JP5508842B2 - Vehicle speed control device - Google Patents

Description

  The present invention relates to a vehicle speed control device that adjusts a vehicle speed (vehicle speed) based on an instruction vehicle speed required by a driver.

  Conventionally, the target wheel speed of each wheel of the vehicle is determined based on the indicated vehicle speed required by the driver, and the axial torque of each wheel is adjusted so that the actual wheel speed of each wheel approaches the corresponding target wheel speed. A speed control device is widely known (see, for example, Patent Document 1).

JP 2009-126306 A

  By the way, in the slip of the wheel, there are a front-rear slip that is a slip in the rolling direction of the wheel and a lateral slip that is a slip in the lateral direction with respect to the wheel. Assuming that the steering angles of the left and right steering wheels are adjusted in accordance with the theoretical characteristics of Ackermann geometry, the steering angle of the turning inner wheel (inner wheel steering angle) is the steering angle of the outer turning wheel (outer wheel steering angle). Bigger than. Then, on the condition that the turning center is on the extension line of the rear wheel shaft, the lateral slip of each wheel can be made zero in the vehicle turning state (in an extremely low speed range where the centrifugal force can be ignored).

  In practice, it is very difficult to design a steering device in which the steering angles of the left and right steering wheels are adjusted according to the theoretical characteristics of Ackermann geometry. In an actual steering device, the steering angles of the left and right steering wheels are adjusted so that the inner wheel steering angle is larger than the outer wheel steering angle according to the characteristics of the steering geometry close to the Ackermann geometry. Thereby, the side slip of each wheel can be suppressed in the vehicle turning state.

  Incidentally, there is a demand for reducing the turning radius in a vehicle turning state. Hereinafter, the ease of reducing the turning radius is referred to as “turning ability”. By appropriately setting the target wheel speed of each wheel, the turning ability can be improved.

  This invention is made | formed based on the above-mentioned knowledge. An object of the present invention is to provide a vehicle speed control device that can improve the turning ability in a vehicle turning state by appropriately setting the target wheel speed of each wheel.

  A vehicle speed control device according to the present invention includes a steering device (STR), a steering angle acquisition means (SAA), an indicated vehicle speed setting means (VXT), a target wheel speed determination means (VWT), and an actual wheel speed acquisition. Means (VWA), torque applying means (TQW), and control means (CTL).

  The steering device (STR) steers the left and right steering wheels (WH [fm], WH [fh]) according to the operation of the steering operation member (SW) of the vehicle operated by the driver, When the steering operation member (SW) is operated from a neutral position corresponding to straight traveling of the vehicle, the turning inner wheel (WH [fi]) among the left and right steering wheels (WH [fm], WH [fh]) The inner and outer wheel steering angles (δ [fi]) are larger than the outer wheel steering angle (δ [fo]) which is the steering angle of the turning outer wheel (WH [fo]). δ [fi], δ [fo]) are adjusted. That is, in this steering device, the steering angles of the left and right steering wheels are adjusted according to the characteristics of the steering geometry close to the Ackermann geometry. Accordingly, the side slip of each wheel can be suppressed in the vehicle turning state.

  The steering angle acquisition means (SAA) acquires a steering angle (Saa) that is a value (for example, δfg) between the inner wheel steering angle (δ [fi]) and the outer wheel steering angle (δ [fo]). To do. The steering angle (Saa) is an average value (δfg = (δ [fi] + δ [fo]) / 2) of the inner wheel steering angle (δ [fi]) and the outer wheel steering angle (δ [fo]). Is preferred. The command vehicle speed setting means (VXT) sets a command vehicle speed (Vxt) which is a vehicle speed commanded (requested) by the driver of the vehicle.

  The target wheel speed determining means (VWT) is configured to determine a target wheel speed (Vwt [**] of each wheel of the vehicle based on the indicated vehicle speed (Vxt), the steering angle (Saa), and the steering geometry of the vehicle. ]). Here, the steering geometry of the vehicle is a geometric relationship between the steering angle (Saa) and the turning center (point O) of the vehicle.

  More specifically, the target wheel speed (Vwt [* i]) of the turning inner wheel (WH [* i]) of the vehicle includes the indicated vehicle speed (Vxt), the steering angle (Saa), and the vehicle. Is determined to be a value (Vxt · Rpw [* i] / Rpv) smaller than the reference speed (Vxt · Row [* i] / Rov) of the turning inner wheel determined on the basis of the steering geometry. Similarly, the target wheel speed (Vwt [* o]) of the turning outer wheel (WH [* o]) of the vehicle includes the indicated vehicle speed (Vxt), the steering angle (Saa), and the steering geometry of the vehicle. Is determined to be a value (Vxt · Rpw [* o] / Rpv) larger than the reference speed (Vxt · Row [* o] / Rov).

  Here, the reference speed is determined in consideration of a turning angle of the vehicle around a reference center (point O), which will be described later, which is determined based on the steering angle (Saa) and the steering geometry of the vehicle. Specifically, the wheel speed is a value obtained by dividing the wheel base (L) of the vehicle by the tangent (tangent) of the steering angle (Saa) (Rov = L / tan (Saa). )) And a value (Vxt · Row [**] / Rov) determined based on the indicated vehicle speed (Vxt). The reference speed difference between the inner and outer wheels can coincide with the wheel speed difference between the wheels due to the difference in the movement trajectory between the inner and outer wheels.

  The actual wheel speed acquisition means (VWA) acquires the actual wheel speed (Vwa [**]) of each wheel. The torque applying means (TQW) applies an axial torque (Tqw) to each wheel. The torque applying means (TQW) is preferably configured to apply a braking torque (Pwt [**], Pwa [**]) to each wheel as an axial torque (Tqw) of each wheel. is there. The control means (CTL) controls the torque application means (TQW) so that the actual wheel speed (Vwa [**]) approaches the target wheel speed (Vwt [**]).

  According to the above configuration, the target wheel speed of each wheel is determined based on the steering angle and the steering geometry as well as the indicated vehicle speed. In addition, the actual wheel speed of the inner turning wheel is adjusted to a value smaller than the reference speed of the inner turning wheel, and the actual wheel speed of the outer turning wheel is adjusted to a value larger than the reference speed of the outer turning wheel. At least one of the above is performed. Thus, a slightly larger wheel speed difference is given between the inner and outer wheels than the wheel speed difference between the wheels due to the movement trajectory difference between the wheels. Based on this wheel speed difference, an inward yaw movement (yaw rate) is given to the vehicle. As a result, the turning ability is improved.

  In the speed control device according to the present invention, specifically, the target wheel speed determining means (VWT) determines the target wheel speed (Vwt [* i]) of the turning inner wheel of the vehicle as the indicated vehicle speed (Vxt). While setting to a smaller value, it may be configured to determine the target wheel vehicle speed (Vwt [* o]) of the turning outer wheel of the vehicle to a value larger than the indicated vehicle speed (Vxt).

  According to this, an unnecessary front / rear slip can be easily compensated for in order to improve the turning ability caused by the difference in the trajectory between the wheels, and the instructed vehicle speed is the target wheel speed of the turning inner wheel and the target of the turning outer wheel. Since the value is between the wheel speeds, the vehicle speed can be easily maintained at the indicated vehicle speed.

  More specifically, the target wheel speed determining means (VWT) determines a reference center (reference turning center: point O) based on the steering angle (Saa) and the steering geometry of the vehicle, A turning center (point P) of the vehicle is determined at a position closer to the vehicle with respect to a reference line (NSL) passing through the reference center (point O) and parallel to the longitudinal direction of the vehicle. The target angular velocity (ωpt) (in the vehicle turning direction) is calculated based on the point P) and the indicated vehicle speed (Vxt), and the target wheel speed (Vwt [**]) is calculated based on the target angular velocity (ωpt). It can be configured to determine.

  Here, the reference center (point O) is on an extension line (RAL) of the rear wheel shaft of the vehicle and from the reference position (Cvh) on the rear wheel shaft in the vehicle, the wheel base (L) of the vehicle. Can be determined to be a point separated inward in the turning direction by a turning radius (Rov) obtained by dividing by the tangent of the steering angle (Saa).

  More specifically, the target angular velocity (ωpt) is calculated by dividing the indicated vehicle speed (Vxt) by the distance (Rpv) between the turning center (point P) and the vehicle reference position (Cvh). The The target wheel speed (Vwt [**]) of each wheel is the target angular speed (ωpt) at the distance (Rpw [**]) between the turning center (point P) and the wheel position (Cw [**]). ). The reference speed of each wheel is calculated by dividing the indicated vehicle speed (Vxt) by a “target angular speed (Vov) divided by the distance (Rov) between the reference center (point O) and the vehicle reference position (Cvh)”. ωot) is multiplied by “the distance (Row [**]) between the reference center (point O) and the wheel position (Cw [**])”.

  According to the above configuration, it is assumed that each wheel rolls around a common point called the turning center, and the target wheel speed of each wheel is set so that the vehicle can smoothly turn around the turning center at the target angular velocity. Is calculated. Therefore, the target wheel speed of each wheel can be reliably determined to an appropriate value for improving the small turnability while compensating for the unnecessary front-rear slip caused by the difference in the movement trajectory between the wheels.

  Hereinafter, specific determination of the turning center (point P) will be described. First, when the vehicle speed calculated based on at least one of the indicated vehicle speed (Vxt) and the actual wheel speed (Vwa [**]) is equal to or less than a predetermined value (vz1), the turning center ( The point P) may be configured to be located on the extension line of the rear wheel axis (RAL) of the vehicle and at a position closer to the vehicle with respect to the reference center (point O). According to this, in the extremely low speed region where the centrifugal force can be ignored (for example, Vxb ≦ vz1), the turning center is determined on the extension line of the rear wheel shaft. Therefore, the vehicle can smoothly turn so that a side slip does not occur in each wheel as much as possible (particularly, a side slip does not occur in the rear wheel) and a small turning performance is improved.

  When the vehicle speed calculated based on at least one of the indicated vehicle speed (Vxt) and the actual wheel speed (Vwa [**]) is greater than a predetermined value (vz1), the vehicle speed is high. The turning center (point P) can be determined such that the turning center (point P) moves to the front side of the vehicle. According to this, when the vehicle speed is high (for example, Vxb> vz1), the turning center is adjusted so that a larger side slip angle is generated in each wheel. Accordingly, it is possible to generate a lateral force that balances the centrifugal force with respect to each wheel while improving the turning ability.

  When the vehicle speed calculated based on at least one of the indicated vehicle speed (Vxt) and the actual wheel speed (Vwa [**]) is greater than a predetermined value (vz1), the vehicle speed is high. The turning center (point P) can be determined so that the turning center (point P) moves farther from the vehicle. According to this, when the vehicle speed is high (for example, Vxb> vz1), the turning center is adjusted to the side away from the vehicle. As a result, the vehicle is adjusted to an understeer tendency. When the vehicle speed is greater than a second predetermined value (vz3) that is greater than the predetermined value (vz1), the turning center (point P) may be determined at a position farther from the vehicle than the reference line (NSL). . As a result, the vehicle is adjusted to weak understeer, and vehicle stability can be ensured.

  Here, as the predetermined value (vz1), it is preferable to use a vehicle speed (creep speed) when the vehicle travels by a creep phenomenon (when the acceleration operation member is not operated by the driver). is there.

  Further, in the above speed control device, when the steering angular speed acquisition means (DSA) for acquiring the steering angular speed (dSa) which is the changing speed of the steering angle (Saa) of the vehicle is provided, the steering angular speed (dSa) is When the value is equal to or greater than the predetermined value (ds1), the turning center (point P) can be determined such that the turning center (point P) moves closer to the vehicle as the steering angular velocity (dSa) increases.

  A high steering angular velocity means that the driver is seeking high turning performance (turning ability, steering followability). Here, the turning ability means the ease with which the yaw motion is generated when the steering operation is performed from the straight traveling state, and the steering followability refers to the tracking of the yaw motion with respect to the change in the steering angle in the turning state. It means ease. According to the above configuration, when the steering angular velocity is large, the turning center approaches the vehicle, and the turning radius can be reduced. As a result, turning performance (turning ability, steering followability) is improved. Therefore, for example, when the turning center is adjusted to a position far from the vehicle with respect to the reference line during high-speed turning (that is, when the steering is adjusted to understeer), an abrupt steering operation (addition operation) ) Is performed, the turning center can move to a position closer to the vehicle with respect to the reference line.

1 is a schematic configuration diagram of a vehicle equipped with an embodiment of a vehicle speed control device according to the present invention. It is a functional block diagram when embodiment shown in FIG. 1 performs speed control. It is the figure which showed the movement locus | trajectory of each wheel when a vehicle turns so that a side slip may not arise in a wheel at very low speed. It is the graph which showed the relationship between the operation amount of a steering operation member, and the steering angle of a left and right steering wheel. It is a functional block diagram about the detail of the target wheel speed determination calculation block shown in FIG. FIG. 6 is a diagram showing a geometric relationship between the turning center of the vehicle and the turning motion of the vehicle, which is used for explaining the target wheel speed calculation block shown in FIG. 5. It is the figure which showed the characteristic of the adjustment coefficient by the side of the front wheel calculated by the modification of embodiment shown in FIG. It is the figure which showed the characteristic of the adjustment factor by the side of the rear wheel calculated by the modification of embodiment shown in FIG. FIG. 8 is a functional block diagram when another modification of the embodiment shown in FIG. 1 adjusts the position of the turning center. It is a functional block diagram at the time of adjusting the axial torque of each wheel by the other modification of embodiment shown in FIG.

  Embodiments of a vehicle speed control apparatus according to the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an overall configuration of a vehicle on which an embodiment (hereinafter also referred to as “this device”) of a vehicle speed control device according to the present invention is mounted. This vehicle is a four-wheel drive vehicle, and includes left and right front wheels, left and right rear wheels, and differential gears (front wheel differential gear FD, rear wheel differential gear RD, and center) between front wheels and rear wheels. Differential gear CD). The present invention can also be applied to a front wheel drive vehicle or a rear wheel drive vehicle. In the present apparatus, as speed control, control is performed in which the speed of the vehicle (vehicle speed) is adjusted to approach the indicated vehicle speed indicated (requested) by the driver.

  The subscript [**] attached to the end of various symbols indicates whether the various symbols are related to any of the four wheels. "F" is the front wheel, "r" is the rear wheel, "m" is the right wheel with respect to the vehicle traveling direction, "h" is the left wheel with respect to the vehicle traveling direction, and "o" is the outer wheel with respect to the turning direction. , “I” indicates an inner wheel with respect to the turning direction. Therefore, “fh” indicates the left front wheel, “fm” indicates the right front wheel, “rh” indicates the left rear wheel, and “rm” indicates the right rear wheel. In addition, “fo” indicates a turning outer front wheel, “fi” indicates a turning inner front wheel, “ro” indicates a turning outer rear wheel, and “ri” indicates a turning inner rear wheel.

  Further, the turning direction of the vehicle may be rightward or leftward. In general, these are assigned positive and negative signs, for example, the left direction is represented by a positive sign and the right direction is represented by a negative sign. However, when the magnitude relation of values or the increase / decrease of the value is explained, the explanation becomes very complicated when the sign is taken into consideration. Therefore, in the following description, unless otherwise specified, the magnitude relationship between values and the increase / decrease in value mean the magnitude relationship between absolute values and the increase / decrease in absolute values. The predetermined value is a positive value.

(Constitution)
As shown in FIG. 1, the present device includes a steering device STR. In the steering device STR, the rotational motion of the steering wheel SW is transmitted to the small gear (pinion) PN via the steering shaft (pinion shaft) PS. Then, the rotational motion of the pinion PN is converted into the linear motion of the rack RK by the mechanism (rack & pinion mechanism) that combines the flat gear (rack) RK and the pinion PN, and the steering wheel (front wheel) is steered.

  This apparatus includes a steering wheel angle sensor SA and a front wheel steering angle sensor FS. The steering wheel angle sensor SA detects the rotation angle θsw from the neutral position of the steering wheel SW (corresponding to straight traveling of the vehicle).

  The steering angle δfa of the steered wheel (front wheel) is detected by the front wheel steering angle sensor FS. Specifically, as the front wheel steering angle δfa, the linear displacement δfa from the neutral position (corresponding to the straight traveling of the vehicle) of the rack RK or the rod (rack rod) RR provided with the rack RK is detected. Alternatively, the rotational displacement δfa from the neutral position of the pinion PN or the shaft (pinion shaft) PS provided with the pinion PN (corresponding to the straight traveling of the vehicle) can be detected as the front wheel steering angle δfa.

  The steering wheel angle sensor SA and the front wheel steering angle sensor FS are collectively referred to as steering angle acquisition means (steering angle sensor) SAA, and the steering wheel rotation angle θsw and the front wheel steering angle δfa are collectively referred to as a steering angle. Called Saa. For example, the steering angle Saa is calculated by dividing the steering wheel rotation angle θsw detected by the steering wheel angle sensor SA by a steering gear ratio (also referred to as an overall steering gear ratio).

  This device includes a wheel speed sensor WS [**] that detects an actual wheel speed Vwa [**], a yaw rate sensor YR that detects an actual yaw rate Yra acting on the vehicle, and a longitudinal acceleration Gxa in the longitudinal direction of the vehicle body. A longitudinal acceleration sensor GX to detect, a lateral acceleration sensor GY to detect lateral acceleration Gya in the lateral direction of the vehicle body, an inclination angle sensor KS to detect an inclination angle Ksa of the vehicle body, and an actual braking torque (for example, wheel cylinder WC [* *] Braking hydraulic pressure sensor) Pwa [**] for detecting actual braking torque sensor (for example, wheel cylinder pressure sensor) PW [**].

  In addition, this apparatus includes an acceleration operation amount sensor AS that detects an operation amount Asa of a driver's acceleration operation member (for example, an accelerator pedal) AP, and an operation amount Bsa of the driver's braking operation member (for example, a brake pedal) BP. A braking operation amount sensor BS for detecting the shift, a shift position sensor HS for detecting the shift position Hsa of the speed change operation member SF, an instruction vehicle speed input means SJ for inputting an instruction vehicle speed Sj instructed by the driver, and rotation of the engine EG An engine rotation speed sensor NE that detects the speed Nea and a throttle position sensor TS that detects the opening degree Tsa of the throttle valve of the engine are provided.

  The apparatus also includes a brake actuator BRK for controlling the brake fluid pressure, a throttle actuator TH for controlling the throttle valve, a fuel injection actuator FI for controlling fuel injection, and an automatic transmission AT for controlling the shift. ing.

  In addition, the apparatus includes an electronic control unit ECU. The electronic control unit ECU is a microcomputer composed of a plurality of independent electronic control units ECU (ECUb, ECUe, ECUa) connected to each other via a communication bus CB. The electronic control unit ECU is electrically connected to the above-described various actuators (such as BRK) and the above-described various sensors (such as WS [**]). Each system electronic control unit (ECUb, etc.) in the electronic control unit ECU executes a dedicated control program. Signals (sensor values) of various sensors and signals (internally calculated values) calculated in each electronic control unit (ECUb or the like) are shared via the communication bus CB.

  Specifically, the brake system electronic control unit ECUb performs anti-skid control (ABS control), traction control (TCS) based on signals from the wheel speed sensor WS [**], the yaw rate sensor YR, the lateral acceleration sensor GY, and the like. Control) and other slip suppression control (braking / driving force control). Further, based on the wheel speed Vwa [**] of each wheel detected by the wheel speed sensor WS [**], the vehicle speed Vxa is calculated by a known method.

  The engine system electronic control unit ECUe executes control of the throttle actuator TH and the fuel injection actuator FI based on signals from the acceleration operation amount sensor AS and the like. The transmission system electronic control unit ECUa controls the gear ratio of the automatic transmission AT.

  The brake actuator BRK has a known configuration including a plurality of electromagnetic valves (hydraulic pressure regulating valves), a hydraulic pump, an electric motor, and the like. When the brake control is not executed, the brake actuator BRK supplies the brake fluid pressure corresponding to the operation of the brake operation member BP by the driver to the wheel cylinder WC [**] of each wheel, and brakes each wheel. A braking torque corresponding to the operation of the operation member (brake pedal) BP is applied.

  When executing brake control such as anti-skid control (ABS control), traction control (TCS control), or vehicle stability control (ESC control) that suppresses vehicle understeer and oversteer, the brake actuator BRK controls the brake pedal BP. Independent of the operation, the brake fluid pressure in the wheel cylinder WC [**] can be controlled for each wheel WH [**], and the brake torque can be adjusted for each wheel.

  Each wheel is provided with a well-known wheel cylinder WC [**], brake caliper BC [**], brake pad PD [**], and brake rotor RT [**]. When brake fluid pressure is applied to the wheel cylinder WC [**] provided in the brake caliper BC [**], the brake pad PD [**] is pressed against the brake rotor RT [**], and the friction force Gives the braking torque. Note that the control of the braking torque is not limited to that based on the braking hydraulic pressure, and can be performed using an electric brake device.

  The throttle actuator TH has a known configuration including an electric motor and the like, and the output of the engine EG decreases when the throttle valve TV is closed, and the output of the engine EG increases when the throttle valve TV is opened. To do. By controlling the throttle actuator TH, the wheel drive shaft torque is adjusted.

  An electric motor may be used instead of the engine EG as a power source for the vehicle. A plurality of electric motors may be provided for each wheel. The drive shaft torque of each wheel is adjusted by controlling the energization state of the electric motor.

(Overview of speed control)
Hereinafter, speed control executed by the present apparatus will be described with reference to FIG. First, an actual wheel speed (actual wheel speed) Vwa [**] of each wheel is acquired in the actual wheel speed acquisition calculation block VWA. For example, the actual wheel speed Vwa [**] is calculated based on the detection signal of the wheel speed sensor WS [**].

  The command vehicle speed Vxt is set in the command vehicle speed setting calculation block VXT. The command vehicle speed Vxt is set based on an operation amount (vehicle speed command amount) Sj of command vehicle speed input means (for example, a manual switch) SJ operated by the driver. Moreover, the command vehicle speed Vxt can be set based on the operation amount Asa of the acceleration operation member (for example, accelerator pedal) AP detected by the acceleration operation amount sensor AS.

  In the steering angle acquisition calculation block SAA, the steering angle Saa (at least one of the steering wheel angle θsw and the front wheel steering angle δfa) is acquired. For example, the steering angle Saa can be calculated based on the detection signal of the front wheel steering angle sensor FS. Further, the steering angle Saa is calculated based on the detection signal of the steering wheel angle sensor SA.

  In the turning direction determination calculation block TRN, the turning direction Trn of the vehicle is calculated based on the steering angle Saa. Specifically, the turning direction Trn is performed based on the sign of the steering angle Saa.

  In the turning adjustment coefficient calculation block GVW, the turning adjustment coefficient Gvw [**] of each wheel is calculated based on the steering angle Saa and the indicated vehicle speed Vxt. The adjustment coefficient Gvw [**] is a coefficient for converting the indicated vehicle speed Vxt to the target wheel speed Vwt [**] of each wheel. The adjustment coefficient Gvw [**] = 1 corresponds to the straight running of the vehicle, and at this time, the target wheel speeds of the left and right wheels coincide.

  Gvw [* o] of the turning outer wheel (outer wheel) is calculated using characteristics (characteristics Chfo and Chro) that increase from “1” as the steering angle Saa increases from “0”. The characteristics Chfo and Chro have values larger than characteristics (characteristics Acfo and Acro) (hereinafter referred to as “geometric characteristics”) that are geometrically determined by the steering geometry of the vehicle, which will be described later. Further, Gvw [* i] of the turning inner wheel (inner wheel) is calculated using characteristics (characteristics Chfi, Chri) (> 0) that decrease from “1” as the steering angle Saa increases from “0”. . The characteristics Chfi and Chri have values smaller than characteristics (characteristics Acfi and Acri) (geometric characteristics) that are geometrically determined by the steering geometry of the vehicle, which will be described later.

  Further, as will be described later with reference to FIGS. 5 and 6, the turning center of the vehicle is determined based on the indicated vehicle speed Vxt and the like, and the adjustment coefficient Gvw [**] can be calculated based on the turning center. The characteristics indicated by the solid line in FIG. 2 (characteristics Chfo and the like) are examples of characteristics when the indicated vehicle speed Vxt ≦ vz1 (predetermined value) (that is, when the turning center is determined at the point P shown in FIG. 6). . The characteristic of Gvw [**] with respect to the steering angle Saa differs depending on the indicated vehicle speed Vxt. Each calculation characteristic (such as Chfo) is set in advance for each of a plurality of representative vehicle speeds.

  The above-described computation for Gvw [**] need not be performed for all wheels, but can be performed for at least one wheel. In this case, Gvw [**] = 1 is set for the remaining wheels on which the above calculation is not performed. Note that the turning outer wheel (outer wheel) and the turning inner wheel (inner wheel) are determined based on the turning direction Trn.

  In the adjusting means CSX, the target wheel speed Vwt [**] of each wheel is calculated based on the instructed vehicle speed Vxt and the adjustment coefficient Gvw [**]. Specifically, the target wheel speed Vwt [**] is calculated by multiplying the indicated vehicle speed Vxt by the adjustment coefficient Gvw [**]. Thus, as the steering angle Saa increases, the target wheel speed Vwt [* o] of the outer ring is calculated to be a relatively large value with respect to Vxt, and the target wheel speed Vwt [* i] of the inner ring is calculated with respect to Vxt. Is calculated to a relatively small value.

  In addition, as the steering angle Saa increases, the target wheel speed Vwt [* o] of the outer wheel is a relatively large value with respect to the outer wheel speed (reference speed described later of the outer wheel) determined by the vehicle steering geometry described later. And the target wheel speed Vwt [* i] of the inner wheel is calculated to be a relatively small value with respect to the inner wheel speed (reference speed described later of the inner wheel) determined by the vehicle steering geometry described later. . That is, the target wheel speed Vwt [**] is calculated according to the steering angle Saa.

  In accordance with the steering angle Saa, the target wheel speed Vwt [* o] of the outer wheel is determined to be larger than the reference speed (Acfo, Acro) of the outer wheel, and the target wheel speed Vwt [* i] of the inner wheel is determined. Is determined to be smaller than a reference speed (Acfo, Acro) of the inner ring.

  The comparison means HKX compares the actual wheel speed Vwa [**] with the target wheel speed Vwt [**], and calculates the comparison result (wheel speed deviation) ΔVw [**]. Specifically, the wheel speed deviation ΔVw [**] is calculated according to the equation: ΔVw [**] = Vwa [**] − Vwt [**].

  In the target axis torque calculation block TQT, target axis torques Pwt [**] and Dwt [**] are calculated based on the deviation ΔVw [**]. The target shaft torque Pwt [**] is the braking-side shaft torque (axis torque for decelerating the wheel), and the target shaft torque Dwt [**] is the driving-side shaft torque (axis torque for accelerating the wheel).

  The target braking shaft torque Pwt [**] is “0” when the deviation ΔVw [**] (> 0) is less than the predetermined value vw1, and the deviation ΔVw [**] when the deviation ΔVw [**] is greater than or equal to the predetermined value vw1. ] Is increased so as to increase toward the braking side. Further, the target braking shaft torque Pwt [**] can be limited to the braking-side upper limit value pwm.

  The target drive shaft torque Dwt [**] is “0” when the deviation ΔVw [**] (absolute value) is less than a predetermined value (absolute value) vw2, and the deviation ΔVw [**] (absolute value) is a predetermined value. When the absolute value is greater than or equal to vw2, the calculation is performed so as to increase toward the drive side as the deviation ΔVw [**] (absolute value) increases. Further, the target drive shaft torque Dwt [**] can be limited to the upper limit value dwm on the drive side.

  The drive means DRVb drives the electric motor / hydraulic pump and solenoid valve of the brake actuator BRK based on the target braking shaft torque Pwt [**], and the braking hydraulic pressure of the wheel cylinder WC [**] is increased. Adjusted. Specifically, based on the actual braking torque Pwa [**] detected by the actual braking torque sensor PW [**], the actual braking torque Pwa [**] matches the target braking torque Pwt [**]. Servo control is executed as described above.

  The drive means DRVe drives the electric motor of the throttle actuator TH based on the target drive shaft torque Dwt [**], thereby adjusting the opening of the throttle valve TV. Specifically, the servo control is executed based on the actual value Tsa detected by the actual drive torque sensor (for example, the throttle opening sensor TS) so that the actual value Tsa matches the target value Dwt [**]. The

  When each wheel is equipped with an electric motor and each electric motor can be driven independently, the electric motor of each wheel is controlled based on the target shaft torque Pwt [**] (regenerative brake) and Dwt [**]. Can be done. As described above, in the present apparatus, the actual wheel speed Vwa [**] is controlled to coincide with the target wheel speed Vwt [**], and as a result, the vehicle speed is adjusted to approach the command vehicle speed Vxt.

(Ackermann geometry and steering geometry)
Hereinafter, the Ackermann geometry will be briefly described before describing the steering geometry of the vehicle. FIG. 3 shows the movement trajectory of each wheel when the vehicle on which the front wheels are steered turns at an extremely low speed at which centrifugal force can be ignored so that no side slip occurs on the wheels (tires). When the vehicle is represented by a two-wheel model composed of two virtual wheels WHf and WHr indicated by broken lines in FIG. 3, the steering angle δfg of the wheel WHf determined only from the geometric relationship is called the Ackerman actual steering angle. The following relationship holds. Here, L is a wheel base, and Rov is a turning radius with respect to the turning center O.
tan (δfg) = L / Rov

  The actual Ackermann steering angle δfg can be calculated based on the steering angle Saa acquired by the steering angle acquisition means SAA. Specifically, the calculation is based on at least one of the front wheel steering angle δfa detected by the front wheel steering angle sensor FS and the steering wheel angle θsw detected by the steering wheel angle sensor SA.

  In the case of a vehicle having four wheels for steering the front wheels, it is necessary for the wheels to turn around a common point (point O) so that the wheels do not cause a side slip. Therefore, the conditions for preventing the wheels from causing a side slip are that the turning center (point O) exists on the extension line of the rear wheel shaft, and the inner front wheel steering angle δ [fi] is the outer front wheel steering angle δ [fo]. It ’s bigger. A geometrical relationship that satisfies this condition is called Ackermann geometry.

In the theoretical characteristics of Ackermann geometry where the side slip is completely zero, the following relationship holds: Here, L is a wheel base and Tr is a tread. The Ackerman actual steering angle δfg is an average value (δfg = {δ [fo] + δ [fi]} / 2) of the steering angles of the left and right front wheels (steering wheels).
tan (π / 2−δ [fo]) − tan (π / 2−δ [fi]) = Tr / L

  The broken line (curve) in FIG. 4 shows the theoretical characteristics of Ackermann geometry. A characteristic Aci is a theoretical characteristic of the inner ring, and a characteristic Aco is a theoretical characteristic of the outer ring. The one-dot chain line (straight line) in FIG. 4 indicates the characteristic Prl of the parallel geometry (the geometrical relationship when the inner front wheel steering angle δ [fi] and the outer front wheel steering angle δ [fo] are equal).

  Hereinafter, the geometric relationship between the geometric arrangement and steering angle of the wheels in the vehicle (the steering angle of the left and right steering wheels) and the turning center of the vehicle is referred to as “steering geometry”. The actual steering geometry of the vehicle is determined by geometric conditions (length, angle, etc.) such as linkage and joints of the steering device. As shown by the solid line in FIG. 4, the characteristic of the actual steering geometry of the vehicle is set in a region sandwiched between the straight line corresponding to the parallel geometry (characteristic Prl) and the theoretical curve of the Ackermann geometry (characteristics Aci and Aco). Is done. Specifically, the characteristic of the steering geometry of the turning inner wheel of the steered wheel is set as a characteristic Chx, for example, in a region surrounded by the theoretical characteristic Aci of the inner ring of the Ackermann geometry and the characteristic Prl of the parallel geometry. Is done. Further, the characteristic of the steering geometry of the turning outer wheel of the steered wheel is set, for example, as a characteristic Chy within a region surrounded by the theoretical characteristic Aco of the outer wheel of the Ackermann geometry and the characteristic Prl of the parallel geometry. Characteristics Chx and Chy are preset characteristics.

  Due to the steering geometry, as the operation amount of the steering operation member (for example, the rotation angle θsw of the steering wheel) increases, the change amount of the steering angle (the change angle of the steering angle) with respect to the operation amount in the turning inner wheel increases and transitions. At least one of an increase transition and a gradient decrease transition in which the change amount of the steering angle (steering angle change gradient) with respect to the operation amount of the turning outer wheel decreases and changes occurs.

  In the steering angle acquisition calculation block SAA, a steering angle Saa which is a value between the steering angle δ [fi] of the turning inner wheel and the steering angle δ [fo] of the turning outer wheel (for example, Ackerman actual steering angle δfg) is calculated. Is done. Here, the actual Ackermann rudder angle δfg is a rudder angle determined from a purely geometric relationship in which the wheels (tires) are directed in the direction of the tangential line of the movement trajectory when the vehicle turns at an extremely low speed. In other words, the actual Ackermann rudder angle δfg is the “angle with the ratio of the turning radius of the wheel base to the center of the rear wheel axis as a tangent” when the turning center is on the rear wheel axis extension line. This is the average value of the steering angle δ [fi] and the steering angle δ [fo] of the steered wheel outside the turn.

(Details of target wheel speed calculation)
Next, the details of the calculation of the target wheel speed shown in FIG. 2 will be described with reference to FIGS. First, in the reference turning center position determination calculation block OPE, the reference turning center is calculated based on the steering angle Saa and the steering geometry of the vehicle (geometric arrangement of wheels and the geometric relationship between the steering angle and the turning center of the vehicle). A position (reference position) (point O) is determined. The reference turning center is a point at which the lateral slip of each wheel is minimized (generally zero) at an extremely low vehicle speed (≦ vz1) at which the centrifugal force acting on the turning vehicle can be ignored.

The reference position (point O) is determined on an extension line (referred to as rear wheel axis line) RAL of the rear wheel axis of the vehicle. The vehicle steering geometry is preset (ie, known). Accordingly, the above-described Ackerman actual steering angle δfg is calculated based on the steering angle Saa (for example, at least one of the steering wheel angle θsw and the actual steering angle δfa), and the vehicle (for example, the middle between the left and right rear wheels) is calculated. The position of the reference turning center with respect to the point Cvh) (the reference position point O) is determined. Specifically, the reference position (point O) is determined by calculating the distance (turning radius) Rov between the vehicle position (reference position) Cvh and the reference position (point O) according to the following relationship. Here, N is a steering gear ratio.
Rov = L / tan (δfg)
δfg = (δ [fi] + δ [fo]) / 2, or δfg = θsw / N

  That is, the reference position (point O) is determined based on a value (= L / tan (Saa)) obtained by dividing the vehicle wheel base L by the tangent (tangent) of the steering angle Saa. The vehicle position Cvh can be set at an arbitrary position in the vehicle.

  In the longitudinal adjustment amount calculation block XCC, the longitudinal adjustment amount (front / rear adjustment amount) Xc for adjusting the position of the turning center with respect to the reference position (point O) based on the indicated vehicle speed Vxt (see FIG. 6) Is calculated. Here, the “front-rear direction” corresponds to the front-rear direction (traveling direction) of the vehicle. When the command vehicle speed Vxt is less than the predetermined value vz1, the front-rear adjustment amount Xc is “0”. When the command vehicle speed Vxt is equal to or greater than the predetermined value vz1, the front-rear adjustment amount Xc is calculated to increase from “0” as the command vehicle speed Vxt increases. The Further, when the command vehicle speed Vxt is equal to or greater than the predetermined value vz2 (> vz1), the front-rear adjustment amount Xc can be limited to the upper limit value Lr (the distance from the vehicle center of gravity position to the rear wheel axle).

  In the lateral adjustment amount calculation block YCC, a lateral adjustment amount (lateral adjustment amount) Yc for adjusting the position of the turning center with respect to the reference position (point O) based on the command vehicle speed Vxt is calculated (FIG. 6). Here, the “lateral direction” corresponds to the lateral direction of the vehicle (the left-right direction with respect to the traveling direction). When the command vehicle speed Vxt is less than the predetermined value vz1, the lateral adjustment amount Yc is set to a predetermined value y1 (a positive predetermined value calculated based on the steering angle Saa). When the command vehicle speed Vxt is equal to or greater than the predetermined value vz1, the lateral adjustment amount Yc is calculated to decrease from y1 as the command vehicle speed Vxt increases. When the command vehicle speed Vxt is a predetermined value vz3 (> vz1), the lateral adjustment amount Yc is “0”. When the command vehicle speed Vxt is equal to or greater than the predetermined value vz4 (> vz3), the lateral adjustment amount Yc can be limited to the lower limit value −y2 (a negative predetermined value calculated based on the steering angle Saa).

  Here, in the longitudinal adjustment amount calculation block XCC and the lateral adjustment amount calculation block YCC, the adjustment amounts Xc and Yc can be calculated using the actual vehicle speed Vxa instead of the indicated vehicle speed Vxt. The actual vehicle speed Vxa is calculated in the actual vehicle speed calculation block VXA (see the broken line in FIG. 5) based on the actual wheel speed Vwa [**]. Further, a vehicle speed calculation block VXB that calculates the vehicle speed Vxb based on at least one of the indicated vehicle speed Vxt and the actual wheel speed Vwa [**] instead of the indicated vehicle speed Vxt (see the dashed line in FIG. 5). The adjustment amounts Xc and Yc can be calculated using the vehicle speed Vxb calculated at.

  In the correction amount calculation block YDC, a horizontal correction amount Yd for adjusting the position of the turning center with respect to the reference position (point O) is calculated based on the steering angular velocity dSa (see FIG. 6). The steering angular velocity dSa can be calculated based on the steering angle Saa in the steering angular velocity calculation block DSA. When the steering angular velocity dSa is less than the predetermined value ds1, the lateral correction amount Yd is calculated to be “0”. When the steering angular velocity dSa is equal to or greater than the predetermined value ds1, the correction amount Yd is calculated to increase from “0” as the steering angular velocity dSa increases. The correction amount Yd can be limited to the upper limit value yd1.

  In the turning center position adjustment calculation block PPE, the adjustment amounts Xc and Yc calculated in the longitudinal adjustment amount calculation block XCC and the lateral adjustment amount calculation block YCC, and the correction amount calculated in the correction amount calculation block YDC Based on Yd, the position (point P) of the adjusted turning center adjusted with respect to the point O (present on the rear wheel shaft extension line) is calculated.

  As a result, the post-adjustment turning center position (point P) adjusted by the front-rear adjustment amount Xc with respect to the reference position (point O) is the rear wheel axis when the indicated vehicle speed Vxt is less than the predetermined value vz1 (when extremely low). Set on line RAL. As the indicated vehicle speed Vx increases, the vehicle moves forward from the rear wheel axis RAL. As a result, as the vehicle speed increases, a larger lateral slip angle (lateral slip) is given to the front and rear wheels. As a result, a lateral force that balances the centrifugal force can be generated for each wheel. When the vehicle speed is equal to or greater than a predetermined value vz2 (for example, 60 km / h), the adjusted turning center position (point P) is set on an extension line (referred to as the center of gravity axis) of the vehicle center of gravity Cg parallel to the rear wheel axis. (Point Uo, point U).

  In addition, the post-adjustment turning center position (point P) adjusted by the lateral adjustment amount Yc with respect to the reference position (point O) is advanced when the indicated vehicle speed Vxt is less than the predetermined value vz1 (in the case of extremely low speed). It is set closer to the vehicle than a straight line (referred to as a neutral steer line) NSL passing through a reference position (point O) parallel to the direction. The post-adjustment turning center position (point P) approaches NSL (moves away from the vehicle) as the indicated vehicle speed Vxt increases, and becomes NSL when the indicated vehicle speed Vxt reaches vz3. When the indicated vehicle speed Vxt exceeds the predetermined value vz3, the adjusted turning center position (point P) is set on the side farther from the vehicle than NSL. Thus, when the vehicle speed is low due to the lateral adjustment amount Yc, the turning radius of the vehicle is reduced and the turning ability is improved. As the vehicle speed increases, the turning center is moved / adjusted to the side away from the vehicle, and the vehicle tends to weakly understeer.

  In addition, the position (point P) of the adjusted turning center adjusted by the correction amount Yd with respect to the reference position (point O) is brought closer to the vehicle when the steering angular velocity dSa is large. As a result, the turning radius can be reduced, and the turning performance (turning ability, steering followability) of the vehicle required by the driver can be improved.

In the target angular velocity calculation block OMG, the target angular velocity ωpt of the vehicle in the turning direction with respect to the point P is calculated based on the indicated vehicle speed Vxt and the position of the adjusted turning center (point P). Specifically, the target angular velocity ωpt is calculated according to the following relationship. Here, Rpv is the distance (turning radius) between the vehicle (point Cvh which is the reference position) and point P.
ωpt = Vxt / Rpv

  In each wheel position turning radius calculation block RPW, the distance (turning radius) Rpw from the point P to each wheel position Cw [**] based on the adjusted turning center position (point P) and turning direction Trn. [**] is calculated. Specifically, the turning radius Rpw [* centered on the point P at each wheel position Cw [**] is calculated by geometric calculation using the wheel base L and the tread Tr, which are known values as vehicle specifications. *] Is determined.

In each wheel target wheel speed calculation block VWS, the target wheel speed Vwt [**] of each wheel is calculated based on the target angular speed ωpt and the turning radius Rpw [**]. Specifically, the target wheel speed Vwt [**] is calculated according to the following relationship. Note that the adjustment coefficient Gvw [**] (see FIG. 2) corresponds to Rpw [**] / Rpv.
Vwt [**] = Rpw [**] · ωpt (= Vxt · Rpw [**] / Rpv)

  The above-mentioned geometric characteristics Acfo, Acro, Acfi, Acri (see FIG. 2) correspond to the characteristics of the adjustment coefficient Gvw [**] when the position of the turning center coincides with the reference position (point O). The reference speed is the wheel speed (= Row [**] · ωot (= Vxt · Row [**]) calculated by the calculation block VWS when the position of the turning center coincides with the reference position (point O). / Rov)).

  As described above, according to the present apparatus, the steering angle Saa (the intermediate value between the inner wheel steering angle and the outer wheel steering angle in the steered wheel), the steering geometry (that is, the actual Ackermann steering angle δfg corresponding to the steering angle Saa, and The reference position (point O) is determined based on the Saa determined by the vehicle specifications (wheel base) and the geometric relationship between the turning center of the vehicle. Specifically, the reference position (point O) is on the rear wheel axis RAL of the vehicle and from the reference position in the rear wheel shaft in the vehicle (particularly, the center position in the axial direction of the rear wheel shaft). It is determined to be a point separated inward in the turning direction by a turning radius Rov obtained by dividing L by the tangent of the steering angle Saa. In other words, the reference position (point O) passes through the position of the virtual wheel WHf located at the center in the axial direction of the front wheel shaft and is relative to the direction of the actual Ackermann steering angle δfa calculated based on the steering angle Saa. This is the intersection of the straight line ACL extending in the vertical direction and the rear wheel axis RAL. That is, the reference position (point O) is determined on the rear wheel axis RAL of the vehicle.

  When the vehicle travels at an extremely low speed (for example, when Vxt ≦ vz1), the position (point P) of the adjusted turning center is adjusted to the reference position (point O) by the adjustment amount Yc calculated based on the vehicle speed (Vxb, etc.). ) Is calculated on the rear wheel axis RAL of the vehicle approaching the vehicle. Then, the target angular speed ωpt is calculated based on the position of the turning center (point P), and the target wheel speed Vwt [**] is calculated according to the target angular speed ωpt. In this way, the turning center (point P) is determined to be closer to the vehicle than the reference position (point O) determined by the steering geometry (the geometric relationship between Saa and the turning center of the vehicle) of the vehicle, and the turning center Since Vwt [**] is determined based on (Point P), the turning radius of the vehicle can be reduced and the turning ability can be improved.

  In addition, it is assumed that each wheel rolls around a common point called the turning center (point P), and the vehicle can turn smoothly around the turning center (point P) at the target (turning) angular velocity ωpt. Thus, the target wheel speed Vwt [**] is calculated. Therefore, the target wheel speed Vwt [**] can be individually determined so that the wheel speed difference between the wheels due to the movement trajectory difference between the wheels can be ensured. That is, it is possible to suppress the occurrence of front and rear slip of each wheel which is unnecessary for improving the turning ability in the vehicle turning state.

  Here, the predetermined value vz1 is additionally described. vz1 may be a value corresponding to the creep speed of the vehicle. Creep means that the accelerator pedal AP is not operated (that is, the acceleration operation amount Asa = 0), and the vehicle is traveling at a slow speed while the engine EG is idling. Creep occurs in vehicles equipped with automatic transmissions that employ fluid couplings and torque converters in the clutch mechanism. In a semi-automatic transmission or the like equipped with a mechanical clutch mechanism, creep does not occur originally, but in some cases, creep is generated in order to reduce a sense of incongruity. From the above, the creep speed is the vehicle speed when the vehicle travels by creep when the acceleration operation member is not operated by the driver. When the wheel speed is controlled to be lower than the creep speed, it is necessary to adjust the braking torques Pwt [**] and Pwa [**].

  When the vehicle speed increases, it is necessary to generate a lateral force that balances the centrifugal force generated by the wheels by turning. At higher speeds, in order to maintain the stability of the vehicle, it is necessary to change the steering characteristic of the vehicle to an understeer tendency (finally, a slight understeer). In such a case (Vxt> vz1), the adjusted turning center position (point P) from the rear wheel axis RAL as the vehicle speed increases due to the adjustment amounts Xc and Yc calculated based on the vehicle speed (Vxb etc.). Calculation is performed in a direction away from the front of the vehicle and in a direction away from the vehicle. Then, similarly to the above, the target angular velocity ωpt is calculated based on the point P, and the target wheel speed Vwt [**] is calculated according to the target angular velocity ωpt. As a result, a lateral slip angle necessary for generating the lateral force of the wheel can be generated, and the above-described understeer tendency can be achieved.

  In addition, when the vehicle speed reaches a predetermined high speed (Vxt> vz2, for example, 60 km / h or more), the position of the adjusted turning center (point P) is separated from the vehicle on the center of gravity axis CGL and from the neutral steer line NSL. Is calculated on the other side (point Uo). By calculating the target wheel speed Vwt [**] based on this point Uo, a weak understeer characteristic of the vehicle is obtained.

  Furthermore, when the steering angular velocity dSa is large, the driver is requesting the turning performance (turning ability, steering followability) of the vehicle. In this case, the turning center can be adjusted in the direction approaching the vehicle from the point Uo to the point U by the correction amount Yd calculated based on the steering angular velocity dSa. This reduces the turning radius of the vehicle. As a result, by calculating the target wheel speed Vwt [**] based on the point U, the turning performance of the vehicle (turning ability, steering followability) can be improved.

  In the above embodiment, the calculation characteristic of the adjustment coefficient Gvw [**] is set to a characteristic that is larger or smaller than the characteristic determined by the steering geometry (geometric characteristic such as Acfo) when the steering angle Saa is “0” or more. However, when the steering angle Saa is less than the predetermined value sa1, the calculation characteristic of the adjustment coefficient Gvw [**] is set to a characteristic equal to the geometric characteristic, and the steering angle Saa is equal to or larger than the geometric characteristic when the steering angle Saa is equal to or greater than the predetermined value sa1. Can be set.

  Specifically, as shown in FIG. 7 and FIG. 8, for the turning outer wheel, as represented by the characteristic Cjfo (ac-de) (Cjro (ik-lm)), When the steering angle Saa is less than the predetermined value sa1, the adjustment characteristic Gvw [fo] (Gvw [ro]) is geometrically determined by the steering geometry, and the geometric characteristic Acfo (ac-r) (Acro (ik-u) When the steering angle Saa is equal to or greater than the predetermined value sa1, the adjustment coefficient Gvw [fo] (Gvw [ro]) may be larger than the geometric characteristic Acfo (Acro).

  Further, as represented by the characteristic Ckfo (abc-d-e) (Ckro (i-jk-lm)), when the steering angle Saa is less than the predetermined value sa0, the adjustment coefficient Gvw [fo] (Gvw [ro]) is a characteristic of parallel geometry (Gvw [fo] = 1) (Gvw [ro] = 1), and the adjustment coefficient when the steering angle Saa is greater than or equal to the predetermined value sa0 and less than the predetermined value sa1. When Gvw [fo] (Gvw [ro]) is a value smaller than the geometric characteristic Acfo (Acro) and the steering angle Saa is equal to or greater than the predetermined value sa1, the adjustment coefficient Gvw [fo] (Gvw [ro]) is the geometric characteristic Acfo. It can be set to a value larger than (Acro).

  Similarly, with respect to the turning inner wheel, as indicated by the characteristic Cjfi (afgh) (Cjri (inpq)), if the steering angle Saa is less than the predetermined value sa1, the adjustment coefficient Gvw [fi] (Gvw [ri]) is a geometric characteristic Acfi (afs) (Acri (inv)) determined geometrically by the steering geometry, and the steering angle Saa is a predetermined value sa1. In the above, the adjustment coefficient Gvw [fi] (Gvw [ri]) can be set to a value smaller than the geometric characteristic Acfi (Acri).

  Further, as represented by the characteristic Ckfi (abfgh) (Ckri (ijnpq)), when the steering angle Saa is less than the predetermined value sa0, the adjustment coefficient Gvw [fi] (Gvw [ri]) is a characteristic of parallel geometry (Gvw [fi] = 1) (Gvw [ri] = 1), and when the steering angle Saa is not less than the predetermined value sa0 and less than the predetermined value sa1, the adjustment coefficient When Gvw [fi] (Gvw [ri]) is larger than the geometric characteristic Acfi (Acri) and the steering angle Saa is equal to or greater than the predetermined value sa1, the adjustment coefficient Gvw [fi] (Gvw [ri]) is the geometric characteristic Acfi. It can be set to a smaller value than (Acri).

  According to these characteristics, the control for reducing the turning radius from the turning radius based on the geometric characteristic determined by the steering geometry is executed under the condition that Saa is equal to or greater than the predetermined value sa1 (Saa ≧ sa1). In the vicinity of the neutral position, a natural steering feeling can be obtained. And only when the driver wants to decrease the turning radius (Saa ≧ sa1), the turning ability of the vehicle can be improved.

  Note that the characteristic Cjfo (ac-d-e), the characteristic Cjro (ik-lm), the characteristic Cjfi (afg-h), and the characteristic Cjri (in-p-q) ), When the steering angle Saa is less than the predetermined value sa1, the position (point P) of the turning center is determined as the reference position (point O), and when the steering angle Saa is equal to or larger than the predetermined value sa1, the position of the turning center (point This corresponds to the case where P) is determined closer to the vehicle on the RAL than the reference position (point O). Here, the predetermined value sa1 can be set to the maximum angle of the steering angle Saa (the maximum steering angle that the steering device STR can take) or a value slightly smaller than the maximum angle. Thus, speed control can be executed only when the driver needs the turning ability of the vehicle.

  By the way, in the said embodiment, the position (point P) of the turning center is adjusted with respect to the reference position (point O) based on the vehicle speeds Vxt, Vxa, Vxb (see FIGS. 5 and 6). In addition to this, the position of the turning center (point P) can be adjusted with respect to the reference position (point O) based on the vehicle steer characteristic value Sch (a value representing the degree of understeer, neutral steer, and oversteer).

  In this case, as shown in FIG. 9, the steering characteristic value Sch is calculated based on the steering angle Saa and the actual turning amount Tja (for example, Yra) in the steering characteristic value calculation block SCH. The steer characteristic value Sch is a value representing the degree of understeer, neutral steer, and oversteer of the vehicle, and the turning amount is a state amount representing the degree of turning of the vehicle. Specifically, a reference value (reference turning amount) Tjt (for example, Yrt) of the turning amount is calculated based on the steering angle Saa and compared with the actual value Tja of the turning amount. Then, the comparison result (turning amount deviation (= Tja−Tjt)) is set as the steering characteristic value Sch. In this case, when the steering characteristic value Sch is positive, it corresponds to oversteer, when it is “0”, it corresponds to neutral steer, and when it is negative, it corresponds to understeer.

  In the correction amount calculation block YEC, the correction amount Ye is calculated. The correction amount Ye is a lateral correction amount for correcting the position (point P) of the turning center based on the steering characteristic of the vehicle. When the steering characteristic value Sch is “0” or more and less than the predetermined value sc1 (0 ≦ Sch <sc1), Ye is set to “0”, and when the steering characteristic value Sch is the predetermined value sc1 or more (Sch ≧ sc1), the steering characteristic value Sch. The correction amount Ye is increased from “0” according to the increase to the oversteer side. On the other hand, when the steering characteristic value Sch is larger than the predetermined value −sc2 and less than “0” (−sc2 <Sch <0), Ye is set to “0”, and the steering characteristic value Sch is equal to or smaller than the predetermined value sc2 (Sch ≦ sc2). ), The correction amount Ye is decreased from “0” as the steering characteristic value Sch increases toward the understeer side.

  Thereby, when the vehicle is in an oversteer state, the position (point P) of the adjusted turning center is corrected to the side away from the vehicle (the direction of leaving) by the correction amount Ye. As a result, the turning radius is increased, and the steering characteristic of the vehicle approaches the neutral steering characteristic. On the other hand, when the vehicle is in the understeer state, the adjusted turning center position (point P) is corrected to the side closer to the vehicle (the approaching direction). As a result, the turning radius is reduced, and the steering characteristic of the vehicle approaches the neutral steering characteristic.

  In the above embodiment, both the target braking shaft torque Pwt [**] and the target driving shaft torque Dwt [**] are calculated based on the wheel speed deviation ΔVw [**] (see FIG. 2). . On the other hand, the target braking shaft torque Pwt [**] is calculated based on the wheel speed deviation ΔVw [**], and the drive source based on the vehicle speed deviation (deviation between the command vehicle speed Vxt and the actual vehicle speed Vxa) ΔVx. Output target value Tst can be calculated.

  In an ordinary vehicle, braking means for controlling the braking shaft torque is provided on each wheel, while only one power source (for example, engine EG, electric motor for driving) for controlling the driving shaft torque is provided in the vehicle. And the output of this power source is distributed to each wheel via differential gears (FD etc.). This example can be applied to such a vehicle.

  Specifically, as shown in FIG. 10, an actual vehicle speed (actual vehicle speed) Vxa is calculated based on the actual wheel speed Vwa [**] of each wheel in the actual vehicle speed calculation block VXA. . The comparing means HKY compares the indicated vehicle speed Vxt with the actual vehicle speed Vxa, and calculates the comparison result (vehicle speed deviation) ΔVx. Specifically, the vehicle speed deviation ΔVx is calculated according to the equation: ΔVx = Vxt−Vxa.

  In the target drive output calculation block TQTe, the target drive output Tst is calculated based on the vehicle speed deviation ΔVx. Specifically, when the deviation ΔVx is less than the predetermined value vx1, the target drive output Tst is “0”, and when the deviation ΔVx is greater than or equal to the predetermined value vx1, the target drive output Tst increases from “0” as the deviation ΔVx increases. Is calculated. Also, Tst can be limited to the upper limit tsm on the drive side.

  WS [**]: Wheel speed sensor, SA: Steering wheel angle sensor, FS: Front wheel steering angle sensor, PW: Wheel cylinder pressure sensor, TS: Throttle opening sensor, SJ: Instruction vehicle speed input means, BRK: Brake actuator, TH ... Throttle actuator

Claims (9)

The left and right steered wheels are steered according to the operation of the steering operation member of the vehicle operated by the driver, and the left and right steering wheels are operated when the steering operation member is operated from a neutral position corresponding to the straight traveling of the vehicle. A steering device that adjusts the inner and outer wheel steering angles so that an inner wheel steering angle that is a steering angle of a turning inner wheel among steering wheels is larger than an outer wheel steering angle that is a steering angle of a turning outer wheel;
Steering angle acquisition means for acquiring a steering angle that is a value between the inner wheel steering angle and the outer wheel steering angle;
An instructed vehicle speed setting means for setting an instructed vehicle speed that is a vehicle speed instructed by a driver of the vehicle;
A turn in which the target wheel speed of the turning inner wheel of the vehicle is determined based on the indicated vehicle speed, the steering angle, and a steering geometry of the vehicle that is a geometric relationship between the steering angle and the turning center of the vehicle. The vehicle is determined to have a value smaller than the reference speed of the inner wheel, and the target wheel speed of the turning outer wheel of the vehicle is determined based on the indicated vehicle speed, the steering angle, and the steering geometry of the vehicle. A target wheel speed determining means for determining at least one of determining a value larger than a reference speed of the wheel;
Real wheel speed acquisition means for acquiring the actual wheel speed of each wheel;
Torque applying means for applying axial torque to each wheel;
Control means for controlling the axial torque of each wheel applied by the torque applying means to bring the actual wheel speed closer to the target wheel speed;
A vehicle speed control device comprising :
The target wheel speed determining means includes
A reference center is determined based on the steering angle and the steering geometry of the vehicle,
Determining a turning center of the vehicle at a position closer to the vehicle with respect to a reference line passing through the reference center and parallel to the longitudinal direction of the vehicle;
A target angular velocity is calculated based on the turning center and the indicated vehicle speed,
A vehicle speed control device configured to determine the target wheel speed based on the target angular speed. The vehicle speed control device according to claim 1,
The torque applying means includes
A vehicle speed control device configured to apply a braking torque to each wheel as an axial torque of each wheel. The vehicle speed control device according to claim 1 or 2,
The target wheel speed determining means includes
The speed of the vehicle configured to set the target wheel speed of the turning inner wheel of the vehicle to a value smaller than the indicated vehicle speed and to determine the target wheel speed of the turning outer wheel of the vehicle to a value larger than the indicated vehicle speed. Control device. In the vehicle speed control device according to any one of claims 1 to 3,
The target wheel speed determining means includes
A vehicle speed control apparatus configured to use a value determined based on a value obtained by dividing a wheel base of the vehicle by a tangent of the steering angle and a value of the indicated vehicle speed as the reference speed of each wheel. In the vehicle speed control device according to any one of claims 1 to 4 ,
The target wheel speed determining means includes
The reference center is on the extension line of the rear wheel shaft of the vehicle, and the turning direction is the turning radius obtained by dividing the wheel base of the vehicle by the tangent of the steering angle from the reference position on the rear wheel shaft in the vehicle. A speed control device for a vehicle configured to determine a point separated inward. In the vehicle speed control apparatus according to any one of claims 1 to 5 ,
The target wheel speed determining means includes
When the vehicle speed calculated based on at least one of the indicated vehicle speed and the actual wheel speed is equal to or less than a predetermined value, the turning center is on an extension line of the rear wheel shaft of the vehicle and the reference center A vehicle speed control device configured to determine a position closer to the vehicle. The vehicle speed control device according to any one of claims 1 to 6 ,
The target wheel speed determining means includes
When the vehicle speed calculated based on at least one of the indicated vehicle speed and the actual wheel speed is higher than a predetermined value, the vehicle speed is closer to the front side of the vehicle than when the vehicle speed is lower than the predetermined value. A vehicle speed control device configured to determine the turning center. In the vehicle speed control device according to any one of claims 1 to 7 ,
The target wheel speed determining means includes
When the vehicle speed calculated based on at least one of the indicated vehicle speed and the actual wheel speed is larger than a predetermined value, the vehicle speed is farther from the vehicle than when the vehicle speed is less than the predetermined value. A vehicle speed control device configured to determine the turning center. A vehicle speed control apparatus according to any one of claims 1 to 8 ,
Steering angular velocity acquisition means for acquiring a steering angular velocity that is a changing speed of the steering angle of the vehicle,
The target wheel speed determining means includes
A vehicle speed control device configured to determine the turning center closer to the vehicle when the steering angular velocity is equal to or greater than a predetermined value than when the steering angular velocity is equal to or less than the predetermined value.

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