JP5672967B2 - Vehicle motion control device - Google Patents

Description

  The present invention relates to a vehicle motion control device that performs vehicle motion control by cooperation of a plurality of control objects.

  Conventionally, in Patent Document 1, after changing the driving force distribution between the front and rear wheels in accordance with the progress of an oversteer (hereinafter referred to as OS) or understeer (hereinafter referred to as US) state of the vehicle, A vehicle is disclosed that performs steering angle correction as it progresses, and still selectively brakes selected wheels when the condition progresses.

  Further, in Patent Document 2, according to the degree of US, as the degree increases, the vehicle is operated in the order of reaction force suppression control by an electric power steering device (hereinafter referred to as EPS), notification by a notification device, and braking force distribution control. US control devices are disclosed.

Japanese Patent No. 4297150 Japanese Patent No. 4455379

  However, in the vehicle described in Patent Document 1, the control device to be used and the operation order are only determined when the control request value for canceling the OS state or the US state is realized. Moreover, in the vehicle US control apparatus described in Patent Document 2, in order to realize a control request value for suppressing the US, a plurality of control objects are sequentially arranged so as to compensate for the insufficient control amount step by step. It is only activated. That is, Patent Documents 1 and 2 disclose that the lateral motion control of a vehicle is executed by cooperation of a plurality of control objects, but which control object is based on the controllable range (availability) of each control device. It is not taken into consideration whether or not it is possible to perform more optimal control by preferentially operating the. For example, when the control amount, which is one of the availability, differs depending on the control target, the control responsiveness in an emergency is required if the control target is determined based only on the control amount. It is not possible to generate a control output with good responsiveness in a scene where Therefore, it is desirable to perform more optimal vehicle motion control using a plurality of control objects.

  Here, the lateral movement of the vehicle has been described, but the same applies to the longitudinal movement and pitching movement of the vehicle.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a vehicle motion control device that can execute a vehicle motion control by selecting a more optimal control target in accordance with the availability of the control target. .

  In order to achieve the above object, according to the first aspect of the present invention, in a vehicle motion control device that realizes a required control amount by performing vehicle motion control in the same direction by a plurality of control objects (12 to 19), availability is provided. The acquisition means (5) acquires availability corresponding to the controllable range including the maximum control amount and the control amount change amount of each of the plurality of control objects (12 to 19), and then feedforward (hereinafter referred to as F / F). The control object selection means (61) gives priority to the F / F control object used for performing vehicle motion control by F / F control from among the plurality of control objects (12 to 19) based on the availability. The F / F control target is selected by determining the rank, and further, F / F request value calculation means (63) is a request value for F / F control with respect to the F / F control target. Calculating a F requirement value. Then, the margin calculation means (72b) calculates the margins of the plurality of control targets (12 to 19) based on the availability and the F / F request value of the F / F control target, and provides feedback (hereinafter referred to as F). / B) In the control object selection means (72d), based on the margin of the plurality of control objects (12 to 19), vehicle motion control by F / B control from among the plurality of control objects (12 to 19). It is characterized in that the priority of the F / B control object used for performing the determination is determined and the F / B control object is selected.

  As described above, the priority order of the F / B control objects to be used for performing the vehicle motion control by the F / B control in consideration of the margin of each control object (12 to 19) is determined. For this reason, according to the margin of a control object (12-19), it becomes possible to select a more optimal control object and to perform vehicle motion control.

In the invention described in claim 1 , the F / B required value calculating means (71) for calculating the required value of F / B control is provided, and the margin calculating means (72b) has a plurality of control objects (12 to 12). 19) is obtained from the difference between the maximum control amount of the plurality of control objects (12 to 19) included in the availability and the F / F required value calculated by the F / F required value calculating means (63). The F / B control target selection means (72d) calculates the margin of the control amount to be obtained, and the control amount margin among the plurality of control targets (12 to 19) is larger than the F / B control request value. The control target satisfying the above is selected as the F / B control target.

  As described above, a control target that satisfies the condition that the margin of the control amount is larger than the F / B control request value among the plurality of control targets (12 to 19) can be selected as the F / B control target. Such selection of the F / B control target is preferable, for example, when comfort is considered rather than urgency.

In the second aspect of the invention, the F / B control target selection means (72d) has a condition that the margin of the control amount is larger than the F / B control request value among the plurality of control targets (12 to 19). When there are a plurality of control targets satisfying the condition, the priority order of the F / B control targets is determined in descending order of the resolution represented by the minimum change amount of the control amount per unit time among the control targets satisfying the condition. It is said.

  In this way, it is possible to perform more detailed vehicle motion control by increasing the priority of a control target with high resolution.

According to the third aspect of the present invention, the F / B required value change amount calculating means (72c) for calculating the F / B control required value change amount which is the change amount of the F / B control required value is provided, and a margin calculation is performed. In the means (72b), as the margin of the plurality of control objects (12 to 19), the maximum change amount of the control amount of the plurality of control objects (12 to 19) included in the availability and the F / F required value calculation means (63 ) Is calculated based on the difference from the F / F request value change amount which is the change amount of the F / F request value calculated in step), and the F / B control target selection means (72d) is calculated. ), The control target satisfying the condition that the margin of the change amount of the control amount is larger than the F / B control request value change amount among the plurality of control targets (12 to 19) is selected as the F / B control target. It is characterized by.

  In this way, it is possible to select a control object whose margin of change amount of each control object is larger than the F / B request value change amount as the F / B control object. Such selection of the F / B control target is preferable when considering urgency rather than comfort, for example.

In the invention according to claim 4 , the margin calculation means (72 b) calculates the maximum control amount of the plurality of control objects (12 to 19) included in the availability as the margin of the plurality of control objects (12 to 19). The control amount margin obtained from the difference from the F / F request value calculated by the F / F request value calculation means (63) is calculated, and the F / B control target selection means (72d) performs a plurality of controls. When there are a plurality of control targets in the targets (12 to 19) that satisfy the condition that the margin of the change amount of the control amount is larger than the F / B control request value change amount, among the control targets that satisfy the condition, the control amount The priority order of the F / B control targets is determined in descending order of the margin of.

  In this way, it is possible to prevent the occurrence of hunting such that the control target is repeatedly changed by increasing the priority of the control target having a high control amount margin.

  In addition, the code | symbol in the bracket | parenthesis of each said means shows the correspondence with the specific means as described in embodiment mentioned later.

1 is a block diagram of a vehicle lateral motion control system according to a first embodiment of the present invention. 3 is a block diagram showing detailed structures of an availability physical quantity conversion unit 20 and an availability calculation unit 5. FIG. 3 is a block diagram illustrating a detailed structure of a control target selection unit 61. FIG. When an application request mode is comfort, it is the figure which showed the selection pattern in the case where an application request yaw rate can be implement | achieved by all the control objects, and when it can implement | achieve only some control objects. When an application request mode is safety, it is the figure which showed the selection pattern in the case where an application request | requirement variation | change_quantity can be implement | achieved by all the control objects, and when it can implement | achieve only some control objects. It is the figure which showed an example of the selection order of application request value and the 1st-3rd control object, (a) is a figure in case application request mode is comfort, (b) is in case application request mode is safety FIG. It is a map for 1st control object selection in case an application request | requirement mode is comfort. It is a map for 2nd control object selection in case an application request | requirement mode is comfort. It is a map for 3rd control object selection in case application request mode is comfort. It is a map for 1st control object selection in case application request mode is safety. It is a map for 2nd control object selection in case application request mode is safety. It is a map for 3rd control object selection in case application request mode is safety. 3 is a block diagram illustrating a detailed structure of a control target selection unit 72. FIG. (A), (b) is the figure which showed the calculation image of the margin of yaw rate (gamma), and the margin of yaw rate change amount d (gamma) / dt, respectively. It is the figure which showed the comparative example of the resolution of the control objects 1 and 2 used as the selection control object.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiments, the same or equivalent parts are denoted by the same reference numerals in the drawings.

(First embodiment)
A first embodiment of the present invention will be described. In the present embodiment, the VLP will be described by taking a vehicle lateral motion control system to which a vehicle lateral motion control apparatus (hereinafter referred to as VLP) according to an embodiment of the present invention is applied as an example.

  FIG. 1 is a block diagram of a vehicle lateral motion control system according to the present embodiment. In the vehicle lateral movement control system of the present embodiment, the vehicle lateral movement is controlled by controlling a plurality of objects to be controlled, specifically, front steer, rear steer, and brake.

  As shown in FIG. 1, the vehicle lateral motion control system includes a control request unit 1, a sensor unit 2, a target value generation unit 3, a vehicle state monitoring unit 4, an availability calculation unit 5, an F / F calculation unit 6, F / B calculation unit 7, final value calculation control permission determination unit 8, various managers 9 to 11, various electronic control devices (hereinafter referred to as ECU) 12 to 15, and various actuators for lateral motion control (hereinafter referred to as ACT) 16 ~ 19. Of these, the target value generation unit 3, the vehicle state monitoring unit 4, the availability calculation unit 5, the F / F calculation unit 6, the F / B calculation unit 7, and the final value calculation control permission determination unit 8, or various managers 9 Those including ˜11 correspond to VLP.

  The control request unit 1 outputs a request signal related to the lateral motion according to the vehicle state in accordance with the control request of each application that performs vehicle lateral motion control. In the case of the present embodiment, the control request unit 1 includes various control units (not shown) that execute various applications such as lane keep control and lane departure control. In the lane keeping control, the vehicle front image is taken in and the lanes on both sides of the lane are recognized, so that when the vehicle runs along the lane, the side Perform directional motion control. In the lane departure control, the vehicle front image is captured and the lanes on both sides of the lane are recognized, so that when the vehicle runs along the lane, the driver is prevented from protruding from the lanes on both sides. The vehicle lateral movement control is performed so that it does not protrude from the running lines on both sides at the same time. Applications include emergency avoidance control that performs vehicle lateral movement control so as to avoid collisions with obstacles that exist in the vehicle traveling direction, and vehicle lateral movement that leads to the vehicle movement path assumed during parking. Parking assistance control that performs control is also assumed. In addition, any application may be used as long as the vehicle lateral motion control is performed.

  When it is determined that the vehicle lateral direction control execution start condition is satisfied in each of these applications, a control amount necessary for vehicle lateral control and a request signal for instructing execution of the application are output, which are input to the vehicle lateral control device. Is done. Thereby, the various ACTs 16 to 19 used for executing the vehicle lateral motion control are driven, so that the lateral motion of the vehicle according to the request of each application is controlled. In the case of the present embodiment, the control request unit 1 uses the requested lateral acceleration Gy and the requested lateral acceleration change rate dGy / dt as a request signal indicating a necessary control amount, and as a request signal that indicates whether or not the application is executed. An application execution request is used.

  In addition, the control request unit 1 notifies the availability calculation unit 5 of application information, which is information indicating the request mode corresponding to the contents of each application and the priority of the control target. The request mode according to the contents of the application indicates whether safety (comfort), comfort (comfort), or eco (economic) is prioritized, and is used to select the control according to the contents of the application. It is an indicator. For example, when the demand mode is safety, control with good responsiveness is realized. When comfort is required, control with low response and low burden is realized. In the case of eco, the most necessary energy is achieved. By realizing a small amount of control, control corresponding to the contents of the application is realized. The priority of the control object indicates the priority order of the control object to be selected when the vehicle lateral movement control corresponding to the application is performed.

  The sensor unit 2 inputs information indicating various vehicle states to the vehicle state monitoring unit 4. Specifically, the sensor unit 2 inputs detection signals of various vehicle states or data signals indicating calculation results of various vehicle states to the vehicle state monitoring unit 4 as information indicating various vehicle states. In the present embodiment, information relating to the front wheel steering angle, each wheel axle torque, the rear wheel steering angle, and the vehicle speed (vehicle speed) is transmitted from the sensor unit 2 to the vehicle state monitoring unit 4. As for the front wheel steering angle and the rear wheel steering angle, for example, a detection signal of a steering angle sensor is used. For each wheel axle torque, for example, since each wheel axle torque currently generated in the brake ECU is calculated, the calculation result is used. Regarding the vehicle speed, for example, a value calculated from the wheel speed of each wheel calculated based on the detection signal of the wheel speed sensor is used.

  The sensor unit 2 also includes a yaw rate sensor that detects an actual yaw rate actually generated in the vehicle. A detection signal of the yaw rate sensor or an actual yaw rate calculated based on the detection signal is transmitted to the F / B calculation unit 7 via the vehicle state monitoring unit 4. Further, the sensor unit 2 includes a portion that detects a road surface friction coefficient (hereinafter referred to as μ) as the traveling road surface state. For example, since the brake ECU detects the road surface μ based on the wheel speed and the like, the detection result is transmitted to the vehicle state monitoring unit 4.

  The target value generation unit 3 arbitrates requests for each application based on the requested lateral acceleration Gy and the requested lateral acceleration change rate dGy / dt input from the control requesting unit 1. And the application request value which is a control target value required in order to satisfy | fill the request | requirement of each application is output. The application request value varies depending on the contents of the application, and the application request yaw rate or application request change amount that is the absolute amount of yaw rate γ (hereinafter referred to as the yaw rate absolute amount) or the yaw rate change amount dγ / dt within one control cycle. Is output as an application request value. The arbitration of each application request is performed according to the type of application indicated in the application execution request. For example, the yaw rate γ and the yaw rate change amount dγ / dt corresponding to the sum obtained by adding the required lateral acceleration Gy and the required lateral acceleration change rate dGy / dt required by each application are output as the application request yaw rate and the application request change amount. By doing so, it is possible to perform vehicle lateral motion control that satisfies the requirements of all applications. Further, when the installed application has priority, the yaw rate γ or the yaw rate change amount dγ / corresponding to the requested lateral acceleration Gy and the requested lateral acceleration change rate dGy / dt required by the application with higher priority. dt is output as an application request yaw rate or an application request change amount. Since the application execution request indicates which application is to be executed, an application with a high priority to be executed can be selected based on the application execution request.

  In the present embodiment, the requested lateral acceleration Gy and the requested lateral acceleration change rate dGy / dt are used as the requested values input from the control requesting unit 1, and the control amount and the variation amount when executing the vehicle lateral motion control. In the following description, the yaw rate converted values such as the application request yaw rate and the application request change amount will be described, but the present invention is not limited thereto. For example, the yaw rate γ and the yaw rate change amount dγ / dt are used as the request values input from the control request unit 1, and the value obtained by converting the lateral acceleration is used as the control amount when the vehicle lateral movement control is executed. May be.

  The vehicle state monitoring unit 4 obtains current vehicle information based on information indicating various vehicle states input from the sensor unit 2, and outputs the vehicle information to the availability calculation unit 5. Specifically, the vehicle condition monitoring unit 4 theoretically obtains from a general formula based on the front wheel rudder angle, the wheel axle torque, the rear wheel rudder angle, and the vehicle speed that are currently generated for the vehicle. The front wheel steering angle, the wheel axle torque, the rear wheel steering angle, and the vehicle speed that should be present are obtained as vehicle information. Further, vehicle travel information such as road surface μ indicating the travel road surface state is also acquired as vehicle information.

  The availability calculation unit 5 receives the availability of the various ACTs 16 to 19 from the various ECUs 12 to 15 for driving the various ACTs 16 to 19 via the availability physical quantity conversion unit 20, thereby controlling each control target (front steer, rear steer and brake). The availability acquisition means for acquiring information on availability (availability information) is configured. The availability calculation unit 5 calculates the availability as a VLP based on the acquired availability information of each control target, the vehicle information transmitted from the vehicle state monitoring unit 4 and the application information transmitted from the control request unit 1. Information on availability as a VLP is transmitted to the F / F calculation unit 6 and the F / B calculation unit 7.

  Here, availability means the controllable range, and is a concept that includes the amount of change in control amount that indicates responsiveness during control in addition to the maximum control amount that can be output (maximum control amount). is there. In the vehicle lateral movement control, there are two availability of the vehicle left turn direction and the right turn direction.

  For example, the availability of the various ACTs 16 to 19 means the maximum control amount of the various ACTs 16 to 19 and the responsiveness (variation amount of the control amount) of the various ACTs 16 to 19. Moreover, the availability of each control object means the maximum control amount and responsiveness (change amount of control amount) of each of the front steer, rear steer, and brake indicated by the availability of each ACT 16-19. The availability of the various ACTs 16 to 19 is transmitted from the various ECUs 12 to 15 to the availability calculation unit 5 through the availability physical quantity conversion unit 20 as a map or the like representing the states of the various ACTs 16 to 19 at that time. Of the availability of ACTs 16 to 19, the sum of the availability of ACTs 16 and 17 for controlling the front steer is the front steer availability (front steer availability). Further, the availability of the ACT 18 for controlling the rear steer becomes the rear steer availability (rear steer availability). Similarly, the availability of the ACT 19 for controlling the brake is the brake availability (brake availability). For this reason, that the availability of various ACTs 16 to 19 is transmitted from the various ECUs 12 to 15 means that the availability of each control target is transmitted. Therefore, in FIG. 1, front availability, rear availability, and brake availability are input from the various ECUs 12 to 15 to the availability calculation unit 5 via the availability physical quantity conversion unit 20.

  Moreover, the availability as VLP means the controllable range which can be output in consideration of the availability of each control target, application information, and vehicle information. The calculation of availability as a VLP by the availability calculation unit 5 will be described in detail later.

  The F / F calculation unit 6 calculates an F / F request value for performing F / F control based on the application request yaw rate, the availability information transmitted from the availability calculation unit 5 and the application information. Specifically, the F / F calculation unit 6 according to the present embodiment includes a control target selection unit 61, a norm calculation unit 62, and an F / F request value calculation unit 63.

  The control target selection unit 61 constitutes an F / F control target selection unit that performs F / F control target selection based on application information and availability information transmitted via the availability calculation unit 5 in addition to the application request yaw rate. . Specifically, the control target selection unit 61 selects a control target to be used for execution of the vehicle lateral movement control from among the control targets, and performs control requested to the selected control target (hereinafter referred to as a selection control target). A control target is selected to set a control target value for the amount and responsiveness (control amount change amount). The control target selection is performed when a control request related to the vehicle lateral motion control is issued, for example, at a timing when lane keeping control or the like is executed. Details of the detailed configuration of the control target selection unit 61 and the control target selection method will be described later.

  When the selection control target in the control target selection unit 61 is determined, the reference calculation unit 62 calculates the reference value of the selection control target from the availability of the selection control target based on the availability information transmitted from the availability calculation unit 5. That is, when the control target selection unit 61 determines the selection control target, the control amount and the responsiveness distribution of each selection control target required to satisfy the application request value are determined. For example, when two control targets are selected by a method described later, the maximum control amount of availability or the maximum change amount of the control amount is generated for the first control target selected first, and the second control target is selected. The distribution is determined, for example, by generating a control amount that is insufficient for the first control target. The control amount and the change amount determined at this time are control target values of each selection control target, that is, values obtained by allocating application request values to each selection control target, and the actual values that can be realized are different. For this reason, the norm calculation unit 62 obtains a normative value corresponding to the control target value from data indicating the relationship between the control target value and the normative value for each control object that has been obtained in advance.

  The F / F required value calculation unit 63 calculates the F / F required value for the selection control target based on the difference between the control target value of each selection control target and the reference value calculated by the reference calculation unit 62. F request value calculation means is configured. As a method for calculating the F / F required value, any method conventionally known as an F / F control calculation method may be used. As a result, the requested yaw rate F / F value for the selection control target is calculated and output to the final value calculation control permission determination unit 8 and the F / B calculation unit 7. As will be described later, in the present embodiment, the required yaw rate is realized based on front steer control, rear steer control, and brake control. F / F required values of yaw rate γ realized by front steer control, rear steer control and brake control are respectively a front steer request yaw rate F / F value, a rear steer request yaw rate F / F value, and a brake request yaw rate F / F value. It is represented.

  The F / B calculation unit 7 calculates the F / B based on the normative value of each selection control target calculated by the F / F calculation unit 6, the availability information and application information transmitted from the availability calculation unit 5, and the actual yaw rate. An F / B value for performing control is calculated. Specifically, the F / B calculation unit 7 of the present embodiment includes a request value calculation unit 71, a control target selection unit 72, and an F / B request value calculation unit 73.

  The required value calculation unit 71 is based on the difference between the sum of the reference values to be selected and acquired from the reference calculation unit 62 of the F / F calculation unit 6 and the actual yaw rate detected by the yaw rate sensor provided in the sensor unit 2. Thus, F / B request value calculation means for calculating the total F / B request value is configured.

  In the control target selection unit 72, the F / B request value, the application information and availability information transmitted via the availability calculation unit 5, and each F / F request value (request yaw rate F / Based on (F value), a selection control target that is an F / B control target is selected from among the control targets, and a control amount required for the selection control target and a control target value of responsiveness (amount of change in control amount) are set. Select the control target to be set. Details of the control target selection unit 72 will be described later.

  The F / B request value calculation unit 73 calculates the sum of the reference values of the selection control target acquired from the reference calculation unit 62 of the F / F calculation unit 6 and the actual yaw rate detected by the yaw rate sensor provided in the sensor unit 2. The F / B request value is calculated based on the difference, and the F / B request value is distributed based on the selection control target calculated from the control target selection unit 72 and the control target margin. As a method for calculating the F / B required value, any method conventionally known as an F / B control calculation method may be used. Thereby, the requested yaw rate F / B value for the selection control target is calculated, and this is output to the final value calculation control permission determination unit 8. Here, the F / B values of the yaw rate γ realized by controlling the front wheel steering angle, the rear wheel steering angle, and the brake are the front steering required yaw rate F / B value, the rear steering required yaw rate F / B value, and the brake required yaw rate F / B, respectively. It is expressed as a value.

  The final value calculation control permission determination unit 8 includes an F / F request value (requested yaw rate F / F value) transmitted from the F / F calculation unit 6 and an F / B request value (requested yaw rate) transmitted from the F / B calculation unit 7. Based on the (F / B value), the final value of the requested yaw rate is calculated, and the control target for which control is permitted is determined. As a result, from among the three control objects of front steer, rear steer, and brake, a control permission is determined. For example, the control permission determination condition is that the requested yaw rate F / F value or the requested yaw rate F / B value is generated. Then, the final value calculation control permission determination unit 8 outputs an execution request and a request yaw rate final value to a control target that satisfies the control permission determination condition.

  The execution request is a command indicating that control is to be executed on a control target for which control permission is determined. For example, a front steer execution request is issued if the object to be controlled is a front steer, a rear steer execution request is issued if it is rear steer, and a brake execution request is issued if it is a brake. The requested yaw rate final value is a value of the yaw rate γ that is required to be finally generated by each control object. This value is obtained by adding the requested yaw rate F / F value and the requested yaw rate F / B value for each control target. That is, the front steer request yaw rate final value is obtained by adding the front steer request yaw rate F / F value and the front steer request yaw rate F / B value. In addition, the rear steer request yaw rate final value is obtained by adding the rear steer request yaw rate F / F value and the rear steer request yaw rate F / B value. Further, the brake request yaw rate final value is obtained by adding the brake request yaw rate F / F value and the brake request yaw rate F / B value. Then, the respective calculated yaw rate final values calculated in this way are transmitted to the various managers 9-11.

  The various managers 9 to 11 change the yaw rate final value to the required control amount (required physical quantity) to be realized in each ACT 16 to 19 based on the execution request and the requested yaw rate final value transmitted from the final value calculation control permission determination unit 8. It converts and transmits it to each ECU12-14. Specifically, when the vehicle lateral movement control is executed with the front steer as a control target, the required front wheel steering angle corresponding to the final value of the front steer required yaw rate is calculated and transmitted to the ECUs 12 and 13. Further, when the vehicle lateral movement control is executed with the rear steer as a control target, the required rear wheel steering angle corresponding to the rear steer required yaw rate final value is calculated and transmitted to the ECU 14. Further, when the vehicle lateral movement control is executed with the brake as a control target, the requested wheel addition torque corresponding to the brake requested yaw rate final value is calculated and transmitted to the ECU 15.

  At this time, when the same control target is controlled by driving different ACTs, the managers 9 to 11 arbitrate which ACT is driven or how to distribute the control amount. The subsequent control amount is transmitted to each ECU 12-15. For example, in the present embodiment, the front steering is controlled by an EPS 16 or a gear ratio variable Stirling system (hereinafter referred to as VGRS (Variable Gear Ratio Steering)) 17 as will be described later. Alternatively, the front steer is controlled by both. In such a case, the requested front wheel steering angle after arbitration by the manager 9 is transmitted to the ECUs 12 and 13 for controlling the EPS 16 and the VGRS 17.

  The various ECUs 12 to 15 generate control outputs for controlling the objects to be controlled, and control the various ACTs 16 to 19 to realize the requested control amounts transmitted from the various managers 9 to 11. The various ACTs 16 to 19 include EPS-ACT16, VGRS-ACT17, active rear steering (hereinafter referred to as ARS (Active Rear Steering))-ACT18, and skid prevention control (hereinafter referred to as ESC (Electronic Stability Control))-ACT19. ing. These various ACTs 16 to 19 are controlled by the various ECUs 12 to 15, whereby EPS-ACT16 and VGRS-ACT17 perform front steer control so that the required front wheel steering angle is realized, and ARS-ACT18 performs required rear wheel steering. Rear steer control is performed so that the angle is realized, and in the ESC-ACT 19, brake control is performed so that the required wheel addition torque is realized.

  Moreover, since various ECU12-15 grasps the availability of various ACT16-19 from the state of various ACT16-19 from the occasion, this availability is also transmitted to the availability calculating part 5. FIG. As availability, front steerability which is a controllable range of front steer (front wheel rudder angle) controlled by EPS-ACT16 and VGRS-ACT17, control of rear steer (rear wheel rudder angle) controlled by ARS-ACT18 The rear steer availability which is a possible range and the brake availability which is a controllable range of the brake (added torque for each wheel) controlled by the ESC-ACT 19 are mentioned. The front steering availability includes a front wheel rudder angular velocity (a front wheel rudder angle change amount) indicating responsiveness of the front wheel rudder angle in addition to the absolute amount of the front wheel rudder angle. The rear steering availability includes the rear wheel steering angular angular velocity (rear wheel steering angle change amount) indicating the response of the rear wheel steering angle in addition to the absolute amount of the rear wheel steering angle. In addition to the absolute amount of each wheel axle torque, the brake availability includes the amount of change in each wheel axle torque indicating the response of the brake.

  With the above configuration, when a request signal from the control request unit 1 is input, the availability of various ACTs 16 to 19 and the availability according to the vehicle state are calculated. And by controlling various ACTs 16 to 19 based on this availability, more optimal vehicle lateral movement control is executed.

  Next, details of the above-described availability physical quantity conversion unit 20, the availability calculation unit 5, and the control target selection units 61 and 72 will be described.

  FIG. 2 is a block diagram showing a detailed structure of the availability calculation unit 5 and the availability physical quantity conversion unit 20. As shown in this figure, the availability calculation unit 5 includes a γ availability calculation unit 51 to be controlled, an application request restriction unit 52, and a vehicle information restriction unit 53.

  The availability physical quantity conversion unit 20 calculates availability as a limit that can be generated by each control target by converting the availability transmitted from the various ECUs 12 to 15 into a yaw rate.

  The availability physical quantity conversion unit 20 includes a front availability γ conversion unit 20a, a rear availability γ conversion unit 20b, and a brake availability γ conversion unit 20c.

  The front availability γ conversion unit 20a calculates a front steer-γ availability obtained by converting the front steer availability into a yaw rate. The rear availability γ conversion unit 20b calculates rear steer-γ availability obtained by converting the rear steer availability to the yaw rate. The brake availability γ conversion unit 20c calculates the brake-γ availability obtained by converting the brake availability into the yaw rate. For example, in the case of front steering availability, the control amount is represented by the front wheel rudder angle, and the change amount of the control amount is represented by the front wheel rudder angular angular velocity, and these are converted into the absolute yaw rate amount and the yaw rate change amount dγ / dt. Steer-γ availability. The same applies to the rear steer availability and the brake availability. The rear steer angle, rear wheel angular velocity, each wheel axle torque, and each wheel axle torque gradient converted to the yaw rate absolute amount and the yaw rate change amount dγ / dt are rear steer. It becomes γ availability or brake-γ availability.

  In the γ availability calculation unit 51 to be controlled, which is included in the availability calculation unit 5, the front steer-γ availability, the rear steer-γ availability, and the brake-γ availability calculated by the respective conversion units 20 a to 20 c of the availability physical quantity conversion unit 20. By obtaining the sum, the γ availability of the controlled object, which is the yaw rate converted value of the total availability (limit value of the controlled object) of each controlled object, is calculated.

  The application request restriction unit 52 performs application request restriction, which is a restriction corresponding to a request from the application, based on the request mode included in the application information and the priority of the control target. For example, when there is a request not to use a brake as a request of an application, a restriction such as setting the brake-γ availability to 0 is applied. Specifically, the application request restriction unit 52 includes a front steer application request restriction unit 52a, a rear steer application request restriction unit 52b, and a brake application request restriction unit 52c. The application request restriction is performed on each γ availability calculated by the availability physical quantity conversion unit 20 by each of the application request restriction units 52a to 52c, so that the front steer-γ availability, the rear steer-γ availability, and the brake-γ availability are reduced. The application request limit value is set.

  The vehicle information restriction unit 53 performs vehicle information restriction, which is a restriction corresponding to the vehicle information, based on information related to vehicle travel included in the vehicle information. For example, when the traveling road surface is a low μ road surface, it is preferable to avoid using a brake to avoid wheel slip. For this reason, for example, when the road surface μ is lower than the threshold, it is assumed that the road surface is a low μ road surface and the brake-γ availability is set to 0. Specifically, the vehicle information restriction unit 53 includes a front steering vehicle information restriction unit 53a, a rear steering vehicle information restriction unit 53b, a brake vehicle information restriction unit 53c, and a vehicle limit value calculation unit 53d. The vehicle information restriction units 53a to 53c further perform vehicle information restriction on the γ availability after the application request restriction calculated by the application request restriction parts 52a to 52c. Thereby, γ availability in each control object that can be finally output as VLP, that is, front steer VLP-γ availability, rear steer VLP-γ availability, and brake VLP-γ availability is set.

  Further, the vehicle limit value calculation unit 53d calculates total γ availability that can be finally output as a VLP. Specifically, the vehicle limit value calculation unit 53d calculates the sum of the front steer VLP-γ availability, the rear steer VLP-γ availability, and the brake VLP-γ availability calculated by the vehicle information restriction units 53a to 53c. The total VLP-γ availability (vehicle limit value) that can be finally output is calculated.

  In this way, the availability calculation unit 5 further determines a value obtained by converting the availability of each control target including the limits that can be generated by the ACTs 16 to 19 in each control target via the availability physical quantity conversion unit 20, into an application request. And the availability as a VLP corrected by taking vehicle information into account. Information on availability as a VLP is transmitted to the F / F calculation unit 6 and the F / B calculation unit 7. The application request means an application request including an application request value in addition to the application request mode indicated in the application information and the priority of the control target.

  Next, details of the control target selection unit 61 provided in the F / F calculation unit 6 will be described. FIG. 3 is a block diagram illustrating a detailed structure of the control target selection unit 61. As shown in this figure, the control target selection unit 61 includes an availability value calculation unit 61a, a comparison unit 61b, and a selection unit 61c.

  In the availability value calculation unit 61a, from each application target, application information, and availability transmitted from the availability calculation unit 5, that is, front steer VLP-γ availability, rear steer VLP-γ availability, and brake VLP-γ availability, The realizable yaw rate absolute value and yaw rate change amount dγ / dt are calculated. Specifically, since each availability transmitted from the availability calculation unit 5 includes the absolute amount of the control amount and its change amount, they are represented as a map of the yaw rate absolute amount and the yaw rate change amount dγ / dt. . Using this map, the yaw rate absolute amount and the yaw rate change amount dγ / dt corresponding to the application request value and application information are calculated.

  This will be described with reference to FIG. 4 and FIG. FIG. 4 shows a case where the application request yaw rate can be realized by all the control objects and a case where the application request yaw rate can be realized by only a part of the control objects. FIG. 5 shows a selection pattern when the application request mode is safety when the application request change amount can be realized by all the control objects and when it can be realized by only some control objects.

  For example, it is assumed that a map of the yaw rate absolute amount and the yaw rate change amount dγ / dt of each control target is represented as shown in FIGS. 4 and 5 based on each availability transmitted from the availability calculation unit 5.

  In this case, when the application request mode is comfort, the application request value can be realized so as not to place an excessive burden on the occupant with low responsiveness rather than high responsiveness, or with a smaller number of ACTs. Is preferably realized. Therefore, in this case, the yaw rate absolute amount and the yaw rate change amount dγ / dt are calculated based on the application requested yaw rate. On the other hand, when the application request mode is safety, urgency is required, so that it is preferable to realize the application request value with higher responsiveness. Therefore, the yaw rate absolute amount and the yaw rate change amount dγ / dt are calculated based on the application request change amount.

  Specifically, as shown in FIG. 4A, when the application request yaw rate can be realized by all the control objects, that is, when the application request yaw rate is smaller than the maximum control amount (availability maximum value) of all the control objects. The absolute amount of yaw rate for each control object is the application requested yaw rate. The yaw rate change amount dγ / dt is a point where each control target map and the application requested yaw rate intersect. That is, for the front steer, the yaw rate absolute amount is the application requested yaw rate, and the yaw rate change amount dγ / dt is the A point. For the brake, the yaw rate absolute amount is the application requested yaw rate, and the yaw rate change amount dγ / dt is the B point. For rear steer, the yaw rate absolute amount is the application requested yaw rate, and the yaw rate change amount dγ / dt is the C point.

  On the other hand, when the application request mode is comfort and the application request yaw rate can be realized only with some control objects as shown in FIG. 4B, that is, the application request yaw rate is the maximum control of some control objects. When the amount is larger than the amount, the yaw rate absolute amount and the yaw rate change amount dγ / dt of each control object are as follows. That is, for the front steer where the maximum control amount to be controlled is larger than the application requested yaw rate, the absolute yaw rate amount is the application requested yaw rate, and the yaw rate change amount dγ / dt is the D point. For the rear steer and brake, the yaw rate absolute amount is the maximum control amount, and the yaw rate change amount dγ / dt is E and F points (E = F).

  Further, when the application request mode is safety and the application request change amount can be realized by all the control targets as shown in FIG. 5A, that is, the application request change amount is equal to the control amount of all control targets. When it is smaller than the maximum change amount (availability maximum change amount), the yaw rate change amount dγ / dt of each control object is the application request change amount. The absolute value of the yaw rate is a point where the map of each control object and the application request change amount intersect. That is, for the front steer, the yaw rate change amount dγ / dt is the application request change amount, and the yaw rate absolute amount is the A point. For the brake, the yaw rate change amount dγ / dt is the application request change amount, and the yaw rate absolute amount is the B point. For rear steer, the yaw rate change amount dγ / dt is the application request change amount, and the yaw rate absolute amount is the C point.

  On the other hand, when the application request mode is safety and the application request change amount can be realized only with a part of the control objects as shown in FIG. 5B, that is, the application request change amount is a part of the control object. When the control amount is greater than the maximum change amount, the yaw rate absolute amount and the yaw rate change amount dγ / dt of each control target are as follows. That is, for a brake in which the maximum change amount of the control amount to be controlled is larger than the application request change amount, the yaw rate change amount dγ / dt is the application request change amount, and the yaw rate absolute amount is the E point. For front steer and rear steer, the yaw rate change amount dγ / dt is the maximum change amount, and the yaw rate absolute amounts are D and F points (D = F).

The comparison unit 61b compares the application request value, that is, the application request yaw rate and the application request change amount with the values of the yaw rate absolute amount and the yaw rate change amount dγ / dt that can be realized by each control target calculated by the availability value calculation unit 61a. To do. For example, a comparison of whether the absolute value of yaw rate and the yaw rate change amount dγ / dt in each control object is larger than the application request value, that is, whether the application request value can be achieved by each control object, and which control object Can be achieved and which control object is not achieved. For example, when the application request yaw rate is 5 as the application request value, the absolute amounts of the yaw rates of the front steer, the rear steer, and the brake are 8, 6, and 3, respectively. In this case, the front steering and the rear steering are achieved, but the brake is not achieved. Further, when the application request change amount is 3, the yaw rate absolute amounts of the front steer, the rear steer, and the brake are 5, 6, and 7, respectively. In this case, it is achieved for all of the front steer, rear steer, and brake. Such a comparison is performed on the application request yaw rate and the absolute value of the yaw rate calculated by the availability value calculation unit 61a, and the application request change amount and This is performed for each yaw rate change amount calculated by the availability value calculation unit 61a.

  The selection unit 61c performs a control target selection for controlling the control target by selecting the control target based on the comparison result by the comparison unit 61b.

  In the control target selection, a control target to be controlled is selected so that an application request value corresponding to the application request mode can be realized. The first control object is selected as the first control object among the control objects, and the second control object is selected when the application request value corresponding to the application request mode cannot be realized with only the first control object. However, if this is not possible, the third control target is selected. The selection order of the first to third control objects at this time is changed according to the application request mode.

  The concept of this control target selection will be described with reference to FIG. FIG. 6 is a diagram illustrating an example of the application request value and the selection order of the first to third control objects. FIG. 6A illustrates the case where the application request mode is comfort, and FIG. This shows the case where the request mode is safety.

  As shown in FIGS. 6A and 6B, a normative value is set for the application requested yaw rate, and a control target is selected to satisfy the normative value. When the application request mode is comfort, high responsiveness is not necessary, so the first to third control objects are selected in descending order of the absolute amount of yaw rate, as shown in FIG. In this way, the control target to be used for the vehicle lateral motion control can be selected in order from the one with the larger absolute amount of the yaw rate, and the vehicle lateral motion control can be performed with a smaller number of control targets. Since the amount of vibration generated by the vehicle lateral movement due to the vehicle can be minimized, the comfort can be increased as compared with the case where the number of objects to be controlled is increased unnecessarily.

  On the other hand, when the application request mode is safety, high responsiveness is required. Therefore, as shown in FIG. 6B, the first to third controls are performed in descending order of the yaw rate change amount dγ / dt. Select the target. By doing so, it is possible to perform vehicle lateral motion control with higher responsiveness, with an emphasis on safety rather than comfort. However, even if the yaw rate change amount dγ / dt is large, if the absolute value of the control target yaw rate is small, it is not possible to cope with urgency. The order can be lowered.

  An example of control target selection based on such a concept will be described with reference to the maps shown in FIGS. 7 (a) to 7 (c) and FIGS. 8 (a) to 8 (c).

  FIGS. 7A to 7C are maps for selecting a control target when the application request mode is comfort, and FIGS. 8A to 8C are controls when the application request mode is safety. It is a map for object selection. FIGS. 7A and 8A are maps for selection of the first control object that is selected most preferentially among the control objects. FIGS. 7B, 7C, and 8 are shown in FIG. b) and (c) are second and third control object selection maps that are preferentially selected second and third after the first control object is selected.

  First, using the map of FIG. 7A, a comparison result as to whether or not the application request yaw rate is satisfied is selected. For example, in the above example, the item “5: Achieved rear steer and front steer” is selected. Subsequently, a comparison result as to whether or not the application request change amount is satisfied is selected from the map of FIG. In the above example, the item “7: All achieved” is selected. Then, “6: Select maximum value of front steer and rear steer” which is a column where the vertical column and horizontal column of each item intersect is selected. In this case, among the front steer and the rear steer, the one having the maximum yaw rate absolute amount is selected as the first control target.

  Next, a comparison result as to whether or not the application request yaw rate is satisfied is selected using the map of FIG. For example, in the above example, the item “5: Front steer and rear steer achieved” is selected. Subsequently, a comparison result as to whether or not the application request change amount is satisfied is selected from the map of FIG. In the above example, the item “7: All achieved, * First is the control target with the maximum gradient” is selected. Then, “no second selection” is selected, which is a column where the vertical column and horizontal column of each item intersect. In this case, the second control target is not selected.

  Further, a comparison result as to whether or not the application request yaw rate is satisfied is selected using the map of FIG. For example, in the above example, the item “5: Front steer and rear steer achieved” is selected. Subsequently, a comparison result as to whether or not the application request change amount is satisfied is selected from the map of FIG. In the above example, the item “7: All achieved” is selected. Then, “no second selection” is selected, which is a column where the vertical column and horizontal column of each item intersect. In this case, the third control target is not selected.

  Moreover, although the selection method of the 1st-3rd control object in case request | requirement mode is comfort was demonstrated here, also about the selection method of the 1st-3rd control object in case request | requirement mode is safety, FIG. ) To (c), except that the maps of FIGS. 8 (a) to (c) are used.

  Note that, in the maps shown in FIGS. 7A to 7C, basically, the control targets are selected in descending order of the absolute amount of yaw rate, and not all control targets are always selected, but the necessary control is performed. Only the target is selected. Further, when both the application request yaw rate and the application request change amount can be achieved by one control object, the single control object is set as the selection control object. Further, when the application request yaw rate is achieved by two or more control targets, the application request yaw rate is selected in consideration of the yaw rate request change amount. Further, when the application request yaw rate is achieved in all the control objects and the application request change amount has not been reached in all the control objects, the yaw rate absolute amount is not the maximum value, and the yaw rate change amount dγ / By selecting the control object having the maximum dt, the number of control objects to be operated can be reduced.

  On the other hand, in the maps shown in FIGS. 8A to 8C, basically, the control targets are selected in descending order of the yaw rate change amount dγ / dt, and not all the control targets are always selected. Only necessary control objects are selected. Further, when both the application request yaw rate and the application request change amount can be achieved by one control object, the single control object is set as the selection control object. Further, when the application request change amount is achieved by two or more control objects, the selection is made in consideration of the absolute yaw rate amount. Further, when the application request change amount is achieved for all the control targets and the application request yaw rate is not achieved for all control targets, the yaw rate change amount dγ / dt is not the maximum, and the yaw rate absolute By selecting the control object having the maximum amount, the number of control objects to be operated can be reduced.

  In this way, when the control target selection by the control target selection unit 61 is completed, the reference calculation unit 62 calculates the reference value of the selection control target from the application requested yaw rate and the availability of the selection control target, or F / F request In the value calculation unit 63, the F / F request value is calculated.

  Next, details of the control target selection unit 72 provided in the F / B calculation unit 7 will be described. FIG. 9 is a block diagram illustrating a detailed structure of the control target selection unit 72. As shown in this figure, the control target selection unit 72 includes an availability value calculation unit 72a, a margin calculation unit 72b, a comparison unit 72c, and a selection unit 72d.

  The availability value calculation unit 72a calculates the values of the yaw rate absolute amount and the yaw rate change amount dγ / dt that can be realized in each control target based on the application request value, the application information, and each availability transmitted from the availability calculation unit 5. . The availability value calculation unit 72a has the same configuration as the availability value calculation unit 61a provided in the F / F calculation unit 6 described above.

  The margin calculation unit 72b compares the F / F request value of each control target with the availability of each control target calculated by the availability value calculation unit 72a, and calculates a margin calculation unit that calculates the margin of each control target. Configure. The margin means a margin of a control amount or a change amount of the control amount that can be output by the control target. This margin is also obtained for the two directions of the vehicle left turn direction and the right turn direction. For example, when the availability in both the left and right turning directions is the same, if the F / F required value in the right turning direction is issued, the margin in the right turning direction is smaller than the availability and the left turning The margin for direction is greater than availability. Hereinafter, a method for calculating the margin will be described.

  When calculating the margin, first, the F / F required value change amount is calculated based on the F / F required value of each control target. Specifically, in the case of the present embodiment, since the F / F request value is expressed as the requested yaw rate F / F value, the requested yaw rate F / F value change amount is calculated based on the requested yaw rate F / F value. To do. For example, the vehicle lateral motion control is executed every predetermined calculation cycle, but the F / F request value in the previous control cycle is stored, and the F / F request value in the current control cycle and the previous time are stored. By dividing the difference from the F / F request value in the control cycle by the sampling time (here, one cycle of the control cycle), the F / F request value change amount can be calculated.

  Subsequently, the difference between the availability (maximum control amount and the maximum change amount of the control amount) of each control target calculated by the availability value calculation unit 72a and the F / F request value or the F / F request value change amount calculated in advance. Is calculated. This difference is the margin of the control target, the difference between the maximum control amount and the F / F request value is the margin of the control amount, and the difference between the maximum change amount of the control amount and the F / F request value change amount is the control amount. This is the margin of change. In the case of the present embodiment, the maximum value of the absolute yaw rate amount and the maximum change amount of the yaw rate change amount dγ / dt of each control object and the requested yaw rate F / F value and the requested yaw rate F / F value change amount calculated in the above are used. The difference is calculated. The difference between the maximum yaw rate absolute value and the requested yaw rate F / F value is the margin of the yaw rate γ, and the difference between the maximum yaw rate change dγ / dt change and the requested yaw rate F / F value change is the yaw rate change. The margin is dγ / dt.

  10A and 10B are diagrams showing calculation images of the margin of the yaw rate γ and the margin of the yaw rate change amount dγ / dt, respectively.

  For example, the availability map of the control objects 1 and 2 when performing vehicle lateral movement control in the vehicle left turn direction for any two control objects 1 and 2 of the three control objects of front steer, rear steer, and brake Is shown in FIGS. 10A and 10B. In this case, if the requested yaw rate F / F value in the left turn direction of the vehicle is output to the controlled objects 1 and 2, the maximum yaw rate absolute value and the requested yaw rate F / F value for the controlled objects 1 and 2 respectively. The difference is the margin of the yaw rate γ of the control objects 1 and 2. Similarly, the difference between the maximum change amount of the yaw rate change amount dγ / dt and the required yaw rate F / F value change amount for each of the control objects 1 and 2 is a margin of the yaw rate change amount dγ / dt of the control objects 1 and 2. .

For example, the maximum yaw rate absolute value of the control target 1 is 0.5 [rad / s], the maximum change amount of the yaw rate change amount dγ / dt is 1.0 [rad / s ² ], and the required yaw rate F / F It is assumed that the value is 0.25 [rad / s] and the required yaw rate F / F value change amount is 0.4 [rad / s ² ]. In this case, the margin of the control target 1 is 0.25 [rad / s] for the yaw rate γ, and 0.6 [rad / s ² ] for the yaw rate change amount dγ / dt. Similarly, the maximum value of the absolute yaw rate of the controlled object 2 is 0.4 [rad / s], the maximum change of the yaw rate change amount dγ / dt is 0.8 [rad / s ² ], and the required yaw rate F / Assume that the F value is 0 [rad / s] and the required yaw rate F / F value variation is 0 [rad / s ² ]. In this case, the margin of the control target 2 is 0.4 [rad / s] in the yaw rate γ, and the margin in the yaw rate change amount dγ / dt is 0.8 [rad / s ² ].

  The comparison unit 72c compares the F / B required value of each control target with the margin of control amount, and in the case of this embodiment, compares the required yaw rate F / B value of each control target and the margin of yaw rate γ. Compare size. Here, if the margin of the yaw rate γ is larger than the requested yaw rate F / B value, it means that there is a room for realizing the requested yaw rate F / B value. Therefore, by comparing the required yaw rate F / B value with the margin of the yaw rate γ, it is determined whether each control object has a margin for realizing the required yaw rate F / B value. For example, when the margins of the control objects 1 and 2 are as in the above-described example, if the requested yaw rate F / B value is 0.1 [rad / s], the margin of the yaw rate γ of the control object 1 Both the 0.25 [rad / s] and the margin of the yaw rate γ of the control target 2 0.4 [rad / s] are larger than the required yaw rate F / B value.

  The selection unit 72d configures an F / B control target selection unit that performs F / B control target selection that determines the priority of the selection control target based on the calculation result of the margin calculation unit 72b and the comparison result of the comparison unit 72c. To do. Specifically, according to the comparison result of the comparison unit 72c, a condition that the margin of the control amount is larger than the F / B required value, in the case of the present embodiment, the margin of the yaw rate γ than the requested yaw rate F / B value. The control target that satisfies the condition that the value is large is preferentially selected as the control target. At this time, there may be a plurality of control objects that satisfy the condition that the margin of the control amount is larger than the F / B request value. In such a case, the control amount resolutions (yaw rate resolutions in the case of the present embodiment) of the control objects that satisfy the conditions are compared, and the selection control object is set in the order of higher resolution. The control amount resolution is represented by the minimum change amount of the control amount that can be output per unit time, and the smaller the minimum change amount, the higher the control amount resolution.

  FIG. 11 is a diagram illustrating a comparative example of the resolution of the control objects 1 and 2 that are the selection control objects. As shown in FIG. 11A, for example, the resolution of the control target 1 is 0.001 rad / sec, and as shown in FIG. 11B, for example, the resolution of the control target 2 is 0.002 rad / sec. If there is, the control target 1 having higher resolution is set as the first priority control target, and the control target 2 is set as the second priority control target. In this way, by increasing the priority of the control target having a high resolution, it becomes possible to perform finer vehicle lateral movement control up to the control target value.

  In this way, the control target selection by the control target selection unit 72 is completed. When the control target selection is completed, the F / B request value calculation unit 73 distributes the F / B request value calculated by the request value calculation unit 71 to each control target selected by the control target selection unit 72. The F / B request value for each control target, specifically, the required yaw rate F / B value is calculated. At this time, the control amount for realizing the F / B request value is distributed to each control object in order from the first priority, and the F / B request value can be realized without driving all the control objects. The F / B required value is realized by driving only fewer control objects.

  When the required F / F value is calculated by the F / F calculation unit 6 and the required F / B value is calculated by the F / B calculation unit 7, the final value calculation control permission determination unit 8 and the various managers 9 to 11 performs the operation as described above, and the requested control amounts are transmitted from the various managers 9 to 11 to the various ECUs 12 to 15, and the various ECUs 12 to 15 drive the ACTs 16 to 19, thereby responding to the request of the application. It is possible to realize the lateral movement of the vehicle.

  In this way, the amount of control is generated by using any of ACT16 to 19 in consideration of the functional availability (control amount and its change amount) of ACT16 to 19 for controlling each control object. Can be selected optimally.

  As described above, the VLP according to the present embodiment performs vehicle lateral movement control that controls a plurality of different control targets to realize an application request value. When the vehicle lateral motion control is performed, the availability (controllable range including the maximum control amount and the change amount of the control amount) of each control target is VLP, more specifically, the F / F calculation unit 6 or F / B of the VLP. The priority of the control object used for the vehicle lateral motion control is determined based on the availability, and the selection control object is set based on the priority.

  In this way, the priority of the control target to be used for vehicle lateral movement control is determined taking into account the availability of each control target, and the selection control target is set, so it is more optimal depending on the availability of the control target. It is possible to perform vehicle lateral movement control by selecting an appropriate control target.

  Further, based on a request mode such as comfort or safety from the application, the priority of control targets used for the lateral motion control is determined and the selection control target is set. For this reason, when priority is given to comfort without considering responsiveness, and priority is given to responsiveness in response to urgency, selection control targets can be set with priorities suitable for each situation.

  Then, regarding the selection of the control target in the F / B calculation unit 7, the margin of each control target is calculated from the difference obtained by subtracting the F / F request value of each control target from the maximum control amount that is the availability of each control target. However, this is done based on this margin. As a result, it is possible to execute the vehicle lateral movement control by selecting a control target having a margin greater than the F / B request value. Accordingly, it is possible to perform vehicle lateral movement control by selecting a more optimal control target. In other words, if a control object having a margin greater than the F / B request value is preferentially selected, the F / B request value can be satisfied by one control object. For this reason, it becomes possible to minimize the number of controlled objects to be driven. Such selection of the F / B control target is preferable when, for example, comfort is considered rather than urgent because vibration of the vehicle lateral momentum due to interference between the control targets can be suppressed.

(Second Embodiment)
A second embodiment of the present invention will be described. In the present embodiment, the control target selection method in the control target selection unit 72 provided in the F / B calculation unit 7 is changed with respect to the first embodiment, and the other aspects are the same as in the first embodiment. Therefore, only the parts different from the first embodiment will be described.

  In the present embodiment, the availability value calculation unit 72a and the margin calculation unit 72b in the control target selection unit 72 are the same as those in the first embodiment, but the comparison unit 72c and the selection unit 72d perform the first operation. It is different from the embodiment.

  Specifically, the comparison unit 72c compares the F / B required value change amount with the allowance of the change amount of the control amount calculated by the allowance calculation unit 72b. In the case of the present embodiment, each control object The required yaw rate F / B value change amount and the margin of the yaw rate change amount dγ / dt are compared. The change amount of the F / B request value is obtained as the difference between the F / B request value in the previous control cycle and the F / B request value in the current control cycle. For this reason, in this embodiment, the comparison part 72c also plays a role as F / B required value change amount calculation means.

Here, if the margin of the yaw rate change amount dγ / dt is larger than the required yaw rate F / B value change amount, it means that there is a margin for realizing the required yaw rate F / B value change amount. Therefore, whether or not each control object has a margin for realizing the required yaw rate F / B value change amount by comparing the required yaw rate F / B value change amount and the margin of the yaw rate change amount dγ / dt. Is determined. For example, assuming the control objects 1 and 2 described in the first embodiment and the margin of these control objects 1 and 2 is the example described in the first embodiment, the required yaw rate F / B value change amount Is 0.2 [rad / s ² ]. In this case, the margin of 0.6 [rad / s ² ] of the yaw rate change amount dγ / dt of the controlled object 1 and the margin of 0.8 [rad / s ² ] of the yaw rate change amount dγ / dt of the controlled object 2 are set. Are both larger than the required yaw rate F / B value change amount.

  The selection unit 72d determines the priority of the selection control target based on the calculation result in the margin calculation unit 72b and the comparison result in the comparison unit 72c. Specifically, the control target that satisfies the condition that the margin of the yaw rate change amount dγ / dt is larger than the required yaw rate F / B value change amount based on the comparison result of the comparison unit 72c is preferentially selected. At this time, there may be a plurality of control targets that satisfy the condition that the margin of the yaw rate change amount dγ / dt is larger than the required yaw rate F / B value change amount. In such a case, the margins of the yaw rate γ of the control target that satisfies the condition are compared, and the selection control target is set with the order of higher margin as a priority.

  For example, as in the example described in the first embodiment, if the margin of the yaw rate γ of the control target 1 is 0.25 rad / sec and the margin of the yaw rate γ of the control target 2 is 0.4 rad / sec. The control target 2 having a higher margin is set as the first priority control target, and the control target 2 is set as the second priority control target. In this way, by increasing the priority of the control target having a high margin of the yaw rate γ, it is possible to prevent the occurrence of hunting that repeatedly changes the control target.

  That is, if the F / F request value becomes larger than the availability of the selection control target due to a decrease in availability or an increase in the F / F request value, the selection control target cannot be transferred to the F / B control. There is a possibility that the required value cannot be realized. In this case, it is necessary to increase the number of selection control objects or to switch the selection control objects, and the selection control objects cannot be fixed. For this reason, it is possible to prevent the occurrence of hunting that repeatedly changes the control target by increasing the priority of the control target having a large margin of the yaw rate γ.

  In this way, the control target selection by the control target selection unit 72 is completed. When the control target selection is completed, the F / B request value calculation unit 73 distributes the F / B request value calculated by the request value calculation unit 71 to each control target selected by the control target selection unit 72. The F / B request value for each control target, specifically, the required yaw rate F / B value is calculated. At this time, the control amount for realizing the F / B request value is distributed to each control object in order from the first priority, and the F / B request value can be realized without driving all the control objects. The F / B required value is realized by driving only fewer control objects.

  As described above, regarding the selection of the control target in the F / B calculation unit 7, the change of each control target from the difference obtained by subtracting the F / F required value change amount of each control target from the maximum change value of the control amount of each control target. The amount of margin is calculated, and this is done based on this margin. As a result, it is possible to execute the vehicle lateral movement control by selecting a control object having a margin greater than the F / B request value change amount. Accordingly, it is possible to perform vehicle lateral movement control by selecting a more optimal control target. That is, if a control object having a margin greater than the F / B request value change amount is selected preferentially, the F / B request value change amount can be satisfied by one control object. For this reason, it becomes possible to minimize the number of controlled objects to be driven. Since the selection of the F / B control target can maximize the responsiveness while maintaining the comfort, in addition to the effects of the first embodiment, the safety must be sacrificed originally. Comfort can be ensured even in the mode.

(Third embodiment)
A third embodiment of the present invention will be described. This embodiment is obtained by changing the configuration of the control target selection unit 72 provided in the F / B calculation unit 7 with respect to the first and second embodiments, and is otherwise the same as the first embodiment. Therefore, only a different part from 1st Embodiment is demonstrated.

  In the present embodiment, the control target selection unit 72 performs control target selection based on the selection result of the control target selection unit 61 provided in the F / F calculation unit 6. Specifically, the selection control target in the control target selection unit 61 provided in the F / F calculation unit 6 is also made the selection control target in the control target selection unit 72 of the F / B calculation unit 7 as it is. As described above, if the selection control target for F / F control and the selection control target for F / B control are matched, different control targets are not selected for F / F control and F / B control. Can be. For this reason, it is possible to reduce the number of controlled objects to be driven, and it is possible to perform vehicle lateral movement control by selecting a more optimal controlled object.

(Other embodiments)
In the above embodiment, the VLP that performs vehicle lateral motion control is described as an example of vehicle motion control. However, the present invention is also applied to a vehicle motion control device that performs vehicle longitudinal motion control, vehicle roll motion control, and the like. be able to.

  That is, the present invention can be applied to a vehicle motion control device that controls a vehicle motion control system that includes a plurality of control objects and that can perform vehicle motion control in the same direction by each of the plurality of control objects. Even in this case, the availability of each control object is transmitted to the vehicle motion control device, and the priority order of the control objects used for the vehicle motion control is determined in consideration of the availability transmitted by the vehicle motion control device. The vehicle lateral direction motion control can be performed by selecting a more optimal control target in accordance with the availability of the control target.

  For example, in the case of vehicle longitudinal movement control, examples of the control target include brakes and driving force (engine output or motor output), and in the case of vehicle roll direction movement control, examples of the control target include suspension and active stabilizer. Moreover, although the example of ACT for controlling each control object was given also about vehicle lateral direction motion control, you may use another ACT. For example, although the brake control is performed by the ESC-ACT 19 in the above embodiment, a parking brake may be used, or the driving force may be controlled as a control of each wheel axle torque such as an in-wheel motor. good.

  Moreover, in the said embodiment, although the urgency degree which performs vehicle motion control is determined based on the request | requirement mode according to the content of the application, an urgency degree is shown with a numerical value etc., and the numerical value is more than a threshold value. Whether or not the degree of urgency is high may be determined based on whether or not. When the urgency level is high, priority is given to selecting a control variable with a large change amount when selecting the control target. When the urgency level is not high, maximum control is performed when selecting the control target. It is possible to preferentially select a large amount.

  Furthermore, according to the request mode or the urgency level, the F / B control target is set based on the control amount margin of the control target shown in the first embodiment, and the control shown in the second embodiment. The case where the F / B control target is set based on the margin of the target control amount may be classified. That is, when the request mode is comfort or urgency is low, the case where the F / B control target is set based on the control amount margin of the control target shown in the first embodiment is selected. When safety or urgency is high, the case where the F / B control target is set may be selected based on the margin of the control amount of the control target shown in the second embodiment. In this way, it becomes possible to select the F / B control target according to the degree of urgency.

  DESCRIPTION OF SYMBOLS 1 ... Control request part, 2 ... Sensor part, 3 ... Target value production | generation part, 4 ... Vehicle state monitoring part, 5 ... Availability calculation part, 6 ... F / F calculation part, 7 ... F / B calculation part, 8 ... Final Value calculation control permission determination unit, 9-11 ... manager, 12-14 ... ECU, 16-19 ... ACT, 20 ... availability physical quantity conversion unit, 51 ... gamma availability calculation unit to be controlled, 52 ... application request restriction unit, 53 ... vehicle information restriction unit, 61 ... control target selection unit, 62 ... norm calculation unit, 63 ... F / F required value calculation unit, 71 ... required value calculation unit, 72 ... control target selection unit, 72a ... availability value calculation unit, 72b ... margin calculation unit, 72c ... comparison unit, 72d ... selection unit, 73 ... F / B required value calculation unit

Claims (4)

By controlling a plurality of control objects (12 to 19) with respect to the requested control quantity, the demand control quantity is realized by performing vehicle motion control in the same direction by the plurality of control objects (12 to 19). A vehicle motion control device,
Availability acquiring means (5) for acquiring availability corresponding to a controllable range including a maximum control amount and a change amount of the control amount of each of the plurality of control objects (12 to 19);
Based on the availability, the priority of the feedforward control object used for performing the vehicle motion control by the feedforward control is determined from the plurality of control objects (12 to 19), and the feedforward control object is selected. Feedforward control target selection means (61) for
Feedforward request value calculation means (63) for calculating a feedforward request value which is a request value for feedforward control for the feedforward control object selected by the feedforward control object selection means (61);
Based on the availability acquired by the availability acquisition means (5) and the feedforward request value of the feedforward control object calculated by the feedforward request value calculation means (63), the plurality of control objects (12 To 19) margin calculating means (72b) for calculating the margin,
Based on the margin of the plurality of control objects (12 to 19) calculated by the margin calculation means (72b), the vehicle motion control by feedback control is performed from among the plurality of control objects (12 to 19). Feedback control object selection means (72d) for determining the priority order of the feedback control objects to be used and selecting the feedback control object;
Feedback request value calculation means (71) for calculating the required value of the feedback control,
In the margin calculating means (72b), as the margin of the plurality of control objects (12 to 19), the maximum control amount of the plurality of control objects (12 to 19) included in the availability and the feedforward request value Calculating the margin of control amount obtained from the difference from the feedforward request value calculated by the calculation means (63);
In the feedback control object selection means (72d), a control object that satisfies a condition that a margin of the control amount is larger than the feedback control request value among the plurality of control objects (12 to 19) is set as the feedback control object. A vehicle motion control device characterized by selecting . In the feedback control object selection means (72d), when there are a plurality of control objects that satisfy the condition that the margin of the control amount is larger than the feedback control request value among the plurality of control objects (12 to 19), the vehicle of claim 1 resolution represented by the minimum amount of change in the controlled variable per unit time among the satisfying control object in descending order, and determines the priority of the feedback control target Motion control device. By controlling a plurality of control objects (12 to 19) with respect to the requested control quantity, the demand control quantity is realized by performing vehicle motion control in the same direction by the plurality of control objects (12 to 19). A vehicle motion control device,
Availability acquiring means (5) for acquiring availability corresponding to a controllable range including a maximum control amount and a change amount of the control amount of each of the plurality of control objects (12 to 19);
Based on the availability, the priority of the feedforward control object used for performing the vehicle motion control by the feedforward control is determined from the plurality of control objects (12 to 19), and the feedforward control object is selected. Feedforward control target selection means (61) for
Feedforward request value calculation means (63) for calculating a feedforward request value which is a request value for feedforward control for the feedforward control object selected by the feedforward control object selection means (61);
Based on the availability acquired by the availability acquisition means (5) and the feedforward request value of the feedforward control object calculated by the feedforward request value calculation means (63), the plurality of control objects (12 To 19) margin calculating means (72b) for calculating the margin,
Based on the margin of the plurality of control objects (12 to 19) calculated by the margin calculation means (72b), the vehicle motion control by feedback control is performed from among the plurality of control objects (12 to 19). Feedback control object selection means (72d) for determining the priority order of the feedback control objects to be used and selecting the feedback control object;
Has a feedback request value change amount calculating means (72c) for calculating a feedback control required value change amount which is the amount of change of the required value of the feedback control,
In the margin calculation means (72b), as the margin of the plurality of control objects (12 to 19), the maximum change amount of the control amount of the plurality of control objects (12 to 19) included in the availability and the feed Calculating a margin of a change amount of the control amount obtained from a difference from a feedforward request value change amount that is a change amount of the feedforward request value calculated by the forward request value calculation means (63);
In the feedback control object selection means (72d), a control object that satisfies a condition that a margin of change amount of the control amount is larger than the feedback control request value change amount among the plurality of control objects (12 to 19). car both motion controller you and selects as the feedback control target. In the margin calculating means (72b), as the margin of the plurality of control objects (12 to 19), the maximum control amount of the plurality of control objects (12 to 19) included in the availability and the feedforward request value Calculating the margin of control amount obtained from the difference from the feedforward request value calculated by the calculation means (63);
In the feedback control object selection means (72d), a control object that satisfies a condition that a margin of change amount of the control amount is larger than the feedback control request value change amount among the plurality of control objects (12 to 19). 4. The vehicle motion control device according to claim 3 , wherein the priority order of the feedback control targets is determined in descending order of the control amount margin among the control targets that satisfy the condition.

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