JP5716327B2 - Vehicle motion control device and vehicle motion control program - Google Patents

Description

  The present invention relates to a vehicle motion control device and a vehicle motion control program, and in particular, vehicle motion control for deriving an optimal vehicle body combined force for reaching a target position and a speed direction at the target position using a map having a simple configuration. The present invention relates to an apparatus and a vehicle motion control program.

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

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

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

  Also, a first parameter defined by a vehicle longitudinal direction component of relative speed, a maximum vehicle body acceleration, and a vehicle body lateral distance for avoiding an obstacle, and a vehicle lateral direction component of a relative speed, a maximum vehicle body acceleration, and The second parameter determined by the lateral distance of the vehicle body and a map that defines the relationship of the direction of the vehicle body generated force to avoid the obstacle are stored, and the distance between the vehicle and the obstacle, Proposed obstacle avoidance control device that detects relative speed with respect to obstacles, calculates parameters based on the detected distance and relative speed, and derives the direction θ of the vehicle body generated force using the calculated parameters and map (See Patent Document 4).

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

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

JP 2004-249971 A JP 2007-253746 A JP 2007-253745 A JP 2007-283910 A Japanese Patent Laid-Open No. 7-32277 JP 2001-063597 A

  However, Patent Document 1 describes the steering and drive control in the case where a target vehicle body resultant force is applied, but the derivation of the vehicle body composite force for reaching the target position and the speed direction at the target position is described. Not listed.

  Further, in the technique of Patent Document 2, a vehicle body composite force that reaches a target position is derived, but a vehicle body composite force that reaches a target position and a speed direction at the target position is not derived.

  Further, in the technique of Patent Document 3, a trajectory that minimizes the integrated value of the driving operation amount while bringing the vehicle speed close to a desired constant value, and in the technique of Patent Document 5, the sum of squares of acceleration is minimized. Although the trajectory is calculated, it cannot be said that the vehicle body composite force for reaching the target position and the speed direction at the target position is derived.

  Further, in the technique of Patent Document 4, an avoidance trajectory that minimizes the avoidance distance when the maximum value of the lateral movement distance and the vehicle body composite force is specified, and in the technique of Patent Document 6, the host vehicle is set at the target position. Although the trajectory that minimizes the travel distance to be reached is calculated, the target position and the vehicle body resultant force for reaching the speed direction at the target position are not derived.

  The present invention is to achieve a target position and a speed direction at the target position using a map of a simple configuration created based on an optimal solution that minimizes the maximum value of the vehicle body resultant force obtained by the optimal control method. An object of the present invention is to provide a vehicle motion control device and a vehicle motion control program capable of deriving a vehicle body resultant force having a minimum maximum value.

In order to achieve the above object, a vehicle motion control device according to a first aspect of the present invention includes a setting means for setting a target position and a speed direction at the target position, a distance between the host vehicle and the target position, and the host vehicle. Detection means for detecting the speed of the vehicle, and a first parameter determined by a ratio of a component X _e in the vehicle longitudinal direction and a component Y _{e in the} vehicle lateral direction of the distance when the speed direction is the vehicle longitudinal direction, The second parameter determined by the ratio of the vehicle body longitudinal component v _x0 and the vehicle lateral component v _y0 of the vehicle speed, and the maximum value is the minimum in order to be in the speed direction at the target position and the target position. Of the first introduction parameter ν ₁ introduced to obtain the vehicle body composite force, the component X _e , the component Y _e , the component v _x0 , and the component v _y0 , the first parameter and the first Depending on the parameters of 2 And two of the first map that defines the relationship between the value [nu _{1 'under} the assumption that a specific value, the first parameter, the second parameter, and the target position and the at the target position A value ν ₂ ′ under the above assumption of a _second introduction parameter ν _{2 that} is different from the _first introduction parameter ν ₁ introduced to obtain the vehicle body composite force that has the minimum value in order to reach the speed direction. And the relationship between the first parameter, the second parameter, and the time t _e when reaching the target position, the time t _e ′ under the assumption. Based on the current distance and the current speed detected by the detection means, the storage means storing the third map, the first parameter and the second parameter are calculated, and the calculated first 1 parameter, 2nd parameter The first map, the second map, and is configured to include a, a deriving means for deriving a time series data of the vehicle body resultant force using the third map.

According to a second aspect of the present invention, there is provided a vehicle motion control apparatus for detecting a setting means for setting a target position and a speed direction at the target position, a distance between the host vehicle and the target position, and a speed of the host vehicle. means a first parameter determined by the ratio of the longitudinal direction of the vehicle body component X _e and the vehicle body lateral component element Y _e the distance when the velocity direction is the longitudinal direction of the vehicle body, the vehicle longitudinal speed of the vehicle A second parameter determined by a ratio of a component v _{x0 in the} direction and a component v _{y0 in the} lateral direction of the vehicle body, and the first of the component X _e , the component Y _e , the component v _x0 , and the component v _y0 . The target position under the assumption that two parameters according to the parameter and the second parameter are specific values, and the direction of the vehicle body composite acceleration at which the maximum value is minimum to become the speed direction at the target position A first matrix that defines the relationship of θ , The first parameter, the second parameter, and the target position under the assumption, and the vehicle body composite acceleration F ₀ ′ that minimizes the maximum value to become the speed direction at the target position. Based on the current distance and the current speed detected by the detection means, the storage means storing the second map defining the relationship of / m ′, and the second parameter And derivation means for deriving the vehicle body composite force at the current time using the calculated first parameter, second parameter, the first map, and the second map. Has been.

As described above, according to the vehicle motion control devices of the first and second aspects of the present invention, the longitudinal component X _e , the lateral component Y _e of the distance between the host vehicle and the target position, the speed of the host vehicle In order to reach the target position and the speed direction at the target position using the map of a simple configuration using parameters calculated by the vehicle body longitudinal component v _x0 and the vehicle body lateral component v _y0 , the maximum value is minimum. The vehicle body composite force can be derived.

According to a third aspect of the present invention, there is provided a vehicle motion control device for detecting a setting means for setting a target position and a speed direction at the target position, a distance between the host vehicle and the target position, and a speed of the host vehicle. A vehicle body lateral component Y _e of the distance and a vehicle longitudinal component v _{x0 of the} own vehicle speed or the vehicle lateral direction when the vehicle body longitudinal acceleration is the specific vehicle body composite acceleration F ₀ / m and the vehicle speed. first parameter and using a direction component v _y0, the determined by the ratio of the vehicle speed longitudinal and component v _x0 and vehicle lateral component v _y0, or a specific body composite acceleration F _{0 /} m A second parameter using a lateral vehicle component Y _e of the distance and a lateral vehicle component v _{y0 of the} vehicle speed when the speed direction is the longitudinal direction of the vehicle body, and a specific vehicle composite force wherein in the case of setting the maximum value F ₀ First introduction parameters [nu ₁ introduced to determine the shortest distance X _s of the longitudinal direction of the vehicle body components corresponding to the lateral direction of the vehicle body component element Y _e away, the vehicle body resultant acceleration F _{0 /} m, the component Y _e , the relationship of the value v ₁ ′ under the assumption that two of the component v _x0 and the component v _{y0 according} to the first parameter and the second parameter are specific values The second introduction parameter different from the _first introduction parameter ν ₁ introduced to obtain the first map, the first parameter, the second parameter, and the shortest distance X _s of the longitudinal component of the vehicle body of [nu _2, a second map defining a relationship between the value [nu _{2 'under} the assumption, and the first parameter, the second parameter, and the vehicle body transverse direction of the shortest distance X _s and the distance determined by the components _{Y e} Time t _e to reach the location, the velocity time t _{e 'and} memory means for storing a third map that defines the relationship, the current detected by the detection means of the distance and the current under the assumption And calculating the first parameter and the second parameter, and calculating the calculated first parameter, second parameter, the first map, the second map, and the third map. The shortest distance X _s is obtained using the above-mentioned value, and the maximum value F of the specific vehicle body composite force is obtained until the difference between the obtained shortest distance X _s and the component X _e of the distance in the longitudinal direction of the vehicle body is within a predetermined value. _The shortest distance X _s is repeatedly obtained while changing _0, and the maximum of the specific vehicle composite force when the difference between the shortest distance X _s and the component X _{e in the} longitudinal direction of the distance is within a predetermined value. based on the value F _0, time series of the vehicle body resultant force And deriving means for deriving the data, it can be configured to include.

According to a fourth aspect of the present invention, there is provided a vehicle motion control apparatus for detecting a setting means for setting a target position and a speed direction at the target position, a distance between the host vehicle and the target position, and a speed of the host vehicle. A vehicle body lateral component Y _e of the distance and a vehicle longitudinal component v _{x0 of the} own vehicle speed or the vehicle lateral direction when the vehicle body longitudinal acceleration is the specific vehicle body composite acceleration F ₀ / m and the vehicle speed. first parameter and using a direction component v _y0, the determined by the ratio of the vehicle speed longitudinal and component v _x0 and vehicle lateral component v _y0, or a specific body composite acceleration F _{0 /} m A second parameter using a lateral vehicle component Y _e of the distance and a lateral vehicle component v _{y0 of the} vehicle speed when the speed direction is the longitudinal direction of the vehicle body, and a specific vehicle composite force in the case of setting the maximum value F _0, before Vehicle body resultant acceleration F _{0 /} m, the component Y _e, wherein component v _x0, and the assumption that although two in accordance with the first parameter and the second parameter is a specific value of the components v _y0 Corresponding to the component Y _e in the vehicle body front-rear direction and corresponding to the component Y _e under the assumption, as well as a first map that defines the relationship of the direction θ of the vehicle body composite acceleration. Based on the current distance and current speed detected by the detection means, storage means storing a second map defining the relationship of the shortest distance X _s ′ of the longitudinal component of the vehicle body, The first parameter and the second parameter are calculated, and the shortest distance X _s is determined using the calculated first parameter, second parameter, the first map, and the second map. The shortest distance Until the difference between the X _s and the vehicle front-rear direction component X _e of the distance is within the predetermined value, repeatedly obtains the shortest distance X _s while changing the maximum value F ₀ of the particular body resultant force, the shortest The direction of the vehicle body composite acceleration determined from the maximum value F ₀ of the specific vehicle body composite force and the first map when the difference between the distance X _s and the component X _{e in} the vehicle body longitudinal direction of the distance is within a predetermined value. Deriving means for deriving θ as the vehicle body composite force at the current time can be configured.

Thus, according to the vehicle motion control devices of the third and fourth aspects of the invention, the vehicle body lateral component Y _e of the distance between the host vehicle and the target position, the vehicle body longitudinal component v _{x0 of the host} vehicle speed, and the vehicle body lateral component v by using a map of a simple structure using the parameters calculated by _y0 seek the shortest distance X _s in the longitudinal direction of the vehicle body, the vehicle and the target position and the shortest distance X _s by performing the convergence calculation The maximum value for reaching the target position and the speed direction at the target position using the maximum value F ₀ of the vehicle body composite force when the difference between the distance and the component X _{e in} the vehicle longitudinal direction becomes equal to or less than a predetermined value. It is possible to derive the vehicle body synthesis force that minimizes the above.

In the vehicle motion control apparatus according to the third and fourth inventions, the first parameter is a reciprocal of a product of the specific vehicle body composite acceleration F ₀ / m and a vehicle lateral component Y _e of the distance. The product of the square root and the vehicle longitudinal component v _x0 of the speed is determined, and the second parameter is the product of the specific vehicle body resultant acceleration F ₀ / m and the vehicle lateral component Y _e of the distance. The product of the square root of the reciprocal and the vehicle lateral component v _y0 of the speed is determined, or the first parameter is defined by the specific vehicle body composite acceleration F ₀ / m and the vehicle longitudinal component of the speed. The product of the ratio of v _x0 or the ratio of the vehicle lateral component v _y0 of the speed to the square of the vehicle lateral component Y _e of the distance is determined, and the second parameter is determined in the vehicle longitudinal direction of the speed. body of the the components _{v x0} speed It can be defined as the ratio of the direction component v _y0.

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

  The setting means sets the target position and the speed direction at the target position based on the position and size of the obstacle, and the detection means detects a relative speed of the host vehicle with respect to the obstacle. Can be.

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

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

According to a fifth aspect of the present invention, there is provided a vehicle motion control program that detects a target position and a setting means for setting a speed direction at the target position, a distance between the host vehicle and the target position, and a speed of the host vehicle. A capturing means for capturing the current distance and the current speed detected by the detecting means, and a component X of the distance in the vehicle longitudinal direction when the speed direction is the vehicle longitudinal direction based on the captured information. a first parameter determined by the ratio of _e to the vehicle body lateral component Y _e, and a second parameter determined by the ratio of the vehicle longitudinal direction component v _x0 and the vehicle body lateral component v _y0 of the speed of the _host vehicle. In order to obtain the vehicle body composite force that minimizes the maximum value so as to be in the speed direction at the target position and the target position. Of the introduced first introduction parameter ν _{1, two} of the component X _e , the component Y _e , the component v _x0 , and the component v _y0 are identified according to the first parameter and the second parameter The first map, the first parameter, the second parameter, the target position, and the speed direction at the target position in which the relationship of the value ν ₁ ′ under the assumption that the value is Therefore, a relationship between a value ν ₂ ′ under the assumption of a _second introduction parameter ν ₂ different from the _first introduction parameter ν ₁ introduced in order to obtain the vehicle body composite force having the minimum maximum value is determined. second map, and the first parameter, the second parameter, and the time t _e to reach the target position, the third map that defines the relationship time t _{e 'under} the assumptions From the storage means storing the first Reading means for reading the map, the second map, and the third map, and the calculated first parameter, the second parameter, the read first map, and the second map And a program for functioning as derivation means for deriving time series data of the vehicle body composite force using the third map.

According to a sixth aspect of the present invention, there is provided a vehicle motion control program for detecting a computer, setting means for setting a target position and a speed direction at the target position, a distance between the host vehicle and the target position, and a speed of the host vehicle. A capturing means for capturing the current distance and the current speed detected by the detecting means, and a component X of the distance in the vehicle longitudinal direction when the speed direction is the vehicle longitudinal direction based on the captured information. a first parameter determined by the ratio of _e to the vehicle body lateral component Y _e, and a second parameter determined by the ratio of the vehicle vehicular longitudinal component v _x0 and the vehicle lateral component v _y0 of the speed of the _host vehicle. calculating means for calculating a parameter, the first parameter, the second parameter, and the component X _e, wherein components Y _e, the first parameter of the component v _x0, and the component v _y0 and The relationship between the target position under the assumption that two values corresponding to the second parameter are specific values, and the direction θ of the vehicle body composite acceleration at which the maximum value is minimum to become the speed direction at the target position And the vehicle body having the maximum value to be the minimum in order to be in the speed direction at the target position and the target position under the first parameter, the second parameter, and the assumption. Reading means for reading out the first map and the second map from the storage means storing the second map defining the relationship of the combined acceleration F ₀ '/ m', the calculated first parameter, This is a program for functioning as a derivation means for deriving the vehicle body composite force at the current time using the second parameter, the read first map, and the second map.

According to a seventh aspect of the present invention, there is provided a vehicle motion control program for detecting a computer, setting means for setting a target position and a speed direction at the target position, a distance between the host vehicle and the target position, and a speed of the host vehicle. A capturing means for capturing the current distance and current speed detected by the detecting means, and a specific vehicle body composite acceleration F ₀ / m and the speed direction as the vehicle longitudinal direction based on the captured information The first parameter using the vehicle lateral component Y _e of the distance and the vehicle longitudinal component v _x0 or the vehicle lateral component v _y0 of the speed of the host vehicle, the vehicle longitudinal component v of the speed The vehicle lateral component Y _e of the distance determined by the ratio of _x0 and the vehicle lateral component v _y0 or the specific vehicle composite acceleration F ₀ / m and the speed direction as the vehicle longitudinal direction Vehicle speed When calculating means for calculating the second parameter using the vehicle body lateral direction component v _y0 , the first parameter, the second parameter, and the maximum value F ₀ of the specific vehicle body composite force The vehicle body combined acceleration F ₀ / m of the first introduction parameter ν ₁ introduced to obtain the shortest distance X _s of the vehicle body longitudinal direction component corresponding to the vehicle body lateral component Y _e of the distance of The relationship between the value ν ₁ ′ under the assumption that two of the component Y _e , the component v _x0 , and the component v _{y0 according} to the first parameter and the second parameter are specific values. The second map different from the _first introduction parameter ν ₁ introduced to obtain the defined first map, the first parameter, the second parameter, and the shortest distance X _s of the longitudinal component of the vehicle body. introduction parameters ν The second map that defines the relationship between the value [nu _{2 'under} the assumption, and the first parameter, the second parameter, and the vehicle body lateral component of the shortest distance X _s and the distance The first map, the second map, from the storage means storing the third map defining the time t _e ′ under the assumption of the time t _e ′ reaching the position determined by Y _e , And a reading means for reading the third map, and the calculated first parameter, the second parameter, the read first map, the second map, and the third map using calculated the shortest distance X _s of the longitudinal direction of the vehicle body components, until the difference between the shortest distance X _s between the vehicle front-rear direction component X _e of the distance obtained is within a predetermined value, the specific body synthesis repeatedly while changing the maximum value F ₀ of force Serial search of the shortest distance X _s, based on the maximum value F ₀ of the particular body resultant force when the difference between the shortest distance X _s between the vehicle front-rear direction component X _e of the distance becomes within a predetermined value This is a program for functioning as derivation means for deriving time series data of the vehicle body synthesis force.

According to an eighth aspect of the present invention, there is provided a vehicle motion control program for detecting a computer by setting means for setting a target position and a speed direction at the target position, a distance between the host vehicle and the target position, and a speed of the host vehicle. A capturing means for capturing the current distance and current speed detected by the detecting means, and a specific vehicle body composite acceleration F ₀ / m and the speed direction as the vehicle longitudinal direction based on the captured information The first parameter using the vehicle lateral component Y _e of the distance and the vehicle longitudinal component v _x0 or the vehicle lateral component v _y0 of the speed of the host vehicle, the vehicle longitudinal component v of the speed The vehicle lateral component Y _e of the distance determined by the ratio of _x0 and the vehicle lateral component v _y0 or the specific vehicle composite acceleration F ₀ / m and the speed direction as the vehicle longitudinal direction Vehicle speed When calculating means for calculating the second parameter using the vehicle body lateral direction component v _y0 , the first parameter, the second parameter, and the maximum value F ₀ of the specific vehicle body composite force Two of the vehicle body composite acceleration F ₀ / m, the component Y _e , the component v _x0 , and the component v _{y0 according} to the first parameter and the second parameter are specific values. first map the movement distance of the vehicle front-rear direction corresponding to the component element Y _e under the assumption that defines the relationship direction θ of the vehicle body resultant acceleration becomes shortest, and the first parameter, the second parameter, and the first map and the from the component Y shortest distance of the longitudinal direction of the vehicle body components corresponding to _e X _s storage means for storing a second map that defines the relationship _'under the assumption The second map Readout means for reading, and the calculated first parameter, the second parameter, the read first map, and the shortest distance X of the component in the longitudinal direction of the vehicle body using the second map _s is obtained, and the maximum value F ₀ of the specific vehicle body composite force is obtained until the difference between the obtained shortest distance X _s of the vehicle longitudinal component and the vehicle longitudinal component X _e of the distance is within a predetermined value. The minimum distance X _s is repeatedly obtained while changing the value, and the maximum value of the specific vehicle body composite force when the difference between the shortest distance X _s and the component X _{e in the} longitudinal direction of the distance is within a predetermined value This is a program for functioning as derivation means for deriving the direction θ of the vehicle body composite acceleration obtained from F ₀ and the first map as the vehicle body composite force at the current time.

As described above, according to the present invention, the vehicle front-rear direction component X _e of the distance between the host vehicle and the target position, the vehicle body lateral component Y _e , the vehicle speed component v _{x0 of the host} vehicle speed, and _Deriving the target position and the vehicle body combined force that minimizes the maximum value in order to reach the speed direction at the target position using a map having a simple configuration using parameters calculated by the component v _{y0 in the} vehicle body lateral direction. A parameter calculated by a lateral component Y _e of the distance between the host vehicle and the target position, a longitudinal component v _{x0 of the host} vehicle speed, and a lateral component v _y0 of the _host vehicle is used. seeking the shortest distance X _s in the longitudinal direction of the vehicle body using the map simple structure, the difference between the vehicle front-rear direction component X _e of the distance by performing the convergence calculation and the shortest distance X _s between the vehicle and the target position given Below the value Kino using the maximum value F ₀ of the vehicle body resultant force, the maximum value in order to reach the velocity direction in the target position and the target position can be derived of the vehicle body resultant force which is a minimum, the effect is obtained that.

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

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, it is assumed that an obstacle on the road on which the vehicle travels is avoided, and the target position is a position that passes the obstacle, and the speed direction at the target position is the vehicle body longitudinal direction. To do.

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

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

  The xy coordinates are set with the position of the host vehicle at t = 0 as the origin, the speed direction (vehicle body longitudinal direction) at the target position as the x axis, and the axis orthogonal to the x axis (vehicle body lateral direction) as the y axis ( (See also FIG. 2).

Then, the target position on the xy coordinates at the current time (t = 0) is set to (X _e , Y _e ), and the speed of the host vehicle with respect to the road surface is v _x (0) = v _x0 , v _y (0) = v _y0. Further, when the target position and the time at which the target position is reached in the speed direction is defined as t _e , X (t _e ) = X _e regarding the x component of the moving distance of the host vehicle, and Y (t _e ) regarding the y component. = Y _e , and the vehicle body composite accelerations u _x (t) and u _y (t) satisfying v _y (t _e ) = 0 with respect to the y component of the speed of the host vehicle (equation (1) and equation (2)) ) _Is derived using a map with v _x0 , v _y0 , X _e , and Y _e as parameters. X (t _e ) is also referred to as an avoidance distance, and Y (t _e ) is also referred to as a lateral movement distance.

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

First, x ₁ = X (t), x ₂ = v _x (t), x ₃ = Y (t), x ₄ = v _y (t), u ₁ = u _x (t), u ₂ = u _y If it is set as (t), the equation of motion of (1) Formula and (2) Formula can be deform | transformed into a state equation like the following (7) Formula and (8) Formula. T is a transposed symbol of a vector and a matrix.

Next, assuming that the maximum value F ₀ = maxF (t) of the vehicle body composite force is known, the evaluation function I is expressed by the following equation (9) when considered as an optimal control problem that minimizes the avoidance distance. In this case, the control input that minimizes the evaluation function I is obtained under the termination condition expressed by the following equation (10) and the input constraint condition regarding the magnitude of the vehicle body composite force expressed by the following equation (11). This results in a control problem.

  Here, when a known technique such as Japanese Patent Application Laid-Open No. 2007-283910 is used, a control input represented by the following expression (12) is derived.

However, ν ₁ and ν ₂ are the first introduction parameter and the second introduction parameter introduced to obtain the optimum solution. This control input indicates that if F ₀ such that the minimized I is equal to the known avoidance distance X _e is obtained, a trajectory that results in the minimum maxF (t) of the vehicle body resultant force is derived. Show. Therefore, by deriving the relationship of x ₁ (t _e ) = X _e , F ₀ , t _e , ν ₁ , and ν ₂ required in this equation (12) are expressed by the following equations (13) to (16). It is obtained by substituting m, v _x0 , v _y0 , X _e , and Y _e into the nonlinear equation.

  In order to find the solution of this equation, a reduced-dimensional map is derived. First, equation (13) is transformed into equation (17) and substituted into equations (14) to (16) (expressions (18) to (20)).

Here, when an arbitrary positive number a is introduced and two sets of parameters P and P ′ satisfying the relationship of the following equation (21) are considered, solutions {ν ₁ , ν ₂ , t corresponding to P and P ′ are considered. _e } and {ν ₁ ′, ν ₂ ′, t _e ′} satisfy the relationship of the following equation (22).

If a is set as the following formula (23) from the last formula of formula (21), Y _e ′ and v _y0 ′ can be transformed as formula (24) from formula (21).

From this relationship, Y _e ′ and v _y0 ′ are obtained from the parameter P of the current time by setting arbitrary positive _{numbers to} X _e ′ and v _x0 ′. Therefore, when X _e ′ and v _x0 ′ are set to certain values, a map with Y _e ′ as the first parameter and v _y0 ′ as the second parameter may be prepared in advance. The values of X _e ′ and v _x0 ′ can be freely set by the designer when creating the map.

Here, as an example, a map relating to Y _e ′ and v _y0 ′ when X _e ′ = v _x0 ′ = 1 is created. As shown in FIG. 3, the value of ν ₁ ′ obtained based on the equations (18) to (20) is mapped with Y _e ′ as the first parameter and v _y0 ′ as the second parameter. A first map, a _second map in which the value of ν ₂ ′ is mapped, and a third map in which the value of t _e ′ is mapped are created.

Then, using these maps _{{ν 1, ν 2, t} e} To determine _{the, v x0 '= X e'} = 1, the known _{m, v x0, v y0,} X e, and the _{Y e} (24) first calculates the parameter _{Y e} ', and the second parameter _{v y0'} according to formula output for the calculated parameters _{{ν 1 ', ν 2'} , t e '} the obtained from the maps, (22) and (23) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} is converted to. Further, it calculates the _{F 0} according to equation (17) from _{{ν 1, ν 2, t} e}.

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

  As a result, the vehicle body resultant force that minimizes the maximum value for reaching the target position and the speed direction at the target position is derived from the distance between the vehicle at the current time and the target position and the vehicle speed.

In the above map, the case where the first parameter and the second parameter are determined as shown in equation (24) has been described. However, an arbitrary positive number a can be expressed as in equation (26) below (27) X _e ′ shown in the equation may be the first parameter, and v _y0 ′ may be the second parameter.

In this case, as an example, a map relating to X _e ′ and v _y0 ′ when Y _e ′ = v _x0 ′ = 1 is created. As shown in FIG. 4, ν ₁ ′ obtained based on the equations (18) to (20) with X _e ′ of the equation (27) as the first parameter and v _y0 ′ as the second parameter. A first map that maps values, a second map that maps values of ν ₂ ′, and a third map that maps values of t _e ′ are created.

Then, to obtain {ν ₁ , ν ₂ , t _e } using these maps, Y _e ′ = v _x0 ′ = 1, from known m, v _x0 , v _y0 , X _e , and Y _e (27) first calculates the parameter _{X e} 'and the second parameter _{v y0'} according to formula output for the calculated parameters _{{ν 1 ', ν 2'} , t e '} the obtained from the maps, (22) and (26) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} is converted to. Further, it calculates the _{F 0} according to equation (17) from _{{ν 1, ν 2, t} e}.

  As another case of using different parameters, the equation (14) is transformed into the equation (28) and substituted into the equations (13), (15), and (16) (the equations (29) to (31). )formula).

Here, when an arbitrary positive number a ₁ is introduced and two sets of parameters P and P ′ satisfying the relationship of the following equation (32) are considered, solutions {ν ₁ , ν ₂ , t _e } and {ν ₁ ′, ν ₂ ′, t _e ′} satisfy the relationship of the following equation (33).

From the last equation of equation (32), if a ₁ is placed as in equation (34) below, Y _e ′ and v _x0 ′ can be modified as in equation (35) below from equation (32).

From this relationship, Y _e ′ and v _x0 ′ can be obtained from the parameter P of the current time by setting arbitrary positive _{numbers to} X _e ′ and v _y0 ′. Therefore, when X _e ′ and v _y0 ′ are set to certain values, a map having Y _e ′ as the first parameter and v _x0 ′ as the second parameter may be prepared in advance. The values of X _e ′ and v _y0 ′ can be freely set by the designer when creating the map.

Here, as an example, a map relating to Y _e ′ and v _x0 ′ when X _e ′ = v _y0 ′ = 1 is created. As shown in FIG. 5, the values of ν ₁ ′ obtained based on the equations (29) to (31) are mapped with Y _e ′ as the first parameter and v _x0 ′ as the second parameter. A first map, a _second map in which the value of ν ₂ ′ is mapped, and a third map in which the value of t _e ′ is mapped are created.

Then, to obtain {ν ₁ , ν ₂ , t _e } using these maps, from X _e ′ = v _y0 ′ = 1, known m, v _x0 , v _y0 , X _e , and Y _e (35) first calculates the parameter _{Y e} ', and the second parameter _{v x0'} according to formula output for the calculated parameters _{{ν 1 ', ν 2'} , t e '} the obtained from the maps, (33) and (34) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} is converted to. Further, it calculates the _{F 0} according to equation (28) from _{{ν 1, ν 2, t} e}.

Furthermore, an arbitrary positive number a ₁ may be set as the following equation (37), X _e ′ shown in the following equation (38) may be the first parameter, and v _x0 ′ may be the second parameter.

In this case, as an example, a map relating to X _e ′ and v _x0 ′ when v _y0 ′ = 1 and Y _e ′ = ± 1 is created. As shown in FIGS. 6 and 7, ν ₁ obtained based on the equations (29) to (31) with X _e ′ as the first parameter and v _x0 ′ as the second parameter in the equation (38). Create a first map that maps the value of ', a second map that maps the value of ν ₂ ', and a third map that maps the value of t _e '.

In order to obtain {ν ₁ , ν ₂ , t _e } using these maps, first, when v _y0 > 0 and Y _e > 0, Y _e ′ = v _y0 ′ = 1, known The first parameter X _e ′ and the second parameter v _x0 ′ are calculated from m, v _x0 , v _y0 , X _e , and Y _e according to the equation (38), and the output {ν ₁ ′, ν ₂ ', _{t e'} obtained from the map shown in FIG. 6}, according to (33) and (37) below _{{ν 1 ', ν 2'} , a _{t e '} {ν 1,} ν 2, t _e }. Next, when v _y0 > 0 and Y _e <0, Y _e ′ = −1, v _y0 ′ = 1, known m, v _x0 , v _y0 , X _e , and Y _e (38) first computes the parameter X _{e 'and} the second parameter v _x0', output to calculation parameters _{{ν 1 ', ν 2'} , t e '} obtained from the map shown in FIG. 7 according to, (33) and (37) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} is converted to. Subsequently, in the case of v _y0 <0, Y _e <0, it is converted into v _y0 → −v _y0 , Y _e → −Y _e , and the same as in the case of v _y0 > 0 and Y _e > 0 described above. according to the flow _{{-ν 1 ', -ν 2'} , t e '} obtained from the map shown in FIG. _{6, -ν 1' → ν 1} ', -ν 2' have been processed → [nu ₂ ' after converted into (33) and (37) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} a. When v _y0 <0, Y _e > 0, the flow is converted into v _y0 → −v _y0 , Y _e → −Y _e , and the same flow as in the case of v _y0 > 0 and Y _e <0 described above. according _{{-ν 1 ', -ν 2'} , t e '} obtained from the map shown in FIG. _{7, -ν 1' → ν 1} ', -ν 2' after the process of → [nu ₂ ' It is converted to (33) and (37) according to equation _{{ν 1 ', ν 2'} , t e '} {ν 1, ν 2, t e} a. Further, it calculates the _{F 0} according to equation (28) from _{{ν 1, ν 2, t} e}. In this case, a total of six maps are required, two for each of the first to third maps, but the area of each map is limited to v _x0 '> 0 and X _e '> 0. Therefore, the capacity required for storing the map does not become extremely large compared to the case of three maps.

  Moreover, you may use the map which changed the way of taking the axis | shaft of the map shown in FIGS. 3-7, and moved the singular point so that it might become parallel to a vertical axis | shaft or a horizontal axis.

  Specifically, the method of taking the axes of the map shown in FIG. 3 is changed as shown in the following equation (39). Further, as another method of taking the axis, the following equation (40) is changed.

In the case of I, as an example, a map relating to Y _e ′ and v _y0 ″ when X _e ′ = v _x0 ′ = 1 is created. As shown in FIG. 8, ν ₁ ′ obtained based on the equations (18) to (20) with Y _e ′ of the equation (39) as the first parameter and v _y0 ″ as the second parameter. A first map in which the values of ν ₂ ′ are mapped, a second map in which the values of ν ₂ ′ are mapped, and a third map in which the values of t _e ′ are mapped are created.

Also in the case of II, as an example, a map relating to Y _e ″ and v _y0 ′ when X _e ′ = v _x0 ′ = 1 is created. As shown in FIG. 9, ν ₁ ′ obtained based on the equations (18) to (20) with Y _e ″ as the first parameter and v _y0 ′ as the second parameter in the equation (40). A first map in which the values of ν ₂ ′ are mapped, a second map in which the values of ν ₂ ′ are mapped, and a third map in which the values of t _e ′ are mapped are created.

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

Since {ν ₁ ′, ν ₂ ′, t _e ′} is obtained using the map of FIG. 8 or FIG. 9, the distance between the vehicle at the current time and the target position, and the vehicle From this speed, it is possible to derive the target position and the vehicle body combined force that minimizes the maximum value in order to reach the speed direction at the target position.

  4 is changed to the following equation (41) to create a map as shown in FIG. 10, or the map axis shown in FIG. 42) is changed to create a map as shown in FIG. 11, or the map axis shown in FIG. 6 is changed to the following formula (43) or (44) 12 or a map as shown in FIG. 13 may be created.

  Hereinafter, the first embodiment using the above map will be described in detail. As shown in FIG. 14, the vehicle motion control apparatus according to the first embodiment includes a group of sensors mounted on the vehicle as a running state detection unit that detects the running state of the host vehicle, and an external environment that detects an external environment state. Based on the sensor groups mounted on the vehicle as detection means and the detection data from these sensor groups, the in-vehicle device mounted on the host vehicle is controlled so that the host vehicle moves so as to reach the target position. Are provided with a control device 20 for controlling the vehicle motion and a display device 30 for notifying the driver of the vehicle motion control state.

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

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

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

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

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

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

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

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

The control device 20 is connected to a map storage device 28 that stores a map for obtaining a control input. The map of the first embodiment, as shown in FIG. 3, avoidable distance X _e and the lateral moving distance first parameter which defines the ratio of the Y _e, the speed of the vehicle x component v _x0 and y The relationship between the second parameter determined by the ratio to the component v _y0 and the first introduction parameter ν ₁ for obtaining the target position and the vehicle body resultant force at which the maximum value is minimum to reach the speed direction at the target position. The first map, the first parameter, the second parameter, and the second introduction parameter for obtaining the vehicle body composite force that minimizes the maximum value to reach the target position and the speed direction at the target position second map that defines the [nu ₂ relationship, and the first parameter, the second parameter, and maps and a third map that defines the relationship time t _e to reach the target position is used. Here, assuming that X _e ′ = v _x0 ′ = 1, Y _e ′ shown in the equation (24) is the first parameter, and v _y0 ′ is the second parameter.

  It should be noted that any map of FIGS. 4 to 13 shown as another example may be stored in the map storage device 28 and used. In that case, the first parameter and the second parameter corresponding to the map stored in the map storage device 28 are calculated and used. Note that two maps shown in FIGS. 6 and 7 are stored and used.

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

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

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

  Next, in step 104, a target position and a speed direction at the target position for traveling while avoiding an obstacle are set using the environment map. Here, the target position is a position passing the obstacle, and the speed direction at the target position is the vehicle body front-rear direction. Next, in step 106, xy coordinates are set with the set speed direction as the x axis, the direction orthogonal to the x axis as the y axis, and the current position of the vehicle as the origin. That is, the longitudinal direction of the vehicle body at the target position is the x-axis direction, and the y component in the speed direction at the target position is zero.

Next, in step 108, the speed of the host vehicle captured as the running state in step 100 and the distance between the host vehicle captured as the external environment state and the obstacle are converted in accordance with the set coordinates, The avoidance distance X _e which is the x component of the distance between the host vehicle and the obstacle, the lateral movement distance Y _e which is the y component, the x component v _x0 and the y component v _y0 of the speed are calculated. Next, in step 110, the first parameter Y _e ′ and the second parameter v _y0 ′ are calculated according to the equation (24).

Next, in step 112, the first to third maps stored in the map storage device 28 are read, and the first parameter Y _e ′ calculated in step 110 and the second parameter v _y0 ′ are input. As described above, time-series data of the vehicle body composite force that is the optimum trajectory in which the maximum value of the vehicle body composite force is minimized is derived. Specifically, ν ₁ ′ is obtained based on the first map, the first parameter Y _e ′, and the second parameter v _y0 ′, and the second map, the first parameter Y _e ′, and to obtain '[nu ₂ based on the' second parameter _{v y0,} third map, obtaining a _{t e} 'on the basis of the first parameter _{Y e',} and the second parameter _{v y0} '. Then, converted to _{{ν 1 ', ν 2'} , t e '} (22) where and _{(23) {ν 1, ν} 2, t e} according to Formula for calculating the _{F 0} according to equation (17) . Then, by substituting the values of {F ₀ , ν ₁ , ν ₂ , t _e } into the equation (12), the vehicle body composite acceleration that is the control input is obtained. Further, according to the formulas (1) to (6), the time-series data of the vehicle body composite force that minimizes the maximum value and the optimum trajectory that minimizes the maximum value of the vehicle body composite force are derived.

Next, in step 114, based on the derived F _0, the maximum value F ₀ of the vehicle body resultant force is determined whether the following limits tire force. When the maximum value of the vehicle body composite force is less than or equal to the limit value of the tire generation force, the routine proceeds to step 116, and when it exceeds the limit value of the tire generation force, the routine proceeds to step 118. In addition, the limit value of the tire generation force means not only the true limit value determined based on the friction coefficient between the road surface and the tire but also the limit value set with a margin with respect to the true limit value. is there.

  In step 116, it is necessary to realize traveling along the optimum track in which the maximum value of the vehicle body composite force is minimized in accordance with the time series data of the vehicle body composite force in which the maximum value derived in step 112 is minimum. The tire generating force of each wheel is calculated, and at least one of the steering angle control device 22, the braking force control device 24, and the driving force control device 26 is controlled so as to obtain the tire generating force of each wheel, and the vehicle motion The control information is displayed on the display device 30. Also, when controlling to avoid obstacles, by issuing an alarm from the alarm device unconditionally, or by displaying on the display device that vehicle motion control for avoiding obstacles is being performed. An alarm may be given. By controlling so as to obtain the tire generating force of each wheel, it is possible to control so as to obtain the target vehicle body generating force. On the other hand, in step 118, the braking force control device 24 is controlled so that the vehicle stops before the obstacle by the sudden braking control, or the steering angle control device 22 and the control device are controlled so that the estimated collision damage is minimized. The power control device 24 is controlled. For example, a known technique such as the technique described in WO2006-070865 may be used.

As described above, according to the vehicle motion control apparatus of the first embodiment, the vehicle front-rear direction component X _e , the vehicle body lateral direction component Y _e of the distance between the host vehicle and the target position, the speed of the host vehicle The maximum value is minimum to reach the target position and the speed direction at the target position using a map of a simple configuration using parameters calculated by the vehicle body longitudinal component v _x0 and the vehicle lateral component v _y0. The vehicle body composite force can be derived.

In the first embodiment, the case of using the speed of the host vehicle with respect to the road surface has been described. However, the relative speed of the host vehicle with respect to the target position may be used.
In the first embodiment, when an obstacle or the like is detected, both the optimum trajectory for avoiding the left side of the obstacle and the optimum trajectory for avoiding the right side of the obstacle are obtained, and the respective vehicle body composite forces are obtained. May be selected, and the optimal trajectory with the smaller maximum value of the vehicle body composite force may be selected.

  Next, a second embodiment will be described. In the first embodiment, a case has been described in which the map is used to derive time series data of the vehicle body composite force that minimizes the maximum value and the optimal trajectory that minimizes the maximum value of the vehicle body composite force. In this embodiment, a case will be described in which the magnitude and direction of the vehicle body composite force at the current time is derived using a map different from that of the first embodiment. The configuration of the vehicle motion control device of the second embodiment is the same as the configuration of the vehicle motion control device of the first embodiment except that the map stored in the map storage device 28 is different. Therefore, description is abbreviate | omitted using the same code | symbol.

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

First, as in the first embodiment, the expression (24) is expanded. Then, as an example, a map relating to Y _e ′ and v _y0 ′ when X _e ′ = v _x0 ′ = 1 is created. As shown in FIG. 16, the value of the direction θ of the vehicle body resultant force obtained based on the above equations (17) to (20) with Y _e ′ as the first parameter and v _y0 ′ as the second parameter. And a second map in which the value of F ₀ '/ m' is mapped.

Then, using these maps _{{θ, F} 0 / m} to seek _{the, X e '= v x0'} = 1, known _{m, v x0, v y0,} X e, and from _{Y e} (24 ) To calculate the first parameter Y _e ′ and the second parameter v _y0 ′ according to the equation, and obtain the output {θ, F ₀ ′ / m ′} for the calculated parameter from each map, The vehicle body composite force magnitude F ₀ is calculated according to the following equation (45) obtained from the relationship between the equations (22) and (23).

  As a result, from the distance between the host vehicle and the target position at the current time and the speed of the host vehicle, the vehicle body composite force at the current time at which the maximum value is minimum to reach the target position and the speed direction at the target position is derived. Is done.

In the above map, the case where the first parameter and the second parameter are determined as shown in the equation (24) has been described, but X _e ′ shown in the equation (27) as shown in FIG. The map may be created when the parameter 1 and v _y0 ′ are the second parameters and Y _e ′ = v _x0 ′ = 1. At this time, F ₀ is calculated according to the following equation (46). Further, as shown in FIG. 18, the first parameter and the second parameter are set to Y _e and v _x0 ′ shown in the equation (35), and a map in which X _e ′ = v _y0 ′ = 1 is created. May be. At this time, F ₀ is calculated according to the following equation (47). Further, as shown in FIGS. 19 and 20, X _e 'shown in the equation (38) is a first parameter, and v _x0 ' is a second parameter, and v _y0 '= 1, Y _e ' = ± 1. You may create a map for At this time, F ₀ is calculated according to the following equation (48).

  In addition, the map axis shown in FIG. 16 is changed to the formula (39) or (40) by the same method as the method of changing the map axis in the first embodiment. 21 or FIG. 22 is created, or the map shown in FIG. 17 is changed in the way of taking the axis as shown in equation (41) to create a map as shown in FIG. The map axis shown in FIG. 18 is changed as shown in equation (42) to create a map as shown in FIG. 24, or the map axis shown in FIG. A map as shown in FIG. 25 or FIG. 26 may be created by changing the equation (44).

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the second embodiment will be described with reference to FIG. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, the case where the map shown in FIG. 16 is used will be described.

In step 100 to step 110, the same processing as in the first embodiment is performed to obtain the first parameter Y _e ′ and the second parameter v _y0 ′.

Next, in step 200, the first and second maps stored in the map storage device 28 are read, and the first parameter Y _e ′ and the second parameter v _y0 ′ are input, and the vehicle body combined force is maximized. The vehicle body composite force at the current time, which is the optimum trajectory for which the value is minimized, is derived. Specifically, the direction θ of the vehicle body resultant force is obtained based on the first map, the first parameter Y _e ′, and the second parameter v _y0 ′, and the second map, the first parameter Y _e F ₀ '/ m' is obtained based on 'and the second parameter v _y0 ', and F ₀ is calculated from F ₀ '/ m' according to the equation (45).

Next, in step 202, it is determined whether or not the derived vehicle body resultant force at the current time is equal to or less than the limit value of the tire generated force. If the maximum value F ₀ of the vehicle body composite force is less than or equal to the limit value of the tire generation force, the process proceeds to step 116, and if it exceeds the limit value of the tire generation force, the process proceeds to step 118.

As described above, according to the vehicle motion control apparatus of the second embodiment, the vehicle body longitudinal component X _e , the vehicle lateral component Y _e , and the speed of the vehicle A maximum of the vehicle body combined force is used to reach the target position and the speed direction at the target position using a map of a simple configuration using parameters calculated by the vehicle body longitudinal component v _x0 and the vehicle body lateral component v _y0. It is possible to derive the vehicle body composite force at the current time that is the optimum trajectory for which the value is minimized. In addition, compared to the case of deriving the time series data of the vehicle body synthesis force, since one map is used, the capacity for storing the map can be reduced.

  Next, a third embodiment will be described. In the first and second embodiments, the time series data of the vehicle body composite force at which the maximum value is minimized using the map and the optimum trajectory in which the maximum value of the vehicle body composite force is minimized, or the maximum value is minimized. The case of deriving the vehicle body composite force at the current time has been described, but in the third embodiment, the maximum value of the specific vehicle body composite force is determined using a map different from the maps of the first and second embodiments. Find the shortest avoidance distance in the case of setting, and derive the maximum value of the vehicle body composite force when the difference between the shortest avoidance distance and the x component of the distance from the host vehicle to the target position is less than the predetermined value by convergence calculation The case where it does is demonstrated. The configuration of the vehicle motion control device according to the third embodiment is different from the first and second embodiments except that the maps stored in the map storage device 28 are different and the processing executed by the control device 20 is different. Since it is the same as that of the structure of the vehicle motion control apparatus of this form, it abbreviate | omits description using the same code | symbol.

Here, the map used in the third embodiment will be described. The third embodiment is different from the first and second embodiments in that the maximum value F ₀ of the magnitude of the vehicle body composite force is treated as known and the shortest avoidance distance X (t _e ) is obtained. . Therefore, (13) using the formula ~ (15) _{{ν 1, ν 2, t} e} think to seek.

Here, when an arbitrary positive number a is introduced and two sets of parameters P and P ′ satisfying the relationship of the following equation (49) are considered, solutions {ν ₁ , ν ₂ , t corresponding to P and P ′ are considered. _e } and {ν ₁ ′, ν ₂ ′, t _e ′} satisfy the relationship of the following formula (50).

If a is set as the following formula (51) from the last formula of the formula (49), v _x0 ′ and v _y0 ′ can be transformed as the following formula (52) from the formula (49).

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

Here, as an example, maps relating to v _x0 ′ and v _y0 ′ when F ₀ ′ / m ′ = Y _e ′ = 1 are created. As shown in FIG. 28, the value of ν ₁ ′ obtained based on the above equations (13) to (15) is mapped using v _x0 ′ as the first parameter and v _y0 ′ as the second parameter. Create a first map, a _second map mapping the value of ν ₂ ′, and a third map mapping the value of t _e ′.

And to obtain {ν ₁ , ν ₂ , t _e } using these maps, F ₀ '/ m' = Y _e '= 1, known m, v _x0 , v _y0 , Y _e , and The first parameter v _x0 ′ and the second parameter v _y0 ′ are calculated from the set maximum value F ₀ of the vehicle body composite force according to the equation (52), and outputs {ν ₁ ′, ν ₂ ′, t _e 'a} obtained from the map, equation (50) and (51) {[nu ₁ according expression' converts, [nu ₂ ', _{t e'} a} {[nu _1, the ν _{2, t e}. However,} in the case of _Y e _<0, is converted into _{v y0 → -v y0, Y e} → -Y e, seek _{{-ν 1 ', -ν 2'} , t e '} from the map, -v ₁ '→ _{ν 1',} by performing the processing of _{-ν 2 '→ ν 2' {} ν 1, ν 2, t e} or if you get.

Then, _Xe is calculated according to the equation (16). Here, the calculation is X _e is the shortest avoidance distance to F ₀ which is set, since different from x component X _e of the distance to the target position shown in FIG. 1, is stated separately below as X _s . While changing a value of F ₀ to be set repeatedly calculates the X _s, derives a F ₀ a difference was set to when it becomes less than a predetermined value between X _s and X _e as a maximum value of the vehicle body resultant force .

  As a result, the vehicle body resultant force that minimizes the maximum value for reaching the target position and the speed direction at the target position is derived from the distance between the vehicle at the current time and the target position and the vehicle speed.

In the above map, the case where the first parameter and the second parameter are determined as shown in the equation (52) has been described. However, an arbitrary positive number a is changed from the first equation of the equation (49) to the following (53 ), Y _e ′ shown in the following equation (54) may be the first parameter, and v _y0 ′ may be the second parameter.

In this case, as an example, a map relating to Y _e ′ and v _y0 ′ when F ₀ ′ / m ′ = v _x0 ′ = 1 is created. As shown in FIG. 29, ν ₁ ′ obtained based on the above equations (13) to (15) with Y _e ′ in equation (54) as the first parameter and v _y0 ′ as the second parameter. A first map in which the values of ν ₂ ′ are mapped, a second map in which the values of ν ₂ ′ are mapped, and a third map in which the values of t _e ′ are mapped are created.

Then, using these maps _{{ν 1, ν 2, t} e} to obtain the _{the, F 0 '/ m' =} v x0 '= 1, the known _{m, v x0, v y0,} Y e, and The first parameter Y _e ′ and the second parameter v _y0 ′ are calculated from the set maximum value F ₀ of the vehicle body composite force according to the equation (54), and outputs {ν ₁ ′, ν ₂ ′, t _e 'a} obtained from the map, equation (50) and (53) {[nu ₁ according expression' converts, [nu ₂ ', _{t e'} a} {[nu _1, the ν _{2, t e}. However,} in the case of _v y0 _<0, is converted into _{v y0 → -v y0, Y e} → -Y e, seek _{{-ν 1 ', -ν 2'} , t e '} from the map, -v ₁ '→ _{ν 1',} by performing the processing of _{-ν 2 '→ ν 2' {} ν 1, ν 2, t e} or if you get.

Then, by calculating X _s according to the equation (16) and performing a convergence calculation, F ₀ set when the difference between X _s and X _e becomes a predetermined value or less is set as the maximum value of the vehicle body composite force. To derive.

In addition, an arbitrary positive number a is changed from the second expression of the equation (49) to the following expression (55), Y _e ′ shown in the following expression (56) is the first parameter, and v _x0 ′ is the second parameter: It may be a parameter.

In this case, as an example, a map relating to Y _e ′ and v _x0 ′ when F ₀ ′ / m ′ = v _y0 ′ = 1 is created. As shown in FIG. 30, ν ₁ ′ obtained based on the above equations (13) to (15) with Y _e ′ in equation (56) as the first parameter and v _x0 ′ as the second parameter. A first map in which the values of ν ₂ ′ are mapped, a second map in which the values of ν ₂ ′ are mapped, and a third map in which the values of t _e ′ are mapped are created.

Then, using these maps _{{ν 1, ν 2, t} e} to obtain the _{the, F 0 '/ m' =} v y0 '= 1, the known _{m, v x0, v y0,} Y e, and The first parameter Y _e ′ and the second parameter v _x0 ′ are calculated from the set maximum value F ₀ of the vehicle body composite force according to the equation (56), and outputs {ν ₁ ′, ν ₂ ′, t _e 'a} obtained from the map, equation (50) and (55) {[nu ₁ according expression' converts, [nu ₂ ', _{t e'} a} {[nu _1, the ν _{2, t e}. However,} in the case of _v y0 _<0, is converted into _{v y0 → -v y0, Y e} → -Y e, seek _{{-ν 1 ', -ν 2'} , t e '} from the map, -v ₁ '→ _{ν 1',} by performing the processing of _{-ν 2 '→ ν 2' {} ν 1, ν 2, t e} or if you get.

Then, by calculating X _s according to the equation (16) and performing a convergence calculation, F ₀ set when the difference between X _s and X _e becomes a predetermined value or less is set as the maximum value of the vehicle body composite force. To derive.

  Further, the map axis shown in FIG. 29 is changed to the following equation (57) by the same method as the method of changing the map axis in the first embodiment, and FIG. A map as shown in FIG.

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

In step 100 to step 110, the same processing as in the first embodiment is performed to obtain the first parameter v _x0 ′ and the second parameter v _y0 ′. Next, at step 300, it sets the maximum value of a particular body resultant force as F _0. The positive number F ₀ here can be freely set by the designer.

Next, in step 302, the first to third maps stored in the map storage device 28 are read out, and the first parameter v _x0 ′ and the second parameter v _y0 ′ are input, and the lateral movement distance Y _e. to derive the avoidance distance X _s of the shortest corresponding to. Specifically, ν ₁ ′ is obtained based on the first map, the first parameter v _x0 ′, and the second parameter v _y0 ′, and the second map, the first parameter v _x0 ′, and to obtain '[nu ₂ based on the' second parameter _{v y0,} third map, obtaining a _{t e} 'on the basis of the first parameter _{v x0',} and the second parameter _{v y0} '. Then, {ν ₁ ′, ν ₂ ′, t _e ′} is converted into {ν ₁ , ν ₂ , t _e } according to equations (50) and (51), and X _s is derived according to equation (16). .

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

In step 306, it modifies the value of _{F 0} so _{X s} approaches the _{X e.} Then, the processing from step 302 to step 306 is repeated until it is determined in step 304 that X _s = X _e .

In step _308, by substituting _{F 0} when it is determined that X s = _{X e,} and _{{ν 1, ν 2, t} e} obtained in step 302 the value of the equation (12), the control input The vehicle body composite acceleration is obtained. Further, according to the equations (1) to (6), the time series data of the vehicle body composite force at which the maximum value is minimum and the optimum trajectory at which the maximum value of the vehicle body composite force is minimum are derived.

As described above, according to the vehicle motion control apparatus of the third embodiment, the vehicle body lateral component Y _e of the distance between the host vehicle and the target position, the vehicle longitudinal component v _{x0 of the host} vehicle speed, and obtains the shortest avoidance distance X _s using the map simple structure using the parameters calculated by the vehicle body lateral component v _y0, shortest avoidance distance X _s and the vehicle and the target position by performing a convergence calculation using the maximum value F ₀ of the vehicle body resultant force when the difference between the x component X _e of the distance between becomes a predetermined value or less, and a maximum value in order to reach the speed direction at the target position and the target position is minimal The vehicle body composite force can be derived.

  Next, a fourth embodiment will be described. In the third embodiment, the shortest avoidance distance is derived using a map, and the time series data of the vehicle body composite force that minimizes the maximum value by the convergence calculation and the optimum value that minimizes the maximum value of the vehicle body composite force In the fourth embodiment, the shortest avoidance distance is derived using a map different from that in the third embodiment, and the maximum value is minimized by the convergence calculation. A case of deriving the magnitude and direction of the vehicle body composite force at time will be described. The configuration of the vehicle motion control device according to the fourth embodiment is the same as the configuration of the vehicle motion control device according to the third embodiment except that the map stored in the map storage device 28 is different. Therefore, description is abbreviate | omitted using the same code | symbol.

First, as in the third embodiment, the expression (52) is expanded. Then, as an example, a map relating to v _x0 ′ and v _y0 ′ when F ₀ ′ / m ′ = Y _e ′ = 1 is created. As shown in FIG. 33, with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter, the value of the direction θ of the vehicle body resultant force obtained from the equations (13) to (16) is calculated. A mapped first map and a second map in which the value of X _s ′ is mapped are created.

And to obtain {θ, X _s } using these maps, F ₀ '/ m' = Y _e '= 1, known m, v _x0 , v _y0 , Y _e , and the set specific The first parameter v _x0 ′ and the second parameter v _y0 ′ are calculated from the maximum value F ₀ of the vehicle body composite force according to the equation (52), and the output {θ, X _s ′} for the calculated parameters is calculated for each map. obtained from, according to the following (58) below, to derive the vehicle body resultant acceleration at the current time, and the shortest avoidance distance X _s.

Then, the convergence calculation is performed, and F ₀ when the difference between X _s and X _e becomes equal to or smaller than a predetermined value is set as the magnitude of the vehicle body composite force at the current time, and θ is the direction of the vehicle body composite force.

  As a result, from the distance between the vehicle at the current time and the target position and the speed of the vehicle, the vehicle body resultant force at the current time at which the maximum value is minimum to reach the target position and the speed direction at the target position is derived. .

In the above map, the case where the first parameter and the second parameter are determined as shown in the equation (52) has been described. However, the first parameter and the second parameter as shown in FIG. 54) It is also possible to create a map when Y _e ′ and v _y0 ′ shown in the equation are set, and F ₀ ′ / m ′ = v _x0 ′ = 1. At this time, X _s is calculated according to the following equation (59). Further, as shown in FIG. 35, when the first parameter and the second parameter are Y _e ′ and v _x0 ′ shown in the equation (56), and F ₀ ′ / m ′ = v _y0 ′ = 1. You may create a map. At this time, X _s is calculated according to the following equation (60).

  Also, the map axis shown in FIG. 34 is changed as shown in equation (57) by the same method as the method of changing the map axis in the first embodiment, and FIG. A map as shown may be created.

  Hereinafter, a vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the fourth embodiment will be described with reference to FIG. In addition, about the process same as the vehicle motion control routine performed with the control apparatus 20 of the vehicle motion control apparatus of the 1st-3rd embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, a case where the map shown in FIG. 33 is used will be described.

In step 100 to step 110, the same processing as in the third embodiment is performed to obtain the first parameter v _x0 ′ and the second parameter v _y0 ′. Next, at step 300, it sets the maximum value of a particular body resultant force as F _0.

Next, in step 400, the first and second maps stored in the map storage device 28 are read out, and the first parameter v _x0 'and the second parameter v _y0 ' are input, and the lateral movement distance Y _e. to derive the avoidance distance X _s of the shortest corresponding to. Specifically, the first map, the first parameter v _x0 ', and the second parameter v _y0' to obtain θ based on the second mapped, the first parameter v _x0 ', and a second X _s ′ is obtained based on the parameter v _y0 ′. Then, X _s ′ is converted into X _s according to the equation (58).

Next, in step 304, it is determined whether or not X _s = X _e . If X _s = X _e , the process proceeds to step 402, and F ₀ when X _s = X _e is determined, and Based on θ obtained in step 400, the magnitude and direction of the vehicle body resultant force at the current time are derived.

As described above, according to the vehicle motion control apparatus of the fourth embodiment, the vehicle body lateral component Y _e of the distance between the host vehicle and the target position, the vehicle longitudinal component v _{x0 of the host} vehicle speed, and obtains the shortest avoidance distance X _s using the map simple structure using the parameters calculated by the vehicle body lateral component v _y0, shortest avoidance distance X _s and the vehicle and the target position by performing a convergence calculation using the maximum value F ₀ of the vehicle body resultant force when the difference between the x component X _e of the distance between becomes a predetermined value or less, and a maximum value in order to reach the speed direction at the target position and the target position is minimal The vehicle body composite force can be derived. In addition, compared to the case of deriving the time series data of the vehicle body synthesis force, since one map is used, the capacity for storing the map can be reduced.

  In the above-described embodiment, the case where the target position is set as a position to avoid the obstacle has been described. However, the present invention is not limited to this, and can be set to a desired position.

Further, the map described in the above embodiment is an example, and values set for X _e ′, Y _e ′, v _x0 ′, v _y0 ′, F ₀ ′ / m ′, how to set axes, parameter ranges, Different maps may be used depending on the setting method.

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

Claims (13)

Setting means for setting a target position and a speed direction at the target position;
Detecting means for detecting a distance between the host vehicle and the target position, and a speed of the host vehicle;
First parameter, the vehicle longitudinal direction component of the velocity of the vehicle determined by the ratio of the longitudinal direction of the vehicle body component X _e and the vehicle body lateral component element Y _e the distance when the velocity direction is the longitudinal direction of the vehicle body In order to obtain the second parameter determined by the ratio of v _x0 and the lateral component v _y0 of the vehicle body, and the vehicle body resultant force that minimizes the maximum value for the target position and the speed direction at the target position. Of the introduced first introduction parameter ν _{1, two} of the component X _e , the component Y _e , the component v _x0 , and the component v _y0 are identified according to the first parameter and the second parameter The first map, the first parameter, the second parameter, the target position, and the speed direction at the target position in which the relationship of the value ν ₁ ′ under the assumption that the value is Because the maximum value is the minimum A second map that defines a relationship of a value ν ₂ ′ under the assumption of a _second introduction parameter ν ₂ different from the _first introduction parameter ν ₁ introduced to obtain the vehicle body composite force; Storage means for storing a first map, a second parameter, and a third map that defines a relationship between the time t _e to reach the target position and the time t _e ′ under the assumption;
Based on the current distance and the current speed detected by the detection means, the first parameter and the second parameter are calculated, and the calculated first parameter, second parameter, Deriving means for deriving time series data of the vehicle body composite force using one map, the second map, and the third map;
A vehicle motion control device. Setting means for setting a target position and a speed direction at the target position;
Detecting means for detecting a distance between the host vehicle and the target position, and a speed of the host vehicle;
First parameter, the vehicle longitudinal direction component of the velocity of the vehicle determined by the ratio of the longitudinal direction of the vehicle body component X _e and the vehicle body lateral component element Y _e the distance when the velocity direction is the longitudinal direction of the vehicle body v _x0 and the vehicle body lateral second parameter which defines the ratio of the components _{v y0,} and the component _{X e,} wherein components _{Y e,} the first parameter of the component _{v x0,} and the component _{v y0} and The relationship between the target position under the assumption that two values according to the second parameter are specific values, and the direction θ of the vehicle body composite acceleration at which the maximum value is minimum to become the speed direction at the target position And the vehicle body having the maximum value to be the minimum in order to be in the speed direction at the target position and the target position under the first parameter, the second parameter, and the assumption. Combined acceleration F ₀ '/ m Storage means for storing the second map defining the relationship of ';
Based on the current distance and the current speed detected by the detection means, the first parameter and the second parameter are calculated, and the calculated first parameter, second parameter, Deriving means for deriving the vehicle body composite force at the current time using the map of 1 and the second map;
A vehicle motion control device. Setting means for setting a target position and a speed direction at the target position;
Detecting means for detecting a distance between the host vehicle and the target position, and a speed of the host vehicle;
The vehicle body lateral component Y _e of the distance and the vehicle longitudinal component v _x0 or the vehicle lateral component of the specific vehicle combined acceleration F ₀ / m and the speed direction as the vehicle longitudinal direction The first parameter using v _y0, which is determined by the ratio of the vehicle body longitudinal component v _x0 and the vehicle lateral component v _y0 of the speed, or a specific vehicle body resultant acceleration F ₀ / m and the speed direction _Is the second parameter using the vehicle lateral component Y _e of the distance and the vehicle lateral component v _y0 of the speed of the _host vehicle, and the maximum value F of the specific vehicle composite force _The vehicle body composite acceleration F of the first introduction parameter ν ₁ introduced to obtain the shortest distance X _s of the vehicle body longitudinal direction component corresponding to the vehicle body lateral component Y _e of the distance when ₀ is set. ₀ / m, the component _{Y e,} before Component v _x0, and the first that defines the first parameter and the relationship of the value [nu _{1 'under} the assumption that the a second two of the specific values corresponding to the parameters of the components v _y0 A second introduction parameter ν ₂ different from the _first introduction parameter ν ₁ introduced to obtain the map, the first parameter, the second parameter, and the shortest distance X _s of the vehicle body longitudinal component. , A second map defining the relationship of the value ν ₂ ′ under the assumption, and the first parameter, the second parameter, and the shortest distance X _s and the lateral component Y of the distance storage means for storing a third map that defines the relationship of the time t _e ′ under the assumption of the time t _e to reach the position determined by _e ;
Based on the current distance and the current speed detected by the detection means, the first parameter and the second parameter are calculated, and the calculated first parameter, second parameter, 1 map, the second map, and obtains the shortest distance X _s using the third map, the difference between the shortest distance X _s between the vehicle front-rear direction component X _e of the distance obtained is given The shortest distance X _s is repeatedly obtained while changing the maximum value F ₀ of the specific vehicle composite force until the value falls within the value, and the difference between the shortest distance X _s and the component X _{e in} the vehicle longitudinal direction of the distance is Derivation means for deriving time series data of the vehicle body composite force based on the maximum value F ₀ of the specific vehicle body composite force when it falls within a predetermined value;
A vehicle motion control device. Setting means for setting a target position and a speed direction at the target position;
Detecting means for detecting a distance between the host vehicle and the target position, and a speed of the host vehicle;
The vehicle body lateral component Y _e of the distance and the vehicle longitudinal component v _x0 or the vehicle lateral component of the specific vehicle combined acceleration F ₀ / m and the speed direction as the vehicle longitudinal direction The first parameter using v _y0, which is determined by the ratio of the vehicle body longitudinal component v _x0 and the vehicle lateral component v _y0 of the speed, or a specific vehicle body resultant acceleration F ₀ / m and the speed direction _Is the second parameter using the vehicle lateral component Y _e of the distance and the vehicle lateral component v _y0 of the speed of the _host vehicle, and the maximum value F of the specific vehicle composite force _{When 0} is set, two of the vehicle body composite acceleration F ₀ / m, the component Y _e , the component v _x0 , and the component v _{y0 according} to the first parameter and the second parameter are specified Under the assumption of value First map the movement distance of the vehicle front-rear direction corresponding to the components Y _e is defines the relationship direction θ of the vehicle body resultant acceleration becomes shortest, and the first parameter, the second parameter, and the assumption Storage means for storing a second map that defines the relationship of the shortest distance X _s ′ of the longitudinal component of the vehicle body corresponding to the component Y _e under
Based on the current distance and the current speed detected by the detection means, the first parameter and the second parameter are calculated, and the calculated first parameter, second parameter, The shortest distance X _s is obtained using the map 1 and the second map, and the difference between the obtained shortest distance X _s and the component X _e of the distance in the vehicle longitudinal direction is within a predetermined value. The shortest distance X _s is repeatedly obtained while changing the maximum value F ₀ of the specific vehicle body composite force, and the difference between the shortest distance X _s and the component X _{e in} the vehicle longitudinal direction of the distance is within a predetermined value. Derivation means for deriving the direction θ of the vehicle body composite acceleration determined from the maximum value F ₀ of the specific vehicle body composite force at the time and the first map as the vehicle body composite force at the current time;
A vehicle motion control device. The first parameter is a product of the square root of the reciprocal of the product of the specific vehicle body resultant acceleration F ₀ / m and the lateral component Y _e of the distance and the vehicle longitudinal component v _x0 of the speed. And the second parameter is defined as the square root of the reciprocal of the product of the specific vehicle body resultant acceleration F ₀ / m and the vehicle lateral component Y _e of the distance, and the vehicle lateral component v _y0 of the speed. Or the first parameter is the square of the specific vehicle body resultant acceleration F ₀ / m and the vehicle speed longitudinal component v _x0 or the vehicle speed lateral component v _y0 . Of the distance and the vehicle lateral component Y _e of the distance, and the second parameter is defined as the vehicle longitudinal component v _x0 of the speed and the vehicle lateral component v _y0 of the velocity. Claim 3 or claim as a ratio Vehicle motion control device of claim 4, wherein.   The said 1st parameter and the said 2nd parameter were changed so that the singular point of each map might become parallel to the vertical axis | shaft or horizontal axis of this map. Vehicle motion control device. The setting means sets the target position and the speed direction at the target position based on the position and size of the obstacle,
The vehicle motion control device according to claim 1, wherein the detection unit detects a relative speed of the host vehicle with respect to the obstacle.   8. The control unit according to claim 1, further comprising a control unit that controls at least one of a steering angle, a braking force, and a driving force based on the vehicle body resultant force derived by the deriving unit. 9. Vehicle motion control device.   The vehicle motion control device according to any one of claims 1 to 8, further comprising notification means for notifying a driver of a vehicle motion state based on the vehicle body resultant force derived by the derivation means. Computer
Setting means for setting a target position and a speed direction at the target position;
Capture means for capturing the current distance and the current speed detected by the detection means for detecting the distance between the host vehicle and the target position and the speed of the host vehicle;
Based on the captured information, the first parameter determined by the ratio of the longitudinal direction of the vehicle body component X _e and the vehicle body lateral component element Y _e the distance when the velocity direction is the longitudinal direction of the vehicle body, and the A computing means for computing a second parameter determined by a ratio of the vehicle longitudinal direction component v _x0 and the vehicle lateral direction component v _y0 of the speed of the _host vehicle;
The first introduction parameter ν ₁ introduced to obtain the first parameter, the second parameter, the target position, and the vehicle body resultant force at which the maximum value is minimum to become the speed direction at the target position. of the components X _e, wherein components Y _e, wherein component v _x0, and under the assumption that the two are specific value corresponding to the first parameter and the second parameter of the component v _y0 first map that defines the relationship of the value [nu _{1 ',} the first parameter, the vehicle body in which the second parameter, and a maximum value in order to become the speed direction at the target position and the target position is minimized A second map that defines a relationship of a value ν ₂ ′ under the assumption of a _second introduction parameter ν _{2 that} is different from the _first introduction parameter ν ₁ introduced to determine the composite force; 1 parameter, Serial second parameter, and the time t _e to reach the target position, from said storage means for storing the third map that defines the relationship time t _{e 'under} the assumption first map, the Reading means for reading the second map and the third map, and the calculated first parameter, the second parameter, the read first map, the second map, and the A vehicle motion control program for functioning as derivation means for deriving time series data of the vehicle body composite force using a third map. Computer
Setting means for setting a target position and a speed direction at the target position;
Capture means for capturing the current distance and the current speed detected by the detection means for detecting the distance between the host vehicle and the target position and the speed of the host vehicle;
Based on the captured information, the first parameter determined by the ratio of the longitudinal direction of the vehicle body component X _e and the vehicle body lateral component element Y _e the distance when the velocity direction is the longitudinal direction of the vehicle body, and the self A calculating means for calculating a second parameter determined by a ratio of a vehicle speed longitudinal component v _x0 and a vehicle horizontal component v _y0 of the vehicle speed;
2 according to the first parameter and the second parameter among the first parameter, the second parameter, the component X _e , the component Y _e , the component v _x0 , and the component v _y0. A first map defining a relationship between the target position under the assumption that one is a specific value, and the direction θ of the vehicle body composite acceleration at which the maximum value is minimum to become the speed direction at the target position; The target position under the first parameter, the second parameter, and the assumption, and the vehicle body composite acceleration F ₀ '/ m' at which the maximum value is minimum to become the speed direction at the target position. Read means for reading out the first map and the second map from the storage means storing the second map defining the relationship, and the calculated first parameter, the second parameter, and the read out Serial first map, and the vehicle motion control program for functioning as a deriving means for deriving the vehicle body resultant force at the current time using the second map. Computer
Setting means for setting a target position and a speed direction at the target position;
Capture means for capturing the current distance and the current speed detected by the detection means for detecting the distance between the host vehicle and the target position and the speed of the host vehicle;
Based on the captured information, the vehicle body lateral component Y _e of the distance when the specific vehicle composite acceleration F ₀ / m and the speed direction are the vehicle longitudinal direction, and the vehicle longitudinal component of the speed of the host vehicle v _x0 or the first parameter with the vehicle body lateral component v _y0, the determined by the ratio of the vehicle speed longitudinal and component v _x0 and vehicle lateral component v _y0 or specific body resultant acceleration, A second parameter is calculated using F ₀ / m, a vehicle body lateral component Y _e of the distance when the speed direction is the vehicle longitudinal direction, and a vehicle lateral component v _{y0 of the host} vehicle speed. Computing means,
The shortest distance of the vehicle longitudinal component corresponding to the vehicle lateral component Y _e of the distance when the first parameter, the second parameter, and the maximum value F ₀ of the specific vehicle composite force are set. Of the first introduction parameter ν ₁ introduced to determine X _s , the first parameter of the vehicle body composite acceleration F ₀ / m, the component Y _e , the component v _x0 , and the component v _y0 and the component v _y0 A first map defining the relationship of the value ν ₁ ′ under the assumption that two values corresponding to the second parameter are specific values, the first parameter, the second parameter, and the front and rear of the vehicle body A _second value that defines the relationship of the value ν ₂ ′ under the assumption of the _second introduction parameter ν ₂ different from the _first introduction parameter ν ₁ introduced to obtain the shortest distance X _s of the directional component. As well as the first map Defined parameters, the second parameter, and _'the time t _e under the _assumption' the shortest distance X _s and the time t _e to reach the position determined by the vehicle body lateral component element Y _e the distance relationships Reading means for reading out the first map, the second map, and the third map from the storage means storing the third map, and the calculated first parameter, the second parameter, Using the read first map, second map, and third map, the shortest distance X _s of the vehicle longitudinal component is obtained, and the obtained shortest distance X _s and the distance are calculated. until the difference between the longitudinal direction of the vehicle body component X _e is within the predetermined value, the repeated while changing the maximum value F ₀ for a particular vehicle body resultant force seeking the shortest distance X _s, wherein the distance between the shortest distance X _s Vehicle body longitudinal component based on the maximum value F ₀ of the particular body resultant force when the difference between the _e becomes within a predetermined value, the vehicle motion control program for functioning as a deriving means for deriving the time-series data of the vehicle body resultant force. Computer
Setting means for setting a target position and a speed direction at the target position;
Capture means for capturing the current distance and the current speed detected by the detection means for detecting the distance between the host vehicle and the target position and the speed of the host vehicle;
Based on the captured information, the vehicle body lateral component Y _e of the distance when the specific vehicle composite acceleration F ₀ / m and the speed direction are the vehicle longitudinal direction, and the vehicle longitudinal component of the speed of the host vehicle v _x0 or the first parameter with the vehicle body lateral component v _y0, the determined by the ratio of the vehicle speed longitudinal and component v _x0 and vehicle lateral component v _y0 or specific body resultant acceleration, A second parameter is calculated using F ₀ / m, a vehicle body lateral component Y _e of the distance when the speed direction is the vehicle longitudinal direction, and a vehicle lateral component v _{y0 of the host} vehicle speed. Computing means,
The vehicle body composite acceleration F ₀ / m, the component Y _e , the component v _x0 , and the specific parameter when the first parameter, the second parameter, and the maximum value F ₀ of the specific vehicle composite force are set. moving distance of the first parameter and the said longitudinal direction of the vehicle body second two corresponding to the parameter that corresponds to the component element Y _e under the assumption that the specific value is the shortest of the components v _y0 A first map that defines the relationship of the direction θ of the vehicle body composite acceleration, and the vehicle body longitudinal component corresponding to the component Y _e under the first parameter, the second parameter, and the assumption. Reading means for reading out the first map and the second map from the storage means storing the second map defining the relationship of the shortest distance X _s ′, the calculated first parameter, the second map Parame Data, read the first map, and obtains the shortest distance X _s of the longitudinal direction of the vehicle body components using the second map, the shortest distance X _s of the longitudinal direction of the vehicle body component obtained above The shortest distance X _s is repeatedly obtained while changing the maximum value F ₀ of the specific vehicle composite force until the difference between the distance and the component X _{e in the} longitudinal direction of the vehicle is within a predetermined value, and the shortest distance X _s The maximum value F ₀ of the specific vehicle composite force when the difference between the distance and the component X _{e in} the vehicle longitudinal direction is within a predetermined value, and the direction θ of the vehicle composite acceleration determined from the first map, A vehicle motion control program for functioning as a derivation means for deriving the vehicle body composite force at time.