment will be described.

First, as in the third embodiment, the expression (53) is expanded. Then, as an example, a map relating to v _x0 ′ and v _y0 ′ when γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1 is created. As shown in FIG. 26, the direction θ ′ of the vehicle body resultant acceleration obtained based on the equations (47) to (49) above, where v _x0 ′ is the first parameter and v _y0 ′ is the second parameter, A map in which the value of the shortest vertical movement distance X _s ′ is mapped is created.

In order to obtain {θ ′, X _s ′} using this map, γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1, known m, v _x0 , v _y0 , Y _e , The first parameter v _x0 ′ and the second parameter v _y0 ′ are calculated from the maximum value x component F ₁ and y component F _{2 of the} vehicle body composite force according to the equation (53), and the output {θ ', X _s' obtained from maps}, (39) the equation, magnitude and direction of the current time vehicle body resultant force of the longitudinal movement distance to the shortest relative lateral movement distance Y _e is obtained, and the following (54) _{X s} is obtained by expression.

However, if Y _e <0, then v _y0 → −v _y0 , Y _e → −Y _e , {−θ ′} is obtained from the map, and −θ ′ → θ ′ is processed to obtain θ Just get.

  Next, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the fourth embodiment will be described. The vehicle motion control routine executed by the control device 20 of the vehicle motion control device according to the fourth embodiment is a map (for example, a diagram) used in step 302 of the vehicle motion control routine (FIG. 25) according to the third embodiment. 26 map), and the point that the vehicle body composite force magnitude and direction at the current time are derived in accordance with the equation (39) in step 308, and the other processes are the same as the vehicle motion control routine in the third embodiment. It is the same.

As described above, according to the vehicle motion control apparatus of the fourth embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force, The y component and the lateral movement distance _Ye are set, and the vertical movement distance with respect to the lateral movement distance of the simple configuration using the parameters calculated by the x component v _x0 and the y component v _y0 of the _host vehicle speed is _minimized. using the map to, while correcting the set of the lateral movement distance Y _e repeatedly seeking vertical movement distance, the difference between the x component of the distance to the vertical movement distance and the obstacle found is equal to or less than a predetermined value based on the lateral movement distance element Y _e time, the horizontal movement distance with respect to the desired longitudinal movement distance and velocity direction can be derived of the vehicle body resultant force of the current time becomes the maximum. Further, since the number of maps to be used is small compared to the case of deriving the time series data of the vehicle body synthesis force, the capacity for storing the maps can be reduced.

  Next, a fifth embodiment will be described. In the fifth embodiment, when the lateral movement distance to be avoided is set, the convergence calculation is performed while correcting the setting of the vertical movement distance using the map described in the first or second embodiment. Based on the vertical movement distance that is set when the difference between the horizontal movement distance obtained from the map and the set horizontal movement distance is less than or equal to the predetermined value, the vertical movement distance to the horizontal movement distance that should be avoided is minimized. The case of deriving the shortest avoidance trajectory and the vehicle body resultant force will be described. In addition, about the vehicle motion control apparatus of 5th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-4th embodiment, description is abbreviate | omitted using the same code | symbol.

  A vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the fifth embodiment will be described with reference to FIG. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of the 1st-4th embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. In this embodiment, the maps shown in the first and second embodiments can be used. Here, a case where the map shown in FIG. 3 is used will be described.

After step 100 to step 106, in step 400, the speed of the host vehicle captured as the running state in step 100 and the distance between the host vehicle captured as the external environment state and the obstacle correspond to the set coordinates. Then, the lateral movement distance Y _e , the velocity x component v _x0 , and the y component v _y0 are calculated.

Next, at step 110, it sets the maximum value of the vehicle body resultant force which is limited by an ellipse, then at step 402, to set any value to the vertical movement distance X _e. For example, the value of the x component of the distance between the host vehicle and the obstacle can be set using the environment map created in step 102.

Next, in step 112, the same processing as in the first embodiment is performed to calculate the first parameter v _x0 ′ and the second parameter v _y0 ′.

Next, in step 404, the first to third maps stored in the map storage device 28 are read out, and the first parameter v _x0 ′ and the second parameter v _y0 ′ are set as inputs and set in step 402 above. The lateral movement distance y _e that maximizes the lateral movement distance is derived with respect to the vertical movement distance X _e .

Next, at step 406, it determines whether the lateral movement distance Y _e calculated by the lateral movement distance y _e and the step 400 derived in step 404 are equal. When y _e = Y _e, the process proceeds to step 410, and when y _e ≠ Y _e , the process proceeds to step 408. Here, a case where it is determined whether or not y _e = Y _e will be described, but not only when y _e and Y _e are equal, but the difference between y _e and Y _e is a predetermined value (for example, Y _(e.g. 5% of _e ) or less) may also be affirmatively determined.

In step 408, modify the value of _{X e} as _{y e} approaches _{Y e.} Then, the processing from step 404 to step 408 is repeated until it is determined at step 406 that y _e = Y _e .

In step 410, the values of {μ ₁ , μ ₂ , t _e } obtained in step 404 above are used by using the value of X _e when it is determined that y _e = Y _e (11) and (12) Apply to the equation to obtain the vehicle body composite acceleration that is the control input. Further, according to the equations (1) to (6), the time series data of the vehicle body synthesis force and the shortest avoidance trajectory with which the vertical movement distance is the shortest with respect to the horizontal movement distance are derived.

  Next, a sixth embodiment will be described. In the sixth embodiment, when the target position of the host vehicle is set, the convergence calculation is performed while correcting the setting of the maximum value of the vehicle body composite force using the map described in the first or second embodiment. The difference between the lateral movement distance obtained from the map and the lateral movement distance based on the target position is less than or equal to a predetermined value. On the other hand, the case of deriving the optimal trajectory for minimizing the maximum value of the vehicle body composite force and the time series data of the vehicle body composite force will be described.

  A vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the sixth embodiment will be described with respect to differences from the vehicle motion control routine of the fifth embodiment shown in FIG.

In step 400, the longitudinal movement distance _Xe is also calculated. The processing of step 402 is not performed, and in step 404, the lateral movement distance y _e that maximizes the lateral movement distance with respect to X _e calculated in step 400 is derived. In step 408, the maximum value of the vehicle body resultant force set in step 110 is corrected so that y _e approaches Y _e .

Next, a seventh embodiment will be described. In the seventh embodiment, when _one of the x component F ₁ or the y component F ₂ of the maximum value of the target position and the vehicle body composite force is set, the map described in the first or second embodiment is used. Te performs convergence calculation while correcting the F ₁ or the other set of F _2, is set when the difference between the transverse moving distance based on the lateral movement distance and the target position obtained from the map becomes a predetermined value or less and F ₁ or based on one of F _2, will be described for deriving the time-series data of the optimum trajectory and the vehicle body resultant force that minimizes the other F ₁ or F _2.

  A vehicle motion control routine executed by the control device 20 of the vehicle motion control apparatus of the seventh embodiment will be described with respect to differences from the vehicle motion control routine of the fifth embodiment shown in FIG.

At step 400, x-component X _e of the distance between the vehicle and the obstacle is also computed. In step 110, set one of _{F 1} or _{F 2.} The processing of step 402 is not performed, and in step 404, the lateral movement distance y _e that maximizes the lateral movement distance with respect to X _e calculated in step 400 is derived. In step 408, the ratio gamma _{0 y e} between _{F 1} and _{F 2} one of _{F 1} or _{F 2} set in step 110 as a constant value is corrected so as to approach the _{Y e.}

Next, an eighth embodiment will be described. In the first embodiment, the lateral moving distance with respect to the longitudinal moving distance X _e is using a map for deriving the vehicle body resultant force becomes maximum, and in the third embodiment, the vertical movement distance shortest In the eighth embodiment, the map of the first and third embodiments is used to describe the case of deriving the time series data of the vehicle body composite force using the map for deriving the vehicle body composite force. Unlike the above, when the map that minimizes the maximum value of the vehicle body composite force is used and the maximum value of the vehicle body composite force and its aspect ratio are given, the lateral movement distance is maximized with respect to the vertical movement distance _Xe . A case of deriving the vehicle body resultant force will be described. In addition, about the vehicle motion control apparatus of 8th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-7th Embodiment, description is abbreviate | omitted using the same code | symbol.

  Here, a map used in the eighth embodiment will be described.

As in the third embodiment, the optimal control for minimizing the maximum value of the vehicle body resultant force assumes that the x component F ₁ and the y component F ₂ of the maximum value of the vehicle body composite force are known, as in the third embodiment ( 7), (43), (44), and (10) can be formulated, and the control input is derived as (45). Here, the vertical movement distance X _e , the horizontal movement distance Y _e , and the aspect ratio γ ₀ of the maximum value of the vehicle body composite force are set so that the minimized I becomes equal to the x component X _e of the known distance. by obtaining the a F _1, shows that the resulting optimal trajectory maximum value of the vehicle body resultant force becomes minimum is derived. Therefore, by introducing the relationship of x ₁ (t _e ) = X _e , μ required in the equations (46) to (50) to (45) converted from X _s → X _{e 1, μ 2, t e} is obtained. Here, it is assumed that the magnitude F _max of the limit composite force, the longitudinal movement distance X _e , the lateral movement distance Y _e , and the aspect ratio γ ₀ (γ ₂ / γ ₁ ) of the maximum value of the vehicle body composite force are ( 47) formula ~ (50) _{F 1} which satisfies the equation, mu _1, by obtaining the μ _{2, t e, γ 1} and gamma ₂ are obtained. This means that γ ₁ F _max and γ ₂ F _max are obtained such that the minimized I and X _e are equal. As a result, the vertical and horizontal directions of the maximum value of the vehicle body composite force given in advance are obtained. For the ratio γ ₀ , an optimum trajectory is obtained in which the maximum value of the vehicle body resultant force is minimized. Therefore, substituting m, v _x0 , v _y0 , X _e , Y _e , and γ ₀ into the equations (47) to (50) converted from X _{s to} X _e , F ₁ , μ _1, consider the determination of the μ _{2, t e.}

  First, the equation (47) is transformed into the following equation (55).

  Substituting equation (55) into equations (48) to (50), the following equations (56) to (58) are obtained.

Here, when an arbitrary positive number a is introduced and two sets of parameters P and P ′ satisfying the relationship of the following equation (59) are considered, solutions {μ ₁ , μ ₂ , t corresponding to P and P ′ are considered. _e } and {μ ₁ ′, μ ₂ ′, t _e ′} satisfy the relationship of equation (18).

If a is set as in the following formula (60) from the last formula of formula (59), v _y0 ′ and Y _e ′ can be transformed into formula (61) below from formula (59).

From this relationship, by setting arbitrary positive numbers to γ ₀ ′, v _x0 ′, and X _e ′, v _y0 ′ and Y _e ′ are obtained by the parameter P of the current time. Therefore, when γ ₀ ′, v _x0 ′, and X _e ′ are set to certain positive _numbers , a map in which v _y0 ′ is the first parameter and Y _e ′ is the second parameter should be prepared in advance. That's fine. The values of γ ₀ ′, v _x0 ′, and X _e ′ can be freely set by the designer when creating the map.

As shown in FIG. 28, the map is created using the same method as in the first embodiment. For example, v _x0 ′ and v _y0 ′ when γ ₀ ′ = v _x0 ′ = X _e ′ = 1 are set. Create a map about.

Then, {μ ₁ ′, μ ₂ ′, t _e ′} is obtained from these maps, converted into {μ ₁ , μ ₂ , t _e } by the equations (18) and (60), and (45 ) And (46) are substituted into the input time function. Further, using F ₁ obtained by substituting into the equation (55) and known F _max and γ ₀ , γ ₁ and γ _{2 at} which the maximum value of the vehicle body composite force is minimized are obtained.

  Next, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the eighth embodiment will be described with reference to FIG. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of the 1st-7th embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, the case where the map shown in FIG. 28 is used will be described.

Through step 100 to step 108, at step 110, it sets the x components _{F 1} and y components _{F 2} of the maximum value of the vehicle body resultant force. Thereby, the aspect ratio γ ₀ of the maximum value of the vehicle body composite force is determined at the same time.

Next, at step 300, to set the arbitrary distance in the lateral movement distance Y _e, then in step 112, the first parameter v _x0 was treated similarly as in the first embodiment ', and The second parameter v _y0 ′ is calculated.

Next, in step 500, the first to third maps stored in the map storage device 28 are read out, and the first parameter v _x0 ′ and the second parameter v _y0 ′ are input, and the calculation is performed in step 108 above. For the target position determined by X _e and Y _e set in step 300 and γ ₀ determined in step 110, the maximum x component f ₁ of the vehicle body resultant force is derived.

Next, at step 502, it determines whether the x components F ₁ of the maximum value of the vehicle body resultant force which is set in the vehicle body resultant force f ₁ and the step 110 derived in step 500 are equal. If f ₁ = F _1, the process proceeds to step 504, and if f ₁ ≠ F ₁ , the process proceeds to step 306. Here, the case where it is determined whether or not f ₁ = F ₁ will be described, but not only when f ₁ and F ₁ are equal, but also the difference between f ₁ and F ₁ is a predetermined value (for example, F 1 (5% of ₁ ) or the like) may be affirmatively determined.

In step 306, a horizontal moving distance _{Y e} set at step 300 _{f 1} is corrected so as to approach the _{F 1.} Then, steps 500, 502 and 306 are repeated until it is determined in step 504 that f ₁ = F ₁ .

In step 504, the values of {μ ₁ , μ ₂ , t _e } obtained in step 500 above are used as the values of Y _e when it is determined that f ₁ = F ₁ (45) and (46) Apply to the equation to obtain the vehicle body composite acceleration that is the control input. Further, according to the equations (1) to (6), the time series data of the vehicle body combined force that maximizes the lateral movement distance with respect to the vertical movement distance and the lateral movement distance maximization avoidance trajectory are derived.

As described above, according to the vehicle motion control apparatus of the eighth embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force, The y-component and the lateral movement distance Y _e are set, and the vehicle body composite force with a simple configuration using parameters calculated from the vertical movement distance X _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 using the map to minimize the maximum value of, while correcting the set of the lateral movement distance Y _e repeatedly seeking x component f ₁ of the maximum value of the vehicle body resultant force, obtained f ₁ and set the vehicle body resultant force horizontal movement distance based on Y _e, trajectory and the vehicle body resultant force lateral movement distance is maximized with respect to the desired vertical moving distance and speed direction when the difference between the x components F ₁ of the maximum value of equal to or less than a predetermined value Can be derived.

It should be noted that F ₁ = F ₂ / γ ₀ is substituted for the formulas (47) to (50) instead of the first formula of the formula (46), and the same applies using the nonlinear equation changed from X _{s to} X _e. The map for {μ ₁ ′, μ ₂ ′, t _e ′} may be created by expanding the formula in the flow of. In this case, the difference between the y component F ₂ of the vehicle body resultant force which is set as the y component f ₂ of the maximum value of the vehicle body resultant force which is repeatedly asked to introduce the convergence calculation as equal to or less than a predetermined value.

Next, a ninth embodiment will be described. In the eighth embodiment, the convergence calculation is performed using the map for obtaining the vehicle body composite force at which the maximum value is minimum, so that when the maximum value of the vehicle body composite force and the aspect ratio are given, While moving distance been described for deriving the time-series data of the lateral movement distance maximize avoidance routes and the vehicle body resultant force which maximizes the lateral movement distance for X _e, in the ninth embodiment, the eighth embodiment by performing convergence operation using different maps and, when the maximum value and its aspect ratio of the vehicle body resultant force is applied, the vehicle body resultant force of the current time to maximize the horizontal travel distance with respect to the longitudinal moving distance X _e The case of deriving will be described. In addition, about the vehicle motion control apparatus of 9th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-8th Embodiment, description is abbreviate | omitted using the same code | symbol.

  Here, a map used in the ninth embodiment will be described.

First, as in the eighth embodiment, the expression (61) is expanded. Then, as an example, a map relating to v _y0 ′ and Y _e ′ when v _x0 ′ = X _e ′ = 1 is created. As shown in FIG. 30, based on the above equations (55) to (58), (45), and (46), with v _y0 ′ being the first parameter and Y _e ′ being the second parameter. A first map in which the value of the direction θ ′ of the vehicle body resultant force obtained in this way is mapped, and a second map in which the value of F ₁ ′ / m ′ is mapped are created.

In order to obtain {θ, F ₁ / m} using these maps, v _x0 ′ = X _e ′ = 1, known γ ₀ , m, v _x0 , v _y0 , X _e , and Y _e To calculate the first parameter v _y0 ′ and the second parameter Y _e ′ according to the equation (61), and obtain the output {θ ′, F ₁ ′ / m ′} for the calculated parameter from each map, ( 55) below, calculates the _{F 1} according (18), and (60) below (62) below obtained from the relationship of the expression. Then, by applying equation (39), the vehicle body composite acceleration at the current time can be obtained.

As a result, the vehicle body resultant force at the current time at which the maximum value is minimum to reach the target position and the speed direction at the target position is derived from the vertical movement distance X _e , the horizontal movement distance Y _e , and the speed of the host vehicle. Is done.

  Next, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the ninth embodiment will be described. The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the ninth embodiment is a map (for example, FIG. 29) used in step 500 of the vehicle motion control routine (FIG. 29) in the eighth embodiment. 30 maps) and the point that the vehicle body composite force magnitude and direction at the current time are derived in accordance with the equation (39) in step 504, and the other processes are the same as the vehicle motion control routine in the ninth embodiment. It is the same.

As described above, according to the vehicle motion control device of the ninth embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force, The y-component and the lateral movement distance Y _e are set, and the vehicle body composite force with a simple configuration using parameters calculated from the vertical movement distance X _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 using the map to minimize the maximum value of, while correcting the set of the lateral movement distance Y _e repeatedly seeking x component f ₁ of the maximum value of the vehicle body resultant force, obtained f ₁ and set the vehicle body resultant force based difference between x components F ₁ of the maximum value of the horizontal movement distance element Y _e when it becomes less than a predetermined value, the vehicle body synthesis of current time horizontal moving distance is maximized with respect to the desired vertical moving distance and velocity direction The magnitude and orientation of the force can be derived. Further, since the number of maps to be used is small compared to the case of deriving the time series data of the vehicle body synthesis force, the capacity for storing the maps can be reduced.

It should be noted that F ₁ = F ₂ / γ ₀ is substituted for the equations (47) to (50) instead of the first equation of the equation (46), and the same is performed using a nonlinear equation converted from X _s → X _e. The map for {θ ′, F ₁ ′ / m ′} may be created by expanding the formula in the flow of FIG.

Next, a tenth embodiment will be described. In the first embodiment, the lateral moving distance with respect to the longitudinal moving distance X _e is using a map for deriving the vehicle body resultant force becomes maximum, and in the third embodiment, the vertical movement distance shortest In the eighth embodiment, a map for deriving the vehicle body composite force that minimizes the maximum value is used to obtain time series data of the vehicle body composite force. In the tenth embodiment, when either the x component or the y component of the maximum value of the vehicle body composite force is given, the vertical movement distance is calculated using a map that minimizes the other. horizontal travel distance will be described for the case of deriving the vehicle body resultant force becomes maximum with respect to X _e. In addition, about the vehicle motion control apparatus of 10th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-9th Embodiment, description is abbreviate | omitted using the same code | symbol.

  Here, a map used in the tenth embodiment will be described. Here, a case is considered in which the x component of the maximum value of the vehicle body composite force is given and the y component is minimized.

Optimal control for minimizing the y component of the maximum value of the vehicle body composite force is formulated by equations (7), (43), (44), and (10), as in the third embodiment. The control input is derived as equation (45). Here, assuming that the magnitude F _max of the limit composite force, the longitudinal movement distance X _e , the lateral movement distance Y _e , and the x component F ₁ of the maximum value of the vehicle body synthesis force are known, equations (47) to (50) gamma ₀ satisfies the equation, μ _1, γ ₂ is obtained by calculating the μ _{2, t e.}

  First, the equation (48) is transformed into the following equation (63).

  Substituting equation (63) into equations (47), (49), and (50), the following equations (64) to (66) are obtained.

Here, when an arbitrary positive number a is introduced and two sets of parameters P and P ′ satisfying the relationship of the following expression (67) are considered, solutions {μ ₁ , μ ₂ , t corresponding to P and P ′ are considered. _e } and {μ ₁ ′, μ ₂ ′, t _e ′} satisfy the relationship of equation (18).

If a is set as the following formula (68) from the last formula of the formula (67), v _x0 ′ and v _y0 ′ can be transformed as the following formula (69) from the formula (67).

From this relationship, by setting arbitrary positive numbers to F ₁ ′ / m ′, X _e ′, and Y _e ′, v _x0 ′ and v _y0 ′ are obtained by the parameter P of the current time. Therefore, when F ₁ '/ m', X _e 'and Y _e ' are set to certain values, a map is prepared in advance with v _x0 'as the first parameter and v _y0 ' as the second parameter. Just keep it. The values of F ₁ '/ m', X _e ', and Y _e ' can be freely set by the designer when creating the map.

The map is created in the same manner as in the first embodiment. As shown in FIG. 31, for example, v _x0 ′ when F ₁ ′ / m ′ = X _e ′ = Y _e ′ = 1 and Create a map for v _y0 '.

Then, {μ ₁ ′, μ ₂ ′, t _e ′} is obtained from these maps, converted into {μ ₁ , μ ₂ , t _e } by the equations (18) and (68), and (63 ) ₀ is obtained from the formula. Then, the time function of the input is obtained by substituting into the equations (45) and (46).

  Next, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the tenth embodiment will be described with reference to FIG. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of the 1st-9th embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, a case where the map shown in FIG. 31 is used will be described.

Through step 100 to step 108, then, at step 110, it sets the x components _{F 1} and y components _{F 2} of the maximum value of the vehicle body resultant force. Thereby, the aspect ratio γ ₀ of the maximum value of the vehicle body composite force is determined at the same time.

Next, in step 112, the same processing as in the first embodiment is performed to calculate the first parameter v _x0 ′ and the second parameter v _y0 ′. Next, in step 604, the map is stored. The first to third maps stored in the device 28 are read out, the first parameter v _x0 ′ and the second parameter v _y0 ′ are input, and X _e calculated in the above step 108 as the target position and the above step An aspect ratio γ _f of the vehicle body composite force that minimizes the y component of the maximum value of the vehicle body composite force when the position determined by Y _e set in 300 is set is derived.

Next, in step 606, it is determined whether or not the aspect ratio γ _f derived in step 604 is equal to the maximum aspect ratio γ _{0 of} the vehicle body composite force set in step 600. If γ _f = γ _0, the process proceeds to step 504, and if γ _f ≠ γ ₀ , the process proceeds to step 306. Here, the case where it is determined whether or not γ _f = γ ₀ will be described, but not only when γ _f and γ ₀ are equal, but also the difference between γ _f and γ ₀ is a predetermined value (for example, γ (5% of ₀ or the like) or less may be affirmatively determined.

In step 306, the lateral movement distance Y _e set in step 300 is corrected so that γ _f approaches γ ₀ . Steps 604, 606, and 306 are repeated until it is determined in step 606 that γ _f = γ ₀ .

In step 504, the values of {μ ₁ , μ ₂ , t _e } obtained in step 604 are used as the values of Y _e when it is determined that γ _f = γ ₀ (45) and (46). Apply to the equation to obtain the vehicle body composite acceleration that is the control input. Further, according to the equations (1) to (6), the time series data of the vehicle body combined force that maximizes the lateral movement distance with respect to the vertical movement distance and the lateral movement distance maximization avoidance trajectory are derived.

As described above, according to the vehicle motion control device of the tenth embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force, The y-component and the lateral movement distance Y _e are set, and the vehicle body composite force with a simple configuration using parameters calculated from the vertical movement distance X _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 Using the map that minimizes the y component of the maximum value, the aspect ratio γ _f of the vehicle body composite force is repeatedly obtained while correcting the setting of the lateral movement distance Y _e , and the obtained γ _f and the set aspect ratio γ ₀ difference in the basis of the lateral displacement distance element Y _e when it becomes less than a predetermined value with the horizontal movement distance with respect to the desired longitudinal movement distance and velocity direction derives the time series data of the track and the vehicle body resultant force which maximizes be able to.

Next, an eleventh embodiment will be described. In the tenth embodiment, the convergence value is calculated using a map for obtaining the vehicle body composite force at which one of the x component and the y component of the maximum value of the vehicle body composite force is minimum, whereby the maximum value of the vehicle body composite force is obtained. and if the aspect ratio is given, a case has been described in which the transverse moving distance with respect to the longitudinal moving distance X _e derives the time series data of the lateral movement distance maximize avoidance routes and the vehicle body resultant force to maximize eleventh in the embodiment, by performing the convergence calculation using different maps the tenth embodiment, when the maximum value and its aspect ratio of the vehicle body resultant force is applied, transverse with respect to the longitudinal moving distance X _e The case of deriving the vehicle body composite force at the current time that maximizes the movement distance will be described. In addition, about the vehicle motion control apparatus of 11th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-10th Embodiment, description is abbreviate | omitted using the same code | symbol.

  Here, a map used in the eleventh embodiment will be described.

First, as in the tenth embodiment, the expression (69) is expanded. Then, as an example, a map for v _x0 ′ and v _y0 ′ when F ₁ ′ / m ′ = X _e ′ = Y _e ′ = 1 is created. As shown in FIG. 33, based on the above equations (63) to (66), (45), and (46), with v _x0 ′ being the first parameter and v _y0 ′ being the second parameter. A first map in which the value of the direction θ ′ of the vehicle body resultant force obtained by mapping is mapped, and a second map in which the value of γ ₀ ′ is mapped can be created.

Then, the magnitude of the y component of the vehicle synthetic acceleration obtained by the following (70) below, by applying the equation (39), _m of the current _{time, v x0, v y0, X} e, Y e and _{F 1} On the other hand, when reaching the target position and the speed direction at the target position, the magnitude and direction of the vehicle body composite force at the current time that minimizes the y component of the maximum value of the vehicle body composite force can be obtained.

  Next, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the eleventh embodiment will be described. The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the eleventh embodiment is a map (for example, a diagram) used in step 604 of the vehicle motion control routine (FIG. 32) in the tenth embodiment. 33 map) is different, and in step 504, the magnitude and direction of the vehicle body composite force at the current time are derived according to the equation (39). Other processing is the same as the vehicle motion control routine in the tenth embodiment. It is the same.

As described above, according to the vehicle motion control device of the eleventh embodiment, when the maximum value of the vehicle body resultant force is limited by an ellipse having an aspect ratio γ ₀ , The y-component and the lateral movement distance Y _e are set, and the vehicle body composite force with a simple configuration using parameters calculated from the vertical movement distance X _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 Using the map that minimizes the y component of the maximum value, the aspect ratio γ _f of the vehicle body composite force is repeatedly obtained while correcting the setting of the lateral movement distance Y _e , and the obtained γ _f and the set aspect ratio γ the difference between the _zero on the basis of the lateral movement distance element Y _e when it becomes less than a predetermined value, the vehicle body resultant force of the current time horizontal moving distance is maximized with respect to the desired vertical movement distance and the velocity direction size and orientation Can be derived. Further, since the number of maps to be used is small compared to the case of deriving the time series data of the vehicle body synthesis force, the capacity for storing the maps can be reduced.

  In the tenth and eleventh embodiments, when the x component of the maximum value of the vehicle body composite force is set, the map that minimizes the y component is used. However, the maximum value of the vehicle body composite force is obtained by the same method. If the y component is set, a map that minimizes the x component may be created and used.

In the third to eleventh embodiments, the introduced arbitrary positive number a can be changed by the same method as in the first and second embodiments, or F ₁ '/ m' can be changed. _{, v y0 ', v x0'} , X e ', and Y _e' by focusing on each of or a modification of the equation can be obtained first and second parameters. Depending on the obtained first parameter and second parameter, arbitrary values can be set as necessary values among F ₁ '/ m', v _y0 ', v _x0 ', X _e ', and Y _e '. You can set it up and create a map. In addition, by changing the map axis in the first embodiment, the map axis is changed so that the singular point line is parallel to the vertical or horizontal axis. You can also create maps.

Also in the second to eleventh embodiments, as in the first embodiment, instead of using F ₁ and γ ₀ , formula expansion is performed using F ₂ and γ ₀ , and The map shown in the embodiment may be applied.

DESCRIPTION OF SYMBOLS 10 Vehicle speed sensor 12 Steering angle sensor 14 Throttle opening sensor 16 Front camera 18 Laser radar 20 Control device 22 Steering angle control device 24 Braking force control device 26 Driving force control device 28 Map storage device 30 Display device

Claims (17)

Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m of the vehicle body composite acceleration maximum value, the vehicle body composite force maximum value The ratio γ ₀ between the longitudinal direction component F ₁ and the lateral direction component F ₂ , the travel distance X _e , the longitudinal direction component v _{x0 of} the speed of the _host vehicle, and the lateral direction component v of the speed. The first parameter using _y0 is different from the first parameter using the component F ₁ / m, the ratio γ ₀ , the movement distance X _e , the component v _x0 , and the component v _y0 . When the parameter 2 and the component F ₁ and the component F ₂ are set, the first introduced in order to obtain a vehicle body composite force that maximizes the vehicle body lateral movement distance Y _e with respect to the movement distance X _e . An introduction parameter μ ₁ of ₁ , Three of the component F ₁ / m, the ratio γ ₀ , the component X _e , the component v _x0 , and the component v _{y0 according} to the first parameter and the second parameter are specific values. A first map defining the relationship between the hypothetical value μ ₁ ′,
When the first parameter, the second parameter, the component F ₁ and the component F ₂ are set, the movement distance Y _{e in the} lateral direction of the vehicle body becomes the maximum with respect to the movement distance X _e . A second map that defines a relationship between a value μ ₂ ′ under the assumption of a _second introduction parameter μ _{2 that} is different from the _first introduction parameter μ ₁ introduced to obtain the vehicle body synthesis force; And, when the first parameter, the second parameter, the component F ₁ and the component F ₂ are set, a time t at which a position determined by the movement distance X _e and the movement distance Y _e is reached. of _e, the time t _{e 'under} the assumption, the storage means the third map, storing that defines the relationship,
Based on the movement distance X _e set by the setting means, the current speed detected by the detection means, and the set components F ₁ and F ₂ , the first parameter and the second The first parameter, the second parameter, the first map, the second map, and the third map are used to calculate the vehicle body with respect to the movement distance _Xe . Derivation means for deriving time series data of the vehicle body composite force that maximizes the lateral movement distance Y _e ;
A vehicle motion control device. Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m of the vehicle body composite acceleration maximum value and the vehicle body of the vehicle body composite force maximum value. The ratio γ ₀ between the front-rear direction component F ₁ and the vehicle body lateral direction component F ₂ , the travel distance X _e , the vehicle front-rear direction component v _x0 , and the vehicle speed lateral component v _y0. The second parameter is different from the first parameter using the component F ₁ / m, the ratio γ ₀ , the moving distance X _e , the component v _x0 , and the component v _y0 . When the component F ₁ and the component F ₂ are set, the component F of the direction θ of the vehicle body combined acceleration that maximizes the movement distance Y _{e in the} lateral direction of the vehicle body with respect to the movement distance X _{e 1} / m, the ratio gamma _0, the component defined _e, the components v _x0, and the direction theta 'are three in accordance with the first parameter and the second parameter under the assumption that a specific value of the components v _y0, the relationship Storage means for storing the map,
Based on the movement distance X _e set by the setting means, the current speed detected by the detection means, and the set components F ₁ and F ₂ , the first parameter and the second A derivation means for deriving a vehicle body resultant force at a current time at which a movement distance Y _{e in the} lateral direction of the vehicle body is maximum with respect to the movement distance X _e ;
A vehicle motion control device. Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m of the vehicle body composite acceleration maximum value, the vehicle body composite force maximum value The ratio γ _{0 of} the vehicle body longitudinal component F ₁ and the vehicle lateral component F ₂ , the vehicle lateral displacement Y _e , the vehicle longitudinal component v _{x0 of} the speed of the _host vehicle, and the vehicle lateral direction of the speed first and parameters with components _{v y0} of the components _F 1 / m, the ratio gamma _0, the moving distance _{Y e,} and the component _{v x0,} and the first parameter using the components _{v y0} When the second parameter, the component F ₁ , the component F ₂ , and the movement distance Y _e are set, the vehicle body composition that makes the movement distance in the vehicle longitudinal direction shortest with respect to the movement distance Y _e The first introduced to seek power Introduction parameters mu _1, wherein component _F 1 / m, the ratio gamma _0, the moving distance _{Y e,} corresponding to the components _{v x0,} and the first parameter and the second parameter of the component _{v y0} A first map defining the relationship between the value μ ₁ ′ under the assumption that three are specific values,
When the first parameter, the second parameter, the component F ₁ , the component F ₂ , and the movement distance Y _e are set, the vehicle body moves in the longitudinal direction with respect to the movement distance Y _e The relationship between the second introduction parameter μ _{2 that} is different from the _first introduction parameter μ ₁ introduced in order to obtain the vehicle body composite force that provides the shortest distance and the value μ ₂ ′ under the assumption is defined. second map, and a-first parameter, and the second parameter, the distance traveled Y shortest distance travel in the longitudinal direction of the vehicle body is shortest with respect to _e X _s and the moving distance Y _e time t _e to reach the defined position, the time t _{e 'under} the assumption, the storage means the third map, storing that defines the relationship,
Based on the moving distance X _e set by the setting means, the current speed detected by the detecting means, and the set components F ₁ , F ₂ , and moving distance Y _e , The first parameter and the second parameter are calculated, and the shortest distance is calculated using the calculated first parameter, second parameter, the first map, the second map, and the third map. seeking X _s, until said difference between the shortest distance X _s between the moving distance X _e is within the predetermined value, repeatedly obtains the shortest distance X _s while changing the setting of the moving distance Y _e obtained, wherein Based on the movement distance Y _e when the difference between the shortest distance X _s and the component X _{e in} the vehicle longitudinal direction of the distance is within a predetermined value, the movement distance in the vehicle body lateral direction with respect to the movement distance X _e vehicle body Y _e is the maximum And deriving means for deriving a time-series data of the formation force,
A vehicle motion control device. Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m of the vehicle body composite acceleration maximum value, the vehicle body composite force maximum value The ratio γ _{0 of} the vehicle body longitudinal component F ₁ and the vehicle lateral component F ₂ , the vehicle lateral displacement Y _e , the vehicle longitudinal component v _{x0 of} the speed of the _host vehicle, and the vehicle lateral direction of the speed first and parameters with components _{v y0} of the components _F 1 / m, the ratio gamma _0, the moving distance _{Y e,} and the component _{v x0,} and the first parameter using the components _{v y0} When the second parameter, the component F ₁ , the component F ₂ , and the movement distance Y _e are set, the movement distance X _{e in the} vehicle longitudinal direction is the shortest with respect to the movement distance Y _e . The direction of the vehicle body composite acceleration θ F ₁ / m, the ratio gamma _0, the component _{X e,} assumption that the components _{v x0,} and a three Although specific value corresponding to the first parameter and the second parameter of the component _{v y0} A first map that defines a relationship with a direction θ ′ below, and the first parameter, the second parameter, the component F ₁ , the component F ₂ , and the movement distance Y _{When e} is set, a second map that defines the relationship between the shortest distance X _s of the movement distance in the longitudinal direction of the vehicle body relative to the movement distance Y _e and the value X _s ′ under the assumption is stored. Storage means
Based on the moving distance X _e set by the setting means, the current speed detected by the detecting means, and the set components F ₁ , F ₂ , and moving distance Y _e , 1 parameter and calculating the second parameter, the first parameter is calculated, the second parameter, and obtains the shortest distance X _s using the second map, the calculated shortest distance X _s and until said difference between the moving distance X _e is within the predetermined value, the moving distance repeatedly while changing the settings of Y _e seek the shortest distance X _s, the longitudinal direction of the vehicle of the distance between the shortest distance X _s Based on the movement distance Y _e when the difference from the component X _e falls within a predetermined value, the vehicle body composite force at the current time at which the movement distance Y _{e in the} lateral direction of the vehicle body is maximum with respect to the movement distance X _e Deriving means for deriving and
A vehicle motion control device. Said deriving means, said relative movement distance X _e Set the travel distance Y _e, the components F ₁ and the vehicle body transverse to said movement distance X _e wherein while the changed movement distance X _e the component F ₂ as a constant value The movement distance y _{e in the} direction is repeatedly obtained, and the set movement based on the movement distance X _e when the difference between the set movement distance Y _e and the calculated movement distance y _e is within a predetermined value. distance Y _e with respect to the moving distance X _e is a vehicle motion control device of claim 1 or claim 2, wherein deriving the shortest avoidance path having the shortest. The derivation means sets the movement distance Y _e with respect to the movement distance X _e , changes the setting of the component F ₁ and the component F _{2 with} the ratio γ ₀ as a constant value, and the vehicle body with respect to the movement distance X _e Based on the component F ₁ and the component F ₂ when the difference between the set movement distance Y _e and the calculated movement distance y _e is within a predetermined value, the lateral movement distance y _e is repeatedly obtained. The vehicle motion control device according to claim 1, wherein a trajectory in which the maximum value of the vehicle body synthesis force is minimum is derived. The derivation means sets the movement distance Y _e with respect to the movement distance X _e and changes the ratio γ ₀ while setting _{one of the} component F ₁ or the component F ₂ as a constant value, and the vehicle body with respect to the movement distance X _e The lateral movement distance y _e is repeatedly obtained, and the component F ₁ is based on the ratio γ ₀ when the difference between the set movement distance Y _e and the obtained movement distance y _e falls within a predetermined value. The vehicle motion control device according to claim 1, wherein a trajectory in which the other of the components F ₂ is minimum is derived. Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal force component F ₁ and the vehicle body lateral component F ₂ of the vehicle body composite force maximum value A first parameter determined by the product of the ratio γ ₀ , the ratio of the vehicular longitudinal component v _x0 of the speed of the _host vehicle to the lateral vehicular component v _y0 of the speed, and the ratio γ ₀ , the ratio of the moving distance element Y _e the moving distance X _e and the vehicle body transverse direction, a second parameter defined by the product of, in position and the position determined by the moving distance X _e and the moving distance Y _e The ratio γ ₀ , the movement distance X _e , the movement distance Y _e , and the component v of the first introduction parameter μ ₁ introduced to minimize the maximum value of the vehicle body composite force in order to reach the speed direction. _x0 and the first parameter and the component v _y0 And a first map that defines the relationship between the value μ ₁ ′ under the assumption that three values corresponding to the second parameter are specific values,
- said first parameter, and the second parameter, to minimize the maximum value of the vehicle body resultant force to become the velocity direction at a position and the position determined by the moving distance X _e and the moving distance Y _e A second map defining a relationship between a _second introduction parameter μ ₂ different from the _first introduction parameter μ ₁ introduced for the purpose and a value μ ₂ ′ under the assumption; and the first And the second parameter, and the time t _e ′ under the assumption of the time t _e that reaches the position determined by the movement distance X _e and the movement distance Y _e is defined. Storage means for storing a third map;
Based on the moving distance X _e set by the setting means, the current speed detected by the detecting means, and the set components F ₁ , F ₂ , and moving distance Y _e , 1 parameter and the second parameter are calculated, and the moving distance is calculated using the calculated first parameter, second parameter, the first map, the second map, and the third map. seeking X _e and the moving distance Y maximum value of the vehicle body resultant force to become the velocity direction at a position and the position determined by the _e becomes minimum vehicle body resultant force f, the vehicle body resultant force f and the vehicle body resultant force obtained the difference between the maximum value until within a predetermined value, the moving distance repeatedly while changing the settings of Y _e seeking the body resultant force f, obtained between the maximum value of the vehicle body resultant force f and the vehicle body resultant force of The difference is within the specified value And on the basis of the moving distance Y _e, deriving means for moving the distance element Y _e vehicle body transverse to the moving distance X _e derives the time series data of the vehicle body resultant force becomes maximum when,
A vehicle motion control device. Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal force component F ₁ and the vehicle body lateral component F ₂ of the vehicle body composite force maximum value A first parameter determined by the product of the ratio γ ₀ , the ratio of the vehicular longitudinal component v _x0 of the speed of the _host vehicle to the lateral vehicular component v _y0 of the speed, and the ratio γ ₀ , the ratio of the moving distance element Y _e the moving distance X _e and the vehicle body transverse direction, a second parameter defined by the product of, in position and the position determined by the moving distance X _e and the moving distance Y _e The ratio γ ₀ , the movement distance X _e , the movement distance Y _e , the component v _x0 , and the component of the direction θ of the vehicle body combined acceleration at which the maximum value of the vehicle body combined force becomes the minimum in order to reach the speed direction. the first parameter and the second parameter of the v _y0 A first map that defines a relationship with the direction θ ′ under the assumption that three values corresponding to the data are specific values, and the first parameter, the second parameter, and the movement distance X _e and the moving distance Y maximum value in order to become the velocity direction at a position and the position determined by the _e becomes minimum vehicle composite acceleration F _{1 /} m, the vehicle synthetic acceleration F ₁ under the assumption ' Storage means for storing a second map that defines a relationship with / m ′;
Based on the moving distance X _e set by the setting means, the current speed detected by the detecting means, and the set components F ₁ , F ₂ , and moving distance Y _e , 1 parameter and the second parameter are calculated, and the movement distance _Xe and the movement distance are calculated using the calculated first parameter, second parameter, the first map, and the second map. seeking Y _e in determined position and the vehicle body resultant force maximum value of the vehicle body resultant force to become the velocity direction at the position is minimized f, the difference between the maximum value of the vehicle body resultant force f and the vehicle body resultant force obtained until but falls within the predetermined value, the moving distance repeatedly while changing the settings of Y _e seeking the body resultant force f, the difference between the maximum value of the vehicle body resultant force f and the vehicle body resultant force obtained is a within a predetermined value The distance traveled when Deriving means for deriving the vehicle body resultant force at the current time at which the movement distance Y _{e in the} lateral direction of the vehicle body is maximum with respect to the movement distance X _e based on Y _e ;
A vehicle motion control device. Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m or the vehicle body lateral component F ₂ / m m, the moving distance X _e , the moving distance Y _{e in} the lateral direction of the vehicle body, the vehicle body longitudinal direction component v _{x0 of} the speed of the _host vehicle, and the vehicle speed lateral component v _y0 of the vehicle speed, _Second component different from the first parameter using the component F ₁ / m or the component F ₂ / m, the movement distance X _e , the movement distance Y _e , the component v _x0 , and the component v _y0 . parameters and, in the case of setting the one of the longitudinal direction of the vehicle body components F ₁ or the vehicle body lateral component F ₂ of the maximum value of the vehicle body resultant force, position and the position determined by the moving distance X _e and the moving distance Y _e In the speed way First introduction parameters mu ₁ was introduced to the other of the components F ₁ or the component F ₂ to a minimum in order to become the components F _{1 /} m or the component F _{2 /} m, the moving distance X _e, the moving distance Y _e, wherein component v _x0, and the value mu ₁ under the assumption that the three are specific value corresponding to the first parameter and the second parameter of the component v _y0 The first map that defines the relationship between
When the first parameter, the second parameter, and _{one of the} component F ₁ or the component F ₂ are set, the position determined by the movement distance X _e and the movement distance Y _e and the position Under the assumption of a _second introduction parameter μ ₂ different from the _first introduction parameter μ ₁ introduced to minimize the other of the component F ₁ or the component F ₂ to become the speed direction A second map that defines a relationship with the value μ ₂ ′, and a position determined by the first parameter, the second parameter, the movement distance X _e, and the movement distance Y _e time t _e, the time t _{e 'under} the assumption, the storage means the third map, storing that defines the relationship,
Based on the moving distance X _e set by the setting means, the current speed detected by the detecting means, the set component F ₁ , the component F ₂ , and the moving distance Y _e , the first And the second parameter, the calculated first parameter, the second parameter, the first map, the second map, and the third map are used to set the parameter and the second parameter. said moving distance X _e and the components F ₁ or other of the components F ₂ in order to become the velocity direction at a position and the position determined by the moving distance Y _e to one of components F ₁ or the component F ₂ longitudinal vehicle maximum value of the vehicle body resultant force which is minimized to determine the specific gamma _f the direction of the component and the vehicle body lateral component, the ratio of the components F ₁ is set to the ratio gamma _f obtained with the component F ₂ and within a predetermined value the difference between the gamma ₀ is Until the moving distance Y _e settings change the repeating determined the ratio gamma _f, the moving distance when the difference between the ratio gamma _f obtained with the ratio gamma ₀ becomes within a predetermined value Y _e Derivation means for deriving time series data of the vehicle body composite force that makes the movement distance Y _{e in the} lateral direction of the vehicle body maximum with respect to the movement distance X _e ,
A vehicle motion control device. Setting means for setting the speed direction in the vehicle front-rear direction movement distance X _e and the moving distance X _e moved position of
Detection means for detecting the speed of the host vehicle;
When the maximum value of the vehicle body composite force is limited by an ellipse with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m or the vehicle body lateral component F ₂ / m m, the moving distance X _e , the moving distance Y _{e in} the lateral direction of the vehicle body, the vehicle body longitudinal direction component v _{x0 of} the speed of the _host vehicle, and the vehicle speed lateral component v _y0 of the vehicle speed, _Second component different from the first parameter using the component F ₁ / m or the component F ₂ / m, the movement distance X _e , the movement distance Y _e , the component v _x0 , and the component v _y0 . parameters and, in the case of setting the one of the longitudinal direction of the vehicle body components F ₁ or the vehicle body lateral component F ₂ of the maximum value of the vehicle body resultant force, position and the position determined by the moving distance X _e and the moving distance Y _e In the speed way The other components F ₁ or the component F ₂ is minimized to be of the vehicle body synthesis direction of the acceleration theta, the components F _{1 /} m or the component F _{2 /} m, the moving distance X _e, the moving distance Y _e , the component v _x0 , and the component v _y0 , and the relationship with the direction θ ′ under the assumption that three of the components v _{y0 according} to the first parameter and the second parameter are specific values A first map, and a ratio γ ₀ ′ under the assumption of a ratio γ ₀ of the first parameter, the second parameter, and the component F ₁ and the component F ₂ , Storage means for storing a second map that defines the relationship of
Based on the moving distance X _e set by the setting means, the current speed detected by the detecting means, the set component F ₁ , the component F ₂ , and the moving distance Y _e , the first The component F ₁ or the component set using the calculated first parameter, second parameter, the first map, and the second map body resultant force which the moving distance X _e and the components F ₁ or other of the components F ₂ in order to become the velocity direction at a position and the position determined by the moving distance Y _e to one of F ₂ is minimized The ratio γ _f of the vehicle front-rear direction component and the vehicle body lateral direction component of the maximum value is obtained, and the difference between the obtained ratio γ _f and the set ratio γ ₀ of the component F ₁ and the component F ₂ is The movement until the value falls within a predetermined value While changing the settings of the release Y _e repeatedly seek the ratio gamma _f, the difference between the ratio gamma _f obtained with the ratio gamma ₀ is based on the moving distance element Y _e when it becomes within a predetermined value, the Derivation means for deriving a vehicle body composite force at a current time at which a vehicle body lateral movement distance Y _e is maximum with respect to the movement distance X _e ;
A vehicle motion control device.   12. The control unit according to claim 1, further comprising a control unit configured to control at least one of a steering angle, a braking force, and a driving force based on the vehicle body combined force derived by the deriving unit. Vehicle motion control device. Control means for controlling at least one of a steering angle, a braking force, and a driving force,
The setting means sets a lateral movement distance to avoid the obstacle based on the position and size of the obstacle,
The control means compares the maximized movement distance Y _e derived by the derivation means with the lateral movement distance to be avoided set by the setting means, and determines the maximum movement distance Y _e . If it is smaller, control is performed to minimize the sudden braking or collision damage estimation value, and when the lateral movement distance to be avoided is smaller, it is based on the vehicle body resultant force derived by the deriving means. The vehicle motion control device according to any one of claims 1 to 4 and claims 8 to 11.   The said 1st parameter and the said 2nd parameter were changed so that the singular point of each map might become parallel to the vertical axis | shaft or horizontal axis of this map. Vehicle motion control device. The setting means, based on the position and size of the obstacle, sets the velocity direction in the vehicle front-rear direction moving distance X _e and the moving distance X _e moved position of
The vehicle motion control device according to claim 1, wherein the detection unit detects a relative speed of the host vehicle with respect to the obstacle.   The vehicle motion control device according to any one of claims 1 to 15, further comprising notification means for notifying a driver of a vehicle motion state based on the vehicle body resultant force derived by the derivation means.   The vehicle motion control program for functioning a computer as each means which comprises the vehicle motion control apparatus of any one of Claims 1-15.