JP5716335B2 - Vehicle motion control device - Google Patents

Description

  The present invention relates to a vehicle motion control device, and more particularly, to a vehicle motion control device that derives an optimal vehicle body resultant force for reaching a target position and a speed direction at the target position using a map having a simple configuration.

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

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

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

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

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

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

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

  However, in the techniques of Patent Documents 1 to 3 and 5, the avoidance trajectory and the vehicle body composite force are derived, but the trajectory and the vehicle body composite force that minimize the longitudinal movement distance with respect to the maximum value of the given vehicle body composite force. The derivation of the target position and the trajectory for minimizing the maximum value of the vehicle body combined force for reaching the speed direction at the target position and the vehicle body combined force is not described.

  Further, in the technique of Patent Document 4, when the avoidance trajectory and the vehicle body composite force are designated as the lateral movement distance and the maximum value of the vehicle body composite force, the avoidance trajectory that minimizes the avoidance distance is derived. In the technique of No. 6, it is described that a trajectory that minimizes the moving distance for causing the host vehicle to reach the target position is derived. The case where the ratio (aspect ratio) is other than 1 is not considered.

  In reality, the maximum value of the vehicle body synthesis force varies depending on the external environment and the structure and state of the vehicle, and therefore there is a problem that the maximum value is not necessarily a perfect circle.

  The present invention has been made in order to solve the above-described problem. When the maximum value of the vehicle body composite force is limited by an ellipse, the target position and the target position are determined using a map of a simple configuration created by the optimal control method. Track and body composite force that minimizes the avoidance distance to reach the speed direction at the target position, track and body composite force that minimizes the maximum value of the vehicle body composite force when the aspect ratio of the ellipse is given, or vehicle body To provide a vehicle motion control device capable of deriving a trajectory and a vehicle body composite force at which the maximum value of the vehicle body composite force becomes minimum when a value in the major axis direction or the minor axis direction of the maximum value of the composite force is given. With the goal.

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. Detecting means for detecting the speed of the vehicle, and when the maximum direction of the vehicle resultant force is limited by an ellipse having the longitudinal direction as the major axis direction or the minor axis direction with the speed direction as the longitudinal direction of the vehicle body, A maximum value of the vehicle body longitudinal component F ₁ / m, a ratio γ ₀ of the vehicle body longitudinal force component F ₁ and the vehicle lateral component F ₂ of the maximum vehicle composite force, and the distance of the vehicle lateral direction A first parameter including at most four of the component Y _e , the vehicle longitudinal direction component v _{x0 of} the speed of the host vehicle, and the vehicle body lateral direction component v _y0 of the speed, the component F ₁ / m, the ratio gamma _0, the component _{Y e,} before If set the different second parameters, the components F ₁ and the component F ₂ from said first parameters including four components at most of the components v _x0, and the component v _y0, the component Y _This is an introductory parameter that is introduced to obtain the vehicle body composite force that minimizes the movement distance in the vehicle longitudinal direction with respect to _e , the component F ₁ / m, the ratio γ ₀ , the component Y _e , and the component v _x0. , And the first introduction parameter μ ₁ obtained from the component v _y0 , the values of the component F ₁ / m, the ratio γ ₀ , the component Y _e , the component v _x0 , and the component v _y0 are F ₁ ′ / m ′, γ ₀ ′, Y _e ′, v _x0 ′, and v _y0 ′, and F ₁ ′ / m ′, the γ ₀ ′, the Y _e ′, the v _x0 ′, and the the first parameter and the second parameter of the v _y0 ' Three corresponding but the value mu _{1 'under} the assumption that a specific value, the first map defining a relationship, and - the first parameter, and the second parameter, the components F ₁ When the component F ₂ is set, a second different from the _first introduction parameter μ ₁ introduced to obtain the vehicle body composite force that minimizes the movement distance in the vehicle longitudinal direction with respect to the component Y _e . A second map defining the relationship between the introductory parameter μ ₂ and the value μ ₂ ′ under the assumption; and for the first parameter, the second parameter, and the component Y _e third movement distance in the longitudinal direction of the vehicle body is defined at time t _e to reach the position determined by the shortest distance X _s and the component Y _e having the shortest, and the time t _{e 'under} the assumption, the relationship Te Storage means for storing the map, and the current detected by the detection means The distance and the current of the velocity, and based on the components F ₁ and the component F ₂ set of the first parameter and calculating the second parameter, calculated first parameter was the second A time series of the vehicle body composite force at which the distance in the longitudinal direction of the vehicle body is the shortest distance X _s with respect to the component Y _e using the first parameter, the second map, and the third map Deriving means for deriving data.

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. And the vehicle body longitudinal direction of the maximum value of the vehicle body composite acceleration when the maximum value of the vehicle body composite force is limited by an ellipse having the vehicle body longitudinal direction as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction. Component F ₁ / m, the ratio γ ₀ between the vehicle front-rear direction component F ₁ and the vehicle body lateral component F ₂ of the maximum value of the vehicle body composite force, the vehicle body lateral component Y _e of the distance, A first parameter including at most four components of a vehicle speed longitudinal component v _x0 and a vehicle speed lateral component v _y0 of the speed, the component F ₁ / m, the ratio γ ₀ , the component Y _e, wherein component _{v x0,} and before A different second parameter from said first parameter with containing four components many of the components v _y0, the moving distance of the vehicle front-rear direction of the direction θ of the vehicle body resultant acceleration of the shortest to the components Y _e , The component F ₁ / m, the ratio γ ₀ , the component Y _e , the component v _x0 , and the component v _y0 are F ₁ ′ / m ′, γ ₀ ′, Y _e ′, v _x0. ', And v _y0 ', and among the F ₁ '/ m', the γ ₀ ', the Y _e ', the v _x0 ', and the v _y0 ' , the first parameter and the second parameter Storage means storing a map that defines a relationship between the direction θ ′ under the assumption that three values corresponding to the specific value are specific values, the current distance and the current speed detected by the detection means and based on the components F ₁ and the component F ₂ set, the first para Over data and calculates the second parameter, the first parameter is calculated, the second parameter, using the map, the distance in the longitudinal direction of the vehicle body is shortest distance X _s with respect to the components Y _e Derivation means for deriving the vehicle body composite force at the current time.

In the first and second aspects of the invention, the first parameter may be the square root of the product of the ratio γ ₀ , the reciprocal of the component F ₁ / m and the reciprocal of the component Y _e , and the component v _x0 . defined as a value including the product, the second parameter, as a value including the square root of the reciprocal of the product of the ratio gamma ₀ and the components _{1 /} m and the component Y _e, the product of the component v _y0 Or the first parameter is defined as a value including a ratio of the product of the ratio γ ₀ and the component v _x0 and the component v _y0, and the second parameter is defined as the ratio and the component It can be determined as a value including the ratio of the product of v _x0 or the square of the component v _y0 and the component F ₁ / m.

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. And a vehicle body having a maximum value of the vehicle body composite force when the maximum value of the vehicle body composite force is limited by an ellipse having the vehicle longitudinal direction as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction. A ratio γ _{0 of the} front-rear direction component F ₁ and the vehicle body lateral direction component F _2, and a ratio of the vehicle speed in the vehicle front-rear direction component v _x0 to the vehicle speed lateral component v _y0 of the own vehicle A second parameter determined by the product of the first parameter determined by the product, the ratio γ _0, and the ratio of the longitudinal component X _e and the lateral component Y _e of the distance And the speed direction at the target position and the target position. The maximum value of the vehicle body resultant force comprising the introduction parameter introduced in order to minimize the said ratio gamma _0, the component X _e, wherein components Y _e, first obtained from the component v _x0, and the component v _y0 Of the introduction parameter μ ₁ , the values of the ratio γ ₀ , the component X _e , the component Y _e , the component v _x0 ′, and the component v _y0 are γ ₀ ′, X _e ′, Y _e ′, v _x0 ′ and v _y0 ′, and the first parameter and the second parameter among the γ ₀ ′, the X _e ′, the Y _e ′, the v _x0 ′, and the v _y0 ′ A first map that defines the relationship between the value μ ₁ ′ under the assumption that the three corresponding values are specific values, the first parameter, the second parameter, the target position, and In order to minimize the maximum value of the vehicle body composite force in order to reach the speed direction at the target position A second map that defines a relationship between a _second introduction parameter μ _{2 that} is different from the _first introduction parameter μ ₁ introduced in step ₁ and a value μ ₂ ′ under the assumption; and Storage means for storing a parameter, a second map, and a third map defining a relationship between the time t _e arriving at the target position and the time t _e ′ under the assumption; Based on the current distance and current speed detected by the detection means, and the ratio γ ₀ , the first parameter and the second parameter are calculated, and the calculated first parameter, Derivation means for deriving time series data of the vehicle body composite force at which the maximum value of the vehicle body composite force is minimized using the second parameter, the first map, the second map, and the third map; It is comprised including.

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. And a vehicle body having a maximum value of the vehicle body composite force when the maximum value of the vehicle body composite force is limited by an ellipse having the vehicle longitudinal direction as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction. A ratio γ _{0 of the} front-rear direction component F ₁ and the vehicle body lateral direction component F _2, and a ratio of the vehicle speed in the vehicle front-rear direction component v _x0 to the vehicle speed lateral component v _y0 of the own vehicle A second parameter determined by the product of the first parameter determined by the product, the ratio γ _0, and the ratio of the longitudinal component X _e and the lateral component Y _e of the distance And the speed direction at the target position and the target position. Maximum value of the vehicle body resultant force of the direction θ of the vehicle body resultant acceleration as a minimum, the ratio gamma _0, the component X _e, wherein components Y _e, each value of the components v _x0, and the component v _y0 is gamma to _{0 ', X e', Y} e ', v x0', and _{v y0} 'in and the gamma _0', the _{X e} ', the _{Y e',} the _{v x0} ', and the _{v y0'} said of A first map defining a relationship with the direction θ ′ under the assumption that three values according to the first parameter and the second parameter are specific values; and the first parameter, The second parameter and the vehicle body composite acceleration F ₁ ′ / m under the above assumption of the target position and the vehicle body composite acceleration F ₁ / m at which the maximum value is minimum to become the speed direction at the target position. 'And a second map that defines the relationship between the storage means and the detection means, and the detection means Calculating the first parameter and the second parameter based on the current distance, the current speed, and the ratio γ ₀ , and calculating the calculated first parameter, second parameter, Deriving means for deriving the vehicle body composite force at the current time at which the maximum value of the vehicle body composite force is minimum using the map of 1 and the second map is configured.

According to a fifth 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. And when the maximum value of the combined force of the vehicle body is limited by an ellipse whose longitudinal direction is the major axis direction or the minor axis direction when the speed direction is the longitudinal direction of the vehicle body, A direction component F ₁ / m or a vehicle body lateral component F ₂ / m, a vehicle body longitudinal component X _{e of} the distance, a vehicle body lateral component Y _e of the distance, and a vehicle longitudinal component of the speed of the host vehicle a first parameter including at most four of v _x0 and a vehicle lateral component v _y0 of the speed, the component F ₁ / m or the component F ₂ / m, the component X _e , and the component Y _e, wherein component v _0, and the a different second parameter to the first parameter, the vehicle component in the longitudinal direction of the components F ₁ or the vehicle body lateral maximum value of the vehicle body resultant force including most four components of the component v _y0 An introduction parameter introduced to minimize the other of the component F ₁ or the component F _{2 in} order to be in the speed direction at the target position and the target position when one of F ₂ is set , wherein component _F 1 / m or the component _F 2 / m, the component _{X e,} wherein components _{Y e,} wherein component _{v x0,} first obtained from the component _{v y0} and introduction parameters mu _1, wherein component _F 1 / m or the value of each of the component F ₂ / m, the component X _e , the component Y _e , the component v _x0 , and the component v _y0 is F ₁ ′ / m ′ or F ₂ ′ / m ′, X _e ', Y _e ', v _x0 ', and v _y0 'In and _{F 1'} / m 'or _{F 2' / m ', X} e', Y e ', v x0', and _v according to the first parameter and the second parameter of _y0 ' The first map defining the relationship between the value μ ₁ ′ under the assumption that the three are specific values, the first parameter, the second parameter, and the component F ₁ or When one of the components F ₂ is set, the first position introduced to minimize the other of the component F ₁ or the component F ₂ so as to be in the speed direction at the target position and the target position. A second map defining a relationship between the second introduction parameter μ ₂ different from the introduction parameter μ ₁ and the value μ ₂ ′ under the assumption; and the first parameter and the second parameter parameters and, at time t _e to reach the target position at time t under the assumption And ', a storage unit a third map, storing that defines the relationship of the said distance and the current of the current speed of which is detected by the detection means, and set the components F ₁ or the component F ₂ 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 parameter. And derivation means for deriving time series data of the vehicle body composite force at which the other of the component F ₁ or the component F ₂ is minimized.

According to a sixth 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. And when the maximum value of the combined force of the vehicle body is limited by an ellipse whose longitudinal direction is the major axis direction or the minor axis direction when the speed direction is the longitudinal direction of the vehicle body, A direction component F ₁ / m or a vehicle body lateral component F ₂ / m, a vehicle body longitudinal component X _{e of} the distance, a vehicle body lateral component Y _e of the distance, and a vehicle longitudinal component of the speed of the host vehicle a first parameter including at most four of v _x0 and a vehicle lateral component v _y0 of the speed, the component F ₁ / m or the component F ₂ / m, the component X _e , and the component Y _e, wherein component v _0, and the a different second parameter to the first parameter, the vehicle component in the longitudinal direction of the components F ₁ or the vehicle body lateral maximum value of the vehicle body resultant force including most four components of the component v _y0 When one of F ₂ is set, the component in the direction θ of the vehicle body composite acceleration at which the other of the component F ₁ or the component F ₂ is minimized in order to be in the speed direction at the target position and the target position. F ₁ / m or the component F ₂ / m, the component X _e , the component Y _e , the component v _x0 , and the value of the component v _y0 are F ₁ ′ / m ′ or F ₂ ′ / m ′. , X _e ', Y _e ', v _x0 ', and v _y0 ', and F ₁ '/ m' or F ₂ '/ m', X _e ', Y _e ', v _x0 ', and v _y0 ' 3 of the first parameter and the second parameter are specific values. First map that defines the relationship between the direction theta 'under the assumption, as well as a-said first parameter, a second parameter, the components F ₁ and the ratio gamma ₀ and the component F ₂ A second map defining the relationship with the ratio γ ₀ ′ under the assumption, a storage means storing the current distance and current speed detected by the detection means, and set on the basis of the one of the components F ₁ or the component F ₂ was, the first parameter and calculating the second parameter, the first parameter is calculated, the second parameter, the first map, And derivation means for deriving the vehicle body composite force at the current time at which the other of the component F ₁ or the component F ₂ is minimized using the second map.

In the first and second aspects of the invention, the derivation means repeatedly obtains the shortest distance X _s while changing the settings of the component F ₁ and the component F _{2 with} the ratio γ ₀ as a constant value, and the shortest distance Based on the component F ₁ and the component F ₂ when the difference between the distance X _s and the component X _{e in} the vehicle longitudinal direction of the distance is within a predetermined value, the maximum value of the vehicle body combined force is minimized. A trajectory can be derived.

In the first and second aspects of the invention, the derivation means repeatedly obtains the shortest distance X _s while changing the ratio γ ₀ with _{one of the} component F _{1 and the} component F ₂ as a constant value, and the shortest distance Based on the ratio γ ₀ when the difference between the distance X _s and the longitudinal component X _e of the distance falls within a predetermined value, the other of the component F _{1 and the} component F ₂ is minimized. A trajectory can be derived.

In the third and fourth aspects of the invention, the derivation means repeatedly uses the ratio γ ₀ and changes the vehicle body composite force f while changing the component X _e with the components F ₁ and F ₂ as constant values. The distance in the longitudinal direction of the vehicle body is the shortest with respect to the component Y _e based on the component X _e when the difference between the vehicle body combined force f and the maximum value of the vehicle body combined force is within a predetermined value. The shortest avoidance trajectory can be derived.

In the third and fourth aspects of the invention, the derivation means may change the setting of the ratio γ ₀ while setting _{one of the} component F ₁ or the component F ₂ as a constant value, and the vehicle longitudinal direction component of the vehicle body composite force. f ₁ or the vehicle lateral component f ₂ is repeatedly obtained, and the difference between the component f ₁ and the component F ₁ or the difference between the component f ₂ and the component F ₂ falls within a predetermined value. Based on the ratio γ ₀ , an optimal trajectory that minimizes the other of the component F _{1 and the} component F ₂ can be derived.

In the fifth and sixth aspects of the invention, the derivation means uses the component F ₁ or the component F ₂ while changing the component X _e with the component F ₁ and the component F ₂ as constant values. The ratio γ _f between the longitudinal component and the lateral component of the composite force is repeatedly obtained, and the difference between the ratio γ _f and the ratio γ ₀ between the component F ₁ and the component F ₂ is within a predetermined value. Based on the component X _e at the time, the shortest avoidance trajectory having the shortest distance in the vehicle longitudinal direction with respect to the component Y _e can be derived.

Further, in the invention of the fifth and sixth, the derivation means, the ratio gamma ₀ of the components F ₁ and said component F ₂ changes the said one set of components F ₁ or the component F ₂ as a constant value However, the ratio γ _f between the vehicle longitudinal direction component and the vehicle lateral direction component of the vehicle body composite force is repeatedly obtained, and the component F when the difference between the ratio γ _f and the ratio γ ₀ is within a predetermined value. _{Based on 1} and the component F ₂ , it is possible to derive an optimal trajectory that minimizes the maximum value of the vehicle body resultant force.

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

  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.

As described above, according to the present invention, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the vehicle longitudinal component and the vehicle lateral component of the vehicle body composite force maximum value are obtained. Set the vehicle longitudinal direction component or the vehicle lateral component of the maximum vehicle composite force, or set the aspect ratio of the maximum vehicle composite force, and set the distance between the vehicle and the target position. Vehicle body longitudinal component X _e , vehicle body lateral component Y _e , vehicle body longitudinal component v _x0 of the speed of the _host vehicle, and parameters calculated from vehicle body lateral component v _y0 . Using the map, the trajectory and body combined force that minimizes the avoidance distance to reach the target position and the speed direction at the target position, the track and vehicle combined force that minimizes the maximum value of the vehicle combined force, or the vehicle combined force Maximum body of When one of the longitudinal component and the lateral component is given, the trajectory and the synthetic force that minimize the other of the longitudinal component or the lateral component of the maximum longitudinal force are derived. The effect that it can be obtained.

It is a figure which shows the outline of vehicle motion control. It is a figure for demonstrating the setting of xy coordinate. It is a figure for demonstrating the time change of the magnitude | size of a vehicle body synthetic | combination acceleration. 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 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 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 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 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. It is a diagram showing the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the other example of the map used with the vehicle motion control apparatus of 5th Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 6th Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 7th Embodiment. It is a diagram showing the map used with the vehicle motion control apparatus of 8th Embodiment. It is a flowchart which shows the vehicle motion control routine of 9th 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 The component is u _y (t), the x component of the magnitude of the vehicle body synthesis force is F _x (t), the y component of the magnitude of the vehicle body synthesis force is F _y (t), and the direction of the vehicle body synthesis force is θ ₀ (t ), And the weight of the host vehicle is m, the x component u _x (t) and the y component u _y (t) of the vehicle body combined acceleration are expressed by the following equations (1) and (2). Further, by integrating the expressions (1) and (2), as shown in the following expressions (3) and (4), the x component v _x (t) of the speed with respect to the road surface of the host vehicle and the y of the speed The component v _y (t) is obtained. Further, by integrating the expressions (3) and (4), as shown in the following expressions (5) and (6), the x component X (t) of the moving distance of the host vehicle for t seconds, and the moving distance Y component Y (t) is obtained. An avoidance trajectory is obtained by X (t) and Y (t).

  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 (X _e , Y _e ), and the speed of the host vehicle with respect to the road surface is v _x (0) = v _x0 , v _y (0) = v _y0 , If the time to reach the speed direction at the target position and the target position was t _e, by setting the x and y components of the maximum value of the vehicle body resultant force, the vertical travel distance is the shortest with respect to the lateral movement distance Y _e Such vehicle body synthesized accelerations u _x (t) and u _y (t) (equations (1) and (2)) are derived using a map with v _x0 , v _y0 , and Y _e as parameters.

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

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

Next, assuming that the magnitude F _max of the limit synthetic force and the μ utilization factor (γ ₁ , γ ₂ ) estimated from the size of the limit friction circle of each wheel are known, the lateral moving distance Y _e This is considered as an optimal control problem that minimizes the longitudinal movement distance. Note that the μ utilization rate is a physical index set as a ratio of the target resultant force applied to the vehicle body and the limit resultant force F _max , γ ₁ is the μ utilization rate in the vehicle longitudinal direction, and γ ₂ is the μ in the vehicle lateral direction. It is a utilization rate.

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

  When the evaluation function I is expressed by the following equation (8), the input condition regarding the termination condition expressed by the following equation (9) and the magnitude of the vehicle body composite force limited by the ellipse expressed by the following equation (10): This results in a control problem of finding a control input that minimizes the evaluation function I under conditions.

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

However, ν ₁ and ν ₂ are the first introduction parameter and the second introduction parameter introduced to obtain the optimum solution. Further, the equation (11) indicates that the magnitude of the vehicle body composite force varies depending on the value of θ (t), and the magnitude of the input | u (t) | is, for example, as shown in FIG. It becomes strange.

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

The t _e , ν ₁ , and ν ₂ required in the equation (11) are expressed as m, v _x0 , v _y0 , F ₁ , γ ₀ , and Y _e in the following nonlinear equations (13) to (15). Obtained by substituting and solving. Further, the shortest distance X _s when the vertical movement distance is the shortest with respect to the horizontal movement distance Y _e satisfies the relationship of the equation (16).

In order to find the solution of this equation, a reduced-dimensional map is derived. First, focusing on the equations (13) to (15) and considering two sets of parameters P and P ′ satisfying the relationship of the following equation (17) by introducing an arbitrary positive number a, P and P The solutions {μ ₁ , μ ₂ , t _e } and {μ ₁ ', μ ₂ ', t _e '} corresponding to' satisfy the relationship of the following equation (18).

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

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

Here, as an example, a map relating to v _x0 ′ and v _y0 ′ when γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1 is created. As shown in FIG. 4, the value of μ ₁ ′ obtained based on the equations (13) to (15) is mapped with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter. A first map, a _second map in which the value of μ ₂ ′ is mapped, and a third map in which the value of t _e ′ is mapped are created.

In order to obtain {μ ₁ , μ ₂ , t _e } using these maps, γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1, known m, v _x0 , v _y0 , Y _e, the gamma ₀ determined by the x components _{F 1} of the maximum value of the vehicle body resultant force which is determined by the magnitude _{F max} limit resultant force μ utilization factor gamma ₁ and, and μ utilization factor gamma ₁ and gamma ₂ (20) first parameter _v calculates the _x0 'and the second parameter _{v y0'} according to the equation, the output for the calculated parameters _{{μ 1 ', μ 2'} , t e '} to obtain from each map, (18) according to the equation and (19) _{{μ 1 ', μ 2'} , t e '} {μ 1, μ 2, t e} is converted into a time function of the input according to (11) and (12) , calculates the vertical movement distance _{X s} shortest according (16).

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

This result, (1) integration calculation of formulas - (6), the lateral distance between the vehicle and the target position of the current time, and the speed of the vehicle, the vertical movement distance is the shortest with respect to the horizontal moving distance Y _e A trajectory is derived.

In the above map, the case where the first parameter and the second parameter are determined as in Expression (20) has been described. However, an arbitrary positive number a is expressed by using the first expression of Expression (17). In the following equation (21), v _y0 ′ shown in the following equation (22) is a first parameter, and Y _e ′ is a second parameter. For example, γ ₀ ′ = F ₁ ′ / m ′ = As v _x0 ′ = 1, a map as shown in FIG. 5 can be created.

As another case of using another parameter, an arbitrary positive number a is changed to the value of v _y0 ′ shown in the following equation (24) in the following equation (23) using the second equation (17). A map as shown in FIG. 6 is created by setting 1 parameter and Y _e ′ as a second parameter and setting γ ₀ ′ = F ₁ ′ / m ′ = v _y0 ′ = 1 as described above. be able to.

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

Specifically, the method of taking the axes of the map shown in FIG. 4 is changed to the following equation (25), v _y0 ′ shown in equation (25) is the first parameter, and Y _e ″ is the second parameter. In the same manner as described above, a map as shown in FIG. 7 can be created with γ ₀ ′ = F ₁ ′ / m ′ = v _{× 0} ′ = ₁ .

  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 for storing the map while maintaining the accuracy of the map is compared with the map shown in FIG. It is easy to keep it small.

Further, when the second equation of the equation (22) is changed as the following equation (26), a is transformed as the following equation (27). Then, a map may be created using v _y0 ′ in Expression (22) and F ₁ ′ / m ′ in Expression (26) as the first and second parameters (FIG. 8).

Similarly, when the second expression of the expression (24) is changed to the following expression (28), a is transformed as the following expression (29). Then, a map may be created in which v _{x0 in} Expression (24) and F ₁ '/ m' in Expression (28) are the first and second parameters (FIGS. 9 and 10).

Furthermore, the method of taking the axis of the map with v _{y0 in the} equation (22) and F ₁ '/ m' in the equation (26) as the first and second parameters is changed to be as shown in the following equation (30): A map in which the singular point is moved so as to be parallel to the vertical axis or the horizontal axis using the first and second parameters may be used (FIG. 11).

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

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

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

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

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

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

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

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

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

  The control device 20 is connected to a map storage device 28 that stores a map for obtaining a control input. The case where the map shown in FIG. 4 is used as the map of the first embodiment will be described. Note that any of the maps shown in FIGS. 5 to 7 shown as other examples 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.

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

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

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

  Next, in step 104, a 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 lateral movement distance Y _e , which is the y component of the distance between the host vehicle and the obstacle, and the speed x component v _x0 and the y component v _y0 are calculated.

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

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

Specifically, μ ₁ ′ is obtained based on the first map, the first parameter v _x0 ′, and the second parameter v _y0 ′, and the second map, the first parameter v _x0 ′, and to obtain 'mu ₂ based on the' second parameter _{v y0,} third map, obtaining a _{t e} 'on the basis of the first parameter _{v x0',} and the second parameter _{v y0} '. _{Then, {μ 1 ', μ 2} ', t e '} {μ 1, μ 2, t e} according to (18) and (19) was converted to the following equation (11) and (12) The shortest distance X _s is calculated from the input time function according to the equation (16). Then, (1) according to Expression (6), the shortest trajectory that the longitudinal moving distance with respect to the lateral moving distance Y _e is the shortest distance X _s is derived.

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

As described above, according to the vehicle motion control apparatus of the first embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force and The target position and the target position are set using a map of a simple configuration using the parameters calculated from the lateral movement distance Y _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 by setting the y component The time-series data of the trajectory and the vehicle body combined force with the shortest avoidance distance in order to reach the speed direction at can be obtained.

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

Moreover, although the case where the speed with respect to the road surface of the own vehicle was used was demonstrated in 1st Embodiment, you may use the relative speed with respect to the target position of the own vehicle. At this time, since the termination condition of equation (9) is also a relative speed, the y component of the termination speed is 0 with respect to the relative speed.
In the first embodiment, when an obstacle or the like is detected, both the shortest trajectory that avoids the left side of the obstacle and the shortest trajectory that avoids the right side of the obstacle are obtained, and the respective avoidance distances are determined. In comparison, the shortest path having a smaller avoidance distance may be selected.

Next, a second embodiment will be described. In the first embodiment, the description has been given of the case of deriving the time-series data of the shortest trajectory and the vehicle body resultant force which the vertical travel distance with respect to the lateral moving distance Y _e shortest by using the map, the second embodiment Then, the case where the magnitude | size and direction of the vehicle body synthetic | combination force in the present | current time are derived | led-out using the map different from 1st Embodiment is demonstrated. In addition, about the vehicle motion control apparatus of 2nd Embodiment, about the same structure and process as the vehicle motion control apparatus of 1st Embodiment, description is abbreviate | omitted using the same code | symbol.

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

First, as in the first embodiment, the expression (20) is expanded. Then, as an example, a map relating to v _x0 ′ and v _y0 ′ when γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1 is created. As shown in FIG. 14, with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter, the vehicle body composite acceleration direction θ ′ obtained based on the above equations (13) to (15) Create a map with mapped values.

In order to obtain {θ ′} using this map, γ ₀ ′ = F ₁ ′ / m ′ = Y _e = 1 = 1, known m, v _x0 , _{vy 0} , Y _e , The first parameter v _x0 ′ and the second parameter v _y0 ′ are calculated from the maximum value x component F ₁ and y component F ₂ according to the equation (20), and the output {θ ′} for the calculated parameter is mapped obtained from the following equation (31), the horizontal moving distance element Y _e current vehicle resultant force of time the longitudinal moving distance to the shortest with respect to the size and orientation are obtained.

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

In addition to the map of θ ′, a map for obtaining X _s ′ when γ ₀ ′ = F ₁ ′ / m ′ = Y _e ′ = 1 is created as in the map within the broken line in FIG. You may keep it. X _s ′ obtained from this map is converted into the shortest distance X _s by the following equation (32), and using a known technique (for example, Japanese Patent Application Laid-Open No. 2007-283910), avoiding only straight braking or lateral movement May be selected.

In the above map, the case where the first parameter and the second parameter are defined as in Expression (20) has been described, but v _{y0 expressed in} Expression (22) is the same as in the first embodiment. A map may be created when 'is the first parameter and Y _e ' is the second parameter, and γ ₀ '= F ₁ ' / m '= v _x0 ' = 1 (FIG. 15). In this case, similarly to the above X _{s 'in} the case of using also map seeking is, X _s obtained from the map by the following expression _(33)' can be converted into X _s.

Similarly, a map in the case where v _x0 ′ shown in the equation (24) is the first parameter and Y _e ′ is the second parameter and γ ₀ ′ = F ₁ ′ / m ′ = v _y0 ′ = 1 is set. May be created (FIG. 16). In this case, similarly to the above X _{s 'in} the case of using also map seeking is, X _s obtained from the map by the following equation _(34)' can be converted into X _s.

Similarly, v _y0 ′ shown in equation (22) is the first parameter, and F ₁ ′ / m ′ shown in equation (26) is the second parameter, and γ ₀ ′ = v _x0 ′ = Y _e ′. A map may be created when = 1 (FIG. 17). In this case, X _s in the same manner as described above _'in the case of using also map seeking is, X _s obtained from the map by _(32)' can be converted into X _s.

Similarly, v _x0 ′ shown in equation (24) is the first parameter, and F ₁ ′ / m ′ shown in equation (28) is the second parameter, and γ ₀ ′ = v _y0 ′ = 1, Y A map in the case of _e ′ = ± 1 may be created (FIGS. 18 and 19).

  Also, the map axis was changed so that the singularity line was parallel to the vertical or horizontal axis, using the same method as the method of changing the map axis in the first embodiment. A map may be created (FIGS. 20 and 21).

  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. 14 is used will be described.

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

Next, at step 200, the map stored in the map storage device 28 is read out, and the maximum value of the vehicle body composite force set at step 110, the first parameter v _x0 ′ calculated at step 112 and the first parameter v _x0 ′ are calculated. Using the second parameter v _y0 ′ as input, the vehicle body resultant force at the current time for the vertical movement distance to be the shortest distance X _s with respect to the lateral movement distance Y _e is derived.

Specifically, the direction θ ′ of the vehicle body composite acceleration is obtained on the basis of the map of θ ′, the first parameter v _x0 ′, and the second parameter v _y0 ′, and the lateral movement distance Y _{e according} to equation (31). The vehicle body composite force at the current time when the vertical movement distance is the shortest distance is derived.

As described above, according to the vehicle motion control apparatus of the second embodiment, when the maximum value of the vehicle body composite force is limited by an ellipse having an aspect ratio γ ₀ , the x component of the maximum value of the vehicle body composite force and The target position and the target position are set using a map of a simple configuration using the parameters calculated from the lateral movement distance Y _e , the x component v _x0 of the speed of the host vehicle, and the y component v _y0 by setting the y component The vehicle body resultant force at the current time when the avoidance distance is the shortest in order to reach the speed direction at can be derived. Further, since the number of maps to be used is small compared to the case of deriving the time series data of the vehicle body synthesis force, the capacity for storing the maps can be reduced.

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

Next, a third embodiment will be described. In the first embodiment, the vertical movement distance with respect to the horizontal moving distance Y _e by using a map for deriving the vehicle body resultant force which the shortest distance, a case of deriving the time-series data of the vehicle body resultant force Description However, in the third embodiment, when the aspect ratio of the maximum value of the vehicle body composite force is given using a map different from the map of the first embodiment, the maximum value of the vehicle body composite force is The case of deriving the optimum optimum track and the vehicle body composite force will be described. In addition, about the vehicle motion control apparatus of 3rd Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st or 2nd embodiment, description is abbreviate | omitted using the same code | symbol.

Here, the map used in the third embodiment will be described. Optimal control for minimizing the maximum value of the vehicle body composite force can be formulated by equations (7) to (10), as in the first embodiment, and the control input is derived as equation (11). . This control input is obtained by obtaining F ₁ such that the minimized I is equal to the x component X _e of a known distance. As a result, when the aspect ratio of the maximum value of the vehicle body composite force is given, the vehicle body It shows that the optimal trajectory with the minimum combined force is derived. Therefore, by introducing the relationship of x ₁ (t _e ) = X _e , μ required in the equations (11) to (16) from the nonlinear equations (13) to (16) converted from X _{s to} X _{e 1, μ 2, t e} is obtained. Here, the magnitude F _max of the limit composite force, the x component X _e of the distance between the host vehicle and the target position, the y component Y _e , and the aspect ratio γ ₀ (γ ₂ / γ ₁ ) of the maximum value of the vehicle body composite force. as is known, (13) satisfying the formula - (16) _{F 1,} mu _1, by obtaining the μ _{2, t e, γ 1} and gamma ₂ are obtained. This means that γ ₁ F _max and γ ₂ F _max are obtained such that the minimized I and X _e are equal. As a result, the vertical and horizontal directions of the maximum value of the vehicle body composite force given in advance are obtained. For the ratio γ ₀ , an optimum trajectory is obtained in which the maximum value of the vehicle body resultant force is minimized. Therefore, by substituting m, v _x0 , v _y0 , X _e , Y _e , and γ ₀ into the equations (13) to (16) converted from X _{s to} X _e , F ₁ , μ _1, consider the determination of the μ _{2, t e.} Even in this control problem, since the maximum value of the vehicle body composite force is limited by an ellipse, the magnitude | u (t) | of the vehicle body composite acceleration becomes time-varying.

  First, the equation (13) is transformed into the following equation (36).

  Substituting the equation (36) into the equations (14) to (16), the following equations (37) to (39) are obtained.

Here, when an arbitrary positive number a is introduced and two sets of parameters P and P ′ satisfying the relationship of the following expression (40) are considered, solutions {μ ₁ , μ ₂ , t corresponding to P and P ′ are considered. _e } and {μ ₁ ′, μ ₂ ′, t _e ′} satisfy the relationship of the following equation (41).

If a is set as the following formula (42) from the last formula of the formula (40), v _y0 ′ and Y _e ′ can be transformed as the following formula (43) from the formula (40).

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

As shown in FIG. 23, the map is created using the same method as in the first embodiment. For example, v _x0 ′ and v _y0 ′ when γ ₀ ′ = v _x0 ′ = X _e ′ = 1 are set. Create a map about.

Then, {μ ₁ ′, μ ₂ ′, t _e ′} is obtained from these maps, converted into {μ ₁ , μ ₂ , t _e } by the equations (41) and (42), and (11 ) And (12) are substituted to obtain an input time function. Also, using F ₁ obtained by substituting into the equation (36) and known F _max and γ ₀ , γ ₁ and γ ₂ that minimize the maximum value of the vehicle body composite force are obtained.

In the above map, the case where the first parameter and the second parameter are determined as shown in the equation (43) has been described. However, an arbitrary positive number a is changed from the second equation of the equation (40) to the following (44 ), In the following equation (45), v _y0 ′ is a first parameter, and X _e ′ is a second parameter. For example, γ ₀ ′ = v _x0 ′ = Y _e ′ = 1 A map as shown in FIG. 24 may be created.

  Also, the first parameter and the second parameter may be calculated by changing the expression expansion method. Specifically, first, the equation (14) is transformed into the following equation (46).

  Substituting equation (46) into equations (13), (14) and (16), the following equations (47) to (49) are obtained.

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 (50) are considered, solutions {μ ₁ , μ ₂ , t _e } and {μ ₁ ′, μ ₂ ′, t _e ′} satisfy the relationship of the following equation (51).

From the last equation of equation (50), if a ₁ is placed as in equation (52) below, v _y0 ′ and Y _e ′ can be modified as in equation (53) below from equation (50).

In this equation (53), v _x0 ′ is the first parameter, and Y _e ′ is the second parameter. For example, γ ₀ ′ = v _y0 ′ = X _e = 1 = 1, as shown in FIG. You may create a map.

Further, an arbitrary positive number a ₁ is changed from the second expression of the expression (50) to the following expression (54), v _x0 ′ shown in the following expression (55) is the first parameter, and X _e ′ is the second expression. For example, a map as shown in FIGS. 26 and 27 may be created by setting γ ₀ ′ = v _y0 ′ = 1 and Y _e ′ = ± 1.

  Further, the map axes shown in FIGS. 23 to 27 are arranged so that the singular point line is parallel to the vertical axis or the horizontal axis by the same method as the method of changing the map axis in the first embodiment. You may create a map with a different way of taking.

  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 or 2nd embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, a case where the map shown in FIG. 23 is used will be described.

In step 100 to step 112, the same processing as in the first embodiment is performed to obtain the first parameter v _y0 ′ and the second parameter Y _e ′. In step 300 instead of step 108, the longitudinal component X _e of the distance between the _host vehicle and the target position is calculated together with Y _e , v _x0 and v _y0 .

Next, in step 400, the aspect ratio γ ₀ of the maximum value of the vehicle body composite force is set based on the external environment and the structure and state of the host vehicle.

Next, in step 304, the first to third maps stored in the map storage device 28 are read, and the first parameter v _y0 ′ and the second parameter Y _e ′ are input, and the vehicle body combined force is maximized. The time series data of the vehicle body composite force with the minimum value is derived.

  Next, at step 306, it is determined whether or not the maximum value of the vehicle body resultant force derived at step 304 is less than or equal to the limit value of the tire generating 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 308. In addition, the limit value of the tire generation force is not only the true limit value of the vehicle body composite force determined based on the friction coefficient between the road surface and the tire, but also the limit value set with a margin for the true limit value It also includes the meaning.

  In step 308, 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 braking force control are performed so that the estimated collision damage is minimized. The 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 third embodiment, the maximum value of the vehicle body composite force is limited by the ellipse having the aspect ratio γ ₀ , and the γ ₀ is determined by the external environment and the structure of the host vehicle. In the case of setting from the state, parameters calculated by the x component X _e , y component Y _e of the distance between the host vehicle and the target position, the x component v _{x0 of the host} vehicle speed, and the y component v _y0 are used. By using a map having a simple configuration, it is possible to derive the optimum track and the vehicle body composite force at which the maximum value of the vehicle body composite force is minimized.

As in the first embodiment, the formula may be developed by substituting F ₁ = F ₂ / γ ₀ into formulas (13) to (16). In this case, since the same formula as the formulas (37) to (39) or the formulas (47) to (49) is derived, the map shown in this embodiment can be applied as it is.
Further, in the third 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 combined 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 fourth embodiment will be described. In the third embodiment, the case where the optimal trajectory for minimizing the maximum value of the vehicle body composite force and the time series data of the vehicle body composite force is derived using a map has been described. In the fourth embodiment, A case where the magnitude and direction of the vehicle body composite force at the current time at which the maximum value of the vehicle body composite force is minimized will be described using a map different from the third embodiment. In addition, about the vehicle motion control apparatus of 4th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-3rd embodiment, description is abbreviate | omitted using the same code | symbol.

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

First, as in the third embodiment, the expression (43) is expanded. Then, as an example, a map relating to v _y0 ′ and Y _e ′ when v _x0 ′ = X _e ′ = 1 is created. As shown in FIG. 29, with v _y0 ′ as the first parameter and Y _e ′ as the second parameter, the direction θ ′ of the vehicle body resultant force obtained based on the above equations (36) to (39) A first map in which values are mapped and a second map in which values of F ₁ '/ m' are mapped are created.

In order to obtain {θ, F ₁ / m} using these maps, v _x0 ′ = X _e = 1, known γ ₀ , m, v _x0 , v _y0 , X _e , and Y _e To calculate the first parameter v _y0 ′ and the second parameter Y _e ′ according to the equation (43), and obtain the output {θ ′, F ₁ ′ / m ′} for the calculated parameter from each map, ( 36) below, calculates the _{F 1} in accordance with the following (56) below obtained from equation (41), and (42) below the relationship. Then, by applying equation (31), the vehicle body composite acceleration at the current time can be obtained.

  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 in Expression (43) has been described, but v _y0 ′ shown in Expression (45) is changed to the first parameter and X _e ′. _{May be a} second parameter, and a map may be created when γ ₀ ′ = v _x0 ′ = Y _e ′ = 1 (FIG. 30). In this case, computing the _{F 1} in accordance with the following (57) below. Similarly, a map is created when v _x0 ′ shown in Equation (53) is the first parameter and Y _e ′ is the second parameter, and γ ₀ ′ = v _y0 ′ = X _e ′ = 1. (FIG. 31). In this case, computing the _{F 1} in accordance with the following (58) below. Similarly, a map in the case where v _x0 ′ shown in the equation (53) is the first parameter and X _e ′ is the second parameter, and γ ₀ ′ = v _y0 ′ = 1 and Y _e ′ = ± 1 is set. May be created (FIGS. 32 and 33). In this case, computing the _{F 1} in accordance with the following (59) below.

  In addition, the map axes shown in FIGS. 29 to 33 are arranged so that the singular point line is parallel to the vertical axis or the horizontal axis by the same method as the method of changing the map axis in the first embodiment. You may create a map with a different way of taking.

  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 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted. Here, a case where the map shown in FIG. 29 is used will be described.

In step 100 to step 112, the same processing as in the first to third embodiments is performed to obtain the first parameter v _y0 ′ and the second parameter Y _e ′.

Next, in step 400, the first and second maps stored in the map storage device 28 are read out, and the first parameter v _y0 ′ and the second parameter Y _e ′ are input to _obtain the maximum vehicle composite force. The vehicle body composite force at the current time, which is the optimum trajectory for which the value is minimized, is derived.

  Next, in step 402, 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 it is equal to or less than the limit value, the process proceeds to step 116, and if it exceeds the limit value, the process proceeds to step 308.

As described above, according to the vehicle motion control apparatus of the fourth embodiment, the maximum value of the vehicle body composite force is limited by the ellipse having the aspect ratio γ ₀ , and γ ₀ is the structure of the external environment and the own vehicle. When set from the state, 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 the vehicle body lateral direction A vehicle body composite force that minimizes the maximum value of the vehicle body composite force can be derived using a map having a simple configuration using parameters calculated by the component v _y0 of the vehicle. Further, since the number of maps to be used is small compared to the case of deriving the time series data of the vehicle body synthesis force, the capacity for storing the maps can be reduced.

Similar to the third embodiment, F ₁ = F ₂ / γ ₀ is substituted into Expressions (13) to (16) to expand the expression, and the map shown in the present embodiment May be applied.

  Next, a fifth embodiment will be described. In the third embodiment, a case has been described in which a map is used to derive an optimal trajectory that minimizes the maximum value of the vehicle body composite force when the aspect ratio of the maximum value of the vehicle body composite force is given. In the fifth embodiment, when the x component of the maximum value of the vehicle body composite force is given using a map different from that of the third embodiment, the y component of the maximum value of the vehicle body composite force is minimized. Will be described. In addition, about the vehicle motion control apparatus of 5th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-4th embodiment, description is abbreviate | omitted using the same code | symbol.

Here, a map used in the fifth embodiment will be described. Optimal control for minimizing the y component of the maximum value of the vehicle body composite force can be formulated by equations (7) to (10), as in the fourth embodiment, and its control input is given by equation (11) Derived. Here, it is assumed that the magnitude F _max of the limit composite force, the x component X _e of the distance between the host vehicle and the target position, the y component Y _e , and the x component F ₁ of the maximum value of the vehicle body composite force are known. _s → _{X e} was converted into (13) to (16) satisfies the equation γ _0, μ _1, γ ₂ is obtained by calculating the μ _{2, t e.}

  First, the equation (14) is transformed into the following equation (60).

  Substituting the equation (60) into the equations (13), (15) and (16), the following equations (61) to (63) are obtained.

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 (64) are considered, solutions {μ ₁ , μ ₂ , t _e } and {μ ₁ ′, μ ₂ ′, t _e ′} satisfy the relationship of the following equation (65).

From the last equation of equation (64), if a ₁ is placed as in equation (66) below, v _x0 ′ and v _y0 ′ can be modified as in equation (67) below from equation (64).

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

As shown in FIG. 35, the map is created using the same method as in the first embodiment, for example, v _x0 ′ when F ₁ ′ / m ′ = X _e ′ = Y _e ′ = 1 and Create a map for v _y0 '.

Then, {μ ₁ ′, μ ₂ ′, t _e ′} is obtained from these maps, converted into {μ ₁ , μ ₂ , t _e } by the equations (65) and (66), and (60 ) ₀ is obtained from the formula. Then, the time function of the input is obtained by substituting into the equations (11) and (12).

In the above map, the case where the first parameter and the second parameter are defined as in Expression (67) has been described, but the second expression of Expression (67) is solved for Y _e ′. For example, a map with F ₁ '/ m' = X _e '= v _y0 ' = 1 may be created (FIG. 36).

Further, an arbitrary positive number a ₁ is changed from the first expression of the expression (64) to the following expression (68), the v _y0 ′ shown in the expression (69) below is the first parameter, and the X _e ′ is the second expression. For example, a map with F ₁ '/ m' = v _x0 '= Y _e ' = 1 may be created (FIG. 37).

Further, as the following equation (70), the first parameter of the equation (69) solved for Y _e ′ is set as the first parameter. For example, F ₁ ′ / m ′ = v _x0 ′ = v _y0 ′ A map with = 1 may be created (FIG. 38).

Further, an arbitrary positive number a ₁ is changed from the second expression of the expression (64) to the following expression (71), v _x0 ′ shown in the following expression (72) is the first parameter, and X _e ′ is the second expression: For example, a map with F ₁ '/ m' = v _y0 '= 1 and Y _e ' = ± 1 may be created (FIGS. 39 and 40).

Further, as expressed by the following formula (73), the first parameter obtained by solving the second formula of the formula (72) with respect to F ₁ '/ m' is set as the first parameter, and the F ₁ '/ m' is expressed by the formula (72). For example, a map in which v _y0 ′ = X _e ′ = 1 and Y _e ′ = ± 1 may be created using the value assigned to the first equation as the second parameter (FIGS. 41 and 42).
In this way, changing the way of taking an arbitrary positive number a ₁ introduced, or focusing on each of F ₁ '/ m', v _y0 ', v _x0 ', X _e ', and Y _e ' The first parameter and the second parameter can be obtained by deformation. Depending on the obtained first parameter and second parameter, arbitrary values can be set as necessary values among F ₁ '/ m', v _y0 ', v _x0 ', X _e ', and Y _e '. Set to create a map. Other examples of the first parameter and the second parameter when the method of taking an arbitrary positive number a ₁ or the value of interest are changed are shown in the following equations (74) to (78).

  In addition, by changing the map axis in the first embodiment, the map axis is changed so that the singular point line is parallel to the vertical or horizontal axis. You may create a map. Other examples of the first parameter and the second parameter when the way of taking the shaft is changed are shown in the following equations (79) to (86).

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the fifth embodiment is substantially the same as the vehicle motion control routine in the third embodiment shown in FIG. The difference is that the front-rear direction component F ₁ of the vehicle body composite force is set in advance and the aspect ratio γ ₀ of the vehicle body composite force is obtained in step 402 before.
In the fifth embodiment, when an obstacle or the like is detected, a trajectory that avoids the left side of the obstacle and a right side of the obstacle with respect to the front-rear direction component F _{1 of} the set vehicle body synthetic force It is also possible to obtain both the trajectories to avoid and compare the respective γ ₀ and select the trajectory with the smaller γ ₀ .

  Next, a sixth embodiment will be described. In the fifth embodiment, the case has been described in which the map is used to derive the optimal trajectory that minimizes the y component of the maximum value of the vehicle body resultant force and the time series data of the vehicle body resultant force. The sixth embodiment Now, a case where the magnitude and direction of the vehicle body composite force at the current time at which the y component of the maximum value of the vehicle body composite force is minimized will be described using a map different from that of the fifth embodiment. In addition, about the vehicle motion control apparatus of 6th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-5th Embodiment, description is abbreviate | omitted using the same code | symbol.

First, as in the fifth embodiment, the expression (67) is expanded. Then, as an example, a map for v _x0 ′ and v _y0 ′ when F ₁ ′ / m ′ = X _e ′ = Y _e ′ = 1 is created. As shown in FIG. 43, the vehicle synthetic force direction θ ′ obtained based on the above equations (60) to (63) with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter. A first map mapping the values and a second map mapping the values of γ ₀ ′ can be created.

Then, the magnitude of the y component of the vehicle synthetic acceleration obtained by the following (87) below, by applying the equation (31), _m of the current _{time, v x0, v y0, X} e, Y e and _{F 1} On the other hand, when reaching the target position and the speed direction at the target position, the magnitude and direction of the vehicle body composite force at the current time that minimizes the y component of the maximum value of the vehicle body composite force can be obtained.

Similarly to the fifth embodiment, as shown in the equations (68) to (78), the method of taking an arbitrary positive number a ₁ may be changed, or F ₁ ′ / m ′, v _y0. The first parameter and the second parameter can be obtained by transforming the expression by focusing on each of ', v _x0 ', X _e ', and Y _e '. Depending on the obtained first parameter and second parameter, arbitrary values can be set as necessary values among F ₁ '/ m', v _y0 ', v _x0 ', X _e ', and Y _e '. You can set it up and create a map. Further, by the same method as the method of changing the map axis in the first embodiment, the singular point line is parallel to the vertical axis or the horizontal axis (79) to (86). You may create the map which changed how to take the axis | shaft of each map as shown by a type | formula.

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the sixth embodiment is substantially the same as the vehicle motion control routine in the fourth embodiment shown in FIG. The difference is that the component F ₁ in the vehicle longitudinal direction of the maximum value of the vehicle body composite force is set, and the magnitude of the y component of the vehicle body composite acceleration is obtained in step 400.

  Next, a seventh embodiment will be described. In the fifth embodiment, the case where the y component of the maximum value of the vehicle body resultant force is minimized when the map is used to give the x component of the maximum value of the vehicle body composite force has been described. In the embodiment, a case where the x component of the maximum value of the vehicle body composite force is minimized when the y component of the maximum value of the vehicle body composite force is given will be described. In addition, about the vehicle motion control apparatus of 7th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-6th Embodiment, description is abbreviate | omitted using the same code | symbol.

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

First, the relationship of F ₁ = F ₂ / γ ₀ is established for the maximum value x component F ₁ of the vehicle body composite force from the equation (12). Contrary to the fifth embodiment, the maximum value x component F ₁ of the vehicle body composite force that minimizes the vehicle body composite acceleration and the optimal trajectory are obtained using the x component F ₁ of the maximum value of the vehicle body composite force as an unknown parameter. I want to ask. Therefore, the following formulas (88) to (91) are obtained by applying the relationship of F ₁ = F ₂ / γ _{0 to} the formulas (13) to (16) converted from X _{s to} X _e .

  First, the equation (88) is transformed into the following equation (92).

  Substituting the equation (92) into the equations (89) to (91), the following equations (93) to (95) are obtained.

Here, when an arbitrary positive number a is introduced and two sets of parameters P and P ′ satisfying the relationship of the following expression (96) are considered, solutions {μ ₁ , μ ₂ , t corresponding to P and P ′ are considered. _e } and {μ ₁ ′, μ ₂ ′, t _e ′} satisfy the relationship of the following equation (97).

From the last equation of equation (96), if a is set as in the following equation (98), v _x0 ′ and v _y0 ′ can be modified as in the following equation (99) from equation (96).

From this relationship, by setting arbitrary positive numbers to F ₂ ′ / m ′, X _e ′, and Y _e ′, v _x0 ′ and v _y0 ′ are obtained by the parameter P of the current time. Therefore, when F ₂ '/ m', X _e 'and Y _e ' are set to certain values, a map is prepared in advance with v _x0 'as the first parameter and v _y0 ' as the second parameter. Just keep it. The values of F ₂ '/ m', X _e 'and Y _e ' can be freely set by the designer when creating the map.

The map is created in the same manner as in the first embodiment. As shown in FIG. 44, for example, v _x0 ′ when F ₂ ′ / m ′ = X _e ′ = Y _e ′ = 1 and Create a map for v _y0 '.

Then, {μ ₁ ′, μ ₂ ′, t _e ′} is obtained from these maps, converted into {μ ₁ , μ ₂ , t _e } by the equations (97) and (98), and (92 ) ₀ is obtained from the formula. Then, the time function of the input can be obtained by applying to the relations (11), (12), and F ₁ = F ₂ / γ ₀ .

In the above map, the case where the first parameter and the second parameter are defined as in the equation (99) has been described. However, the method of taking an arbitrary positive number a introduced may be changed, or F ₂ ′ / The first parameter and the second parameter can be obtained by transforming the expression by paying attention to each of m ′, v _y0 ′, v _x0 ′, X _e ′, and Y _e ′. Depending on the first parameter and the second parameter obtained, arbitrary values can be set as necessary values among F ₂ '/ m', v _y0 ', v _x0 ', X _e ', and Y _e '. Set to create a map. Other examples of the first parameter and the second parameter when the method of taking an arbitrary positive number a or the value of interest are changed are shown in the following equations (100) to (107).

  In addition, by changing the map axis in the first embodiment, the map axis is changed so that the singular point line is parallel to the vertical or horizontal axis. You may create a map. Other examples of the first parameter and the second parameter when the way of taking the shaft is changed are shown in the following equations (108) to (115).

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the seventh embodiment is substantially the same as the vehicle motion control routine in the fourth embodiment shown in FIG. The difference is that the vehicle body lateral component F ₂ of the maximum value of the vehicle body composite force is set, and in step 304 the vehicle front-rear direction component F ₁ of the vehicle body composite force is calculated.

  Next, an eighth embodiment will be described. In the seventh embodiment, the case has been described in which time series data of the vehicle body composite force that minimizes the x component of the maximum value of the vehicle body composite force is derived using the map, but in the eighth embodiment, The case of deriving the magnitude and direction of the vehicle body composite force at the current time that minimizes the x component of the maximum value of the vehicle body composite force using a map different from the seventh embodiment will be described. In addition, about the vehicle motion control apparatus of 8th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-7th Embodiment, description is abbreviate | omitted using the same code | symbol.

First, as in the seventh embodiment, the expression (99) is expanded. Then, as an example, to create a map for the _{F 2 '/ m' = X} e v x0 in the case of a '= _{Y e'} = 1 'and _{v y0'.} As shown in FIG. 45, with v _x0 ′ as the first parameter and v _y0 ′ as the second parameter, the direction θ ′ of the vehicle body resultant acceleration obtained based on the above equations (92) to (95) A first map mapping the values and a second map mapping the values of γ ₀ ′ can be created.

Then, the size of the x component of the vehicle body synthesis acceleration obtained by the following (116) below, by applying the equation (31), _m of the current _{time, v x0, v y0, X} e, Y e and _{F 2} On the other hand, when reaching the target position and the speed direction at the target position, the magnitude and direction of the vehicle body composite force at the current time that minimizes the x component of the maximum value of the vehicle body composite force can be obtained.

Similarly to the seventh embodiment, as shown by the equations (100) to (107), F ₂ ′ / m ′, v _y0 ′, v _x0 ′, X _e ′, and Y _e ′ The equations are modified by paying attention to the first and second parameters, and F ₁ ′ / m ′, v _y0 ′, and the second parameter are obtained according to the obtained first and second parameters, respectively. A map can be created by setting an arbitrary value to necessary values of v _x0 ′, X _e ′, and Y _e ′. Further, by using a method similar to the method of changing the map axis in the first embodiment, the singular point lines are parallel to the vertical axis or the horizontal axis (108) to (115). You may create the map which changed how to take the axis | shaft of each map as shown by a type | formula.

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the eighth embodiment is substantially the same as the vehicle motion control routine in the fourth embodiment shown in FIG. The difference is that the vehicle lateral component F ₂ of the maximum value of the vehicle body composite force is set and the magnitude of the x component of the vehicle body composite acceleration is obtained in step 400.

Note that _one map can be used for both the control problem in which F ₁ is known and F ₂ is minimized, and the control problem in which F ₂ is known and F ₁ is minimized. First, (the symbol "~" on the character) new parameter mu ₁ tilde, mu ₂ tilde, the _{t e} tilde, taking tilde _{X e} tilde, and _{Y e,} the following (117) as equation Put it in.

Then, by substituting into the expressions (88) to (91), dividing the expressions (88) and (89) by γ ₀ and dividing the expressions (90) and (91) by γ ₀ ² , the following (118 ) Formula to (121) Formula.

It can be seen that the equations (118) to (121) have the same shape as the equations (13) to (16). That is, using the map shown in the fifth embodiment, mu ₁ tilde, mu ₂ tilde, seeking tilde _{t e, (117) {μ} 1, μ 2, t e} by formula It becomes possible to convert.

Next, a new parameter μ ₁ bar (symbol “−” on the character), μ ₂ bar, t _e bar, X _e bar, and Y _e bar are taken, and the following equation (122) is obtained. Like so.

When this is applied to the equations (13) to (16) converted from X _{s to} X _e, it is transformed into the same form as the equations (88) to (91).

  By developing these equations, a control device that minimizes the y component when the maximum value of the vehicle composition force is given, and the x component when the maximum value of the vehicle composition force is given are minimized. All the maps described in the fifth to eighth embodiments can be applied to the control device.

Next, a ninth embodiment will be described. In the first embodiment, if the vertical moving distance relative to the transverse moving distance Y _e by using a map for deriving the vehicle body resultant force which the shortest distance X _s, derives the time series data of the vehicle body resultant force However, in the ninth embodiment, when the aspect ratio of the maximum value of the vehicle body composite force is set, the shortest distance X _s and the x component X _e of the distance from the host vehicle to the target position are calculated by the convergence calculation. A case will be described in which an optimum trajectory that minimizes the maximum value of the vehicle body resultant force is derived based on the maximum value of the vehicle body resultant force that is set when the difference between the difference is less than a predetermined value. In addition, about the vehicle motion control apparatus of 9th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-8th Embodiment, description is abbreviate | omitted using the same code | symbol.

  A vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the ninth 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. In this embodiment, the maps shown in the first and second embodiments can be used. Here, a case where the map shown in FIG. 4 is used will be described.

In step 100 to step 112, the same processing as in the first embodiment is performed to obtain the first parameter v _x0 ′ and the second parameter v _y0 ′. In step 500 instead of step _108, Y _{e, v x0,} and _v be the x component _{X e} of the distance between the vehicle and the target position with _y0 computed.

Next, in step 500, the first to third maps stored in the map storage device 28 are read out, and the first parameter v _x0 ′ and the second parameter v _y0 ′ are input, and the lateral movement distance Y _e. The shortest distance X _s of the vertical movement distance is derived corresponding to.

Next, in step 502, it is determined whether or not the shortest distance X _s derived in step 500 is equal to the avoidance distance X _e calculated in step 300. When X _s = X _e, the process proceeds to step 506, and when X _s ≠ X _e , the process proceeds to step 504. 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 504, the values of F ₁ and F ₂ are corrected so that X _s approaches X _e without changing the set γ ₀ . Then, the processing from step 500 to step 504 is repeated until it is determined in step 502 that X _s = X _e .

In step _{506, X} s = X _e determined to be _{F 1} value when a, _{F 2} of the values, the values of gamma _0, and _{{μ 1, μ 2, t} e} obtained in step 500 the value of Is applied to the equations (11) and (12) to obtain the vehicle body composite acceleration as a control input. 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.

  Next, a tenth embodiment will be described. In the tenth embodiment, as another method of the convergence calculation, when one of the maximum x component and y component of the vehicle body composite force is set, a map that minimizes the longitudinal movement distance is used. A case will be described in which an optimal trajectory that minimizes the other of the x component and the y component of the maximum value of the resultant force is derived. In addition, about the vehicle motion control apparatus of 10th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-9th Embodiment, description is abbreviate | omitted using the same code | symbol.

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the tenth embodiment is F ₁ , F ₂ , F1 in step 110 of the vehicle motion control routine (FIG. 46) of the ninth embodiment. And a point for setting γ ₀ , a point for correcting the value of γ ₀ in step 504, and a point for deriving the optimal trajectory that minimizes F ₁ or F ₂ based on γ ₀ in step 506. This is different from the ninth embodiment.

  Next, an eleventh embodiment will be described. In the eleventh embodiment, as another method of the convergence calculation, when the x component and the y component of the maximum value of the vehicle body composite force are set, a map that minimizes the maximum value of the vehicle body composite force is used. The case of deriving the shortest avoidance trajectory that minimizes the vertical movement distance will be described. In addition, about the vehicle motion control apparatus of 11th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-10th Embodiment, description is abbreviate | omitted using the same code | symbol.

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the eleventh embodiment uses the map of the third or fourth embodiment, and the vehicle motion control of the ninth embodiment. In step 500 of the routine (FIG. 46), γ ₀ is used to derive the x component f ₁ and the y component f ₂ of the vehicle body synthesis force. In step 502, f ₁ = F ₁ and f ₂ = F ₂ determining point or become, in step 504, that modifies the value of X _e without changing the gamma _0, in step 506, based on the X _e, that the vertical travel distance to derive the shortest avoidance route the shortest And the point which does not perform the process of step 402,308 differs from 9th Embodiment.

  Next, a twelfth embodiment will be described. In the twelfth embodiment, as another method of the convergence calculation, a map that minimizes the maximum value of the vehicle body composite force when one of the x component and the y component of the maximum value of the vehicle body composite force is set is used. A case will be described in which an optimal trajectory for minimizing the other of the maximum x component and y component of the vehicle body composite force is derived. In addition, about the vehicle motion control apparatus of 12th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-11th Embodiment, description is abbreviate | omitted using the same code | symbol.

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the twelfth embodiment uses the map of the third or fourth embodiment, and the vehicle motion control of the ninth embodiment. In step 110 of the routine (FIG. 46), F ₁ , F ₂ , and γ ₀ are set. In step 500, the x component f ₁ and y component f ₂ of the vehicle body resultant force are derived. In step 502, f ₁ = F ₁ , or f ₂ = F ₂ is determined, the value of γ ₀ is corrected in step 504, and in step 506, based on γ ₀ , F ₁ or F ₂ is minimum This is different from the ninth embodiment in that an optimal trajectory is derived.

  Next, a thirteenth embodiment will be described. In the thirteenth embodiment, as another method of the convergence calculation, when the x component and the y component of the maximum value of the vehicle body composite force are set, the x component or the y component of the maximum value of the vehicle body composite force is minimized. The case where the shortest avoidance trajectory with the shortest vertical movement distance is derived using the map to be described will be described. In addition, about the vehicle motion control apparatus of 13th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-12th embodiment, description is abbreviate | omitted using the same code | symbol.

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the thirteenth embodiment uses the map of the fifth or sixth embodiment, and the vehicle motion control of the ninth embodiment. In step 500 of the routine (FIG. 46), the aspect ratio γ _f of the vehicle body composite force is derived using F ₁ or F _{2. In} step 502, it is determined whether γ _f = γ ₀ . , that modifies the value of X _e, in step 506, based on the X _e, that the vertical travel distance to derive the shortest avoidance path to be shortest, and that it does not perform the processing of step 402,308 is 9 This is different from the embodiment.

  Next, a fourteenth embodiment will be described. In the fourteenth embodiment, as another method of the convergence calculation, when the aspect ratio of the maximum value of the vehicle body resultant force is set, a map that minimizes the x component or the y component of the maximum value of the vehicle body composite force is used. The case of deriving the optimal trajectory that minimizes the maximum value of the vehicle body composite force will be described. In addition, about the vehicle motion control apparatus of 14th Embodiment, about the structure and process same as the vehicle motion control apparatus of 1st-13th Embodiment, description is abbreviate | omitted using the same code | symbol.

The vehicle motion control routine executed by the control device 20 of the vehicle motion control device of the fourteenth embodiment uses the map of the fifth or sixth embodiment, and the vehicle motion control of the ninth embodiment. In step 500 of the routine (FIG. 46), the aspect ratio γ _f of the vehicle body composite force is derived; in step 502, whether γ _f = γ ₀ is determined; in step 504, F ₁ or F ₂ is corrected. This is different from the ninth embodiment.

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

Claims (17)

Setting means for setting 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;
When the maximum value of the vehicle body composite force is limited by an ellipse with the vehicle body longitudinal direction as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component of the vehicle body composite acceleration maximum value F ₁ / m, the ratio γ ₀ between the vehicle front-rear direction component F ₁ and the vehicle body lateral component F ₂ of the maximum value of the vehicle body resultant force, the vehicle body lateral component Y _e of the distance, and the speed of the host vehicle A first parameter including at most four of the vehicle longitudinal component v _x0 and the vehicle lateral component v _y0 of the speed, the component F ₁ / m, the ratio γ ₀ , and the component Y _e , When the second parameter different from the first parameter including at least four of the component v _x0 and the component v _y0 and the component F ₁ and the component F ₂ are set, longitudinal vehicle body of the component _{Y e} Moving distance of direction is a introduction parameter introduced in order to determine the vehicle body resultant force which is the shortest, the component F _{1 /} m, the ratio gamma _0, the component Y _e, wherein component v _x0, and the component v _y0 the first introduction parameters mu ₁ obtained from the components _F 1 / m, the ratio gamma _0, the component _{Y e,} wherein component _{v x0,} and each value of the components _{v y0} is _{F 1} '/ m', γ ₀ ′, Y _e ′, v _x0 ′, and v _y0 ′, and the F ₁ ′ / m ′, the γ ₀ ′, the Y _e ′, the v _x0 ′, and the v _y0 ′ A first map that defines a relationship between the first parameter and the value μ ₁ ′ under the assumption that three values according to the second parameter are specific values;
- said first parameter, and the second parameter, when setting the components F ₁ and the component F _2, the vehicle body resultant force which the moving distance in the longitudinal direction of the vehicle body is shortest to the components Y _e A second map defining a relationship between a value μ ₂ ′ under the assumption of a _second introduction parameter μ ₂ different from the _first introduction parameter μ ₁ introduced to determine a first parameter, a second parameter, the time t _e the moving distance of the vehicle longitudinal direction relative to the component Y _e reaches a position determined by the shortest distance X _s and the component Y _e which is the shortest, Storage means for storing a third map defining a relationship with time t _e ′ under the assumption;
The distance and the current of the current speed of which is detected by said detecting means, and on the basis of the components F ₁ and the component F ₂ were set, and calculates the first parameter and the second parameter, is calculated Using the first parameter, the second parameter, the first map, the second map, and the third map, the distance in the vehicle longitudinal direction with respect to the component Y _e is the shortest distance X _s. Deriving means for deriving time series data of the vehicle body composite force,
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;
When the maximum value of the vehicle body composite force is limited by an ellipse having the longitudinal direction of the vehicle body as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component F ₁ / m, the ratio γ ₀ of the vehicle body longitudinal component F ₁ and the vehicle lateral component F ₂ of the maximum value of the vehicle composite force, the vehicle lateral component Y _e of the distance, the vehicle body of the speed of the host vehicle A first parameter including at most four components of the longitudinal component v _x0 and the vehicle lateral component v _y0 of the speed, the component F ₁ / m, the ratio γ ₀ , the component Y _e , The second parameter different from the first parameter including at least four of the component v _x0 and the component v _y0 and the movement distance in the vehicle longitudinal direction with respect to the component Y _e is the shortest. The direction θ of the vehicle body composite acceleration Wherein component _F 1 / m, the ratio gamma _0, the component _{Y e,} wherein component _{v x0,} and each value of the components _{v y0} is _{F 1 '/ m', γ} 0 ', Y e', v x0 ' , And v _y0 ′, and among the F ₁ ′ / m ′, the γ ₀ ′, the Y _e ′, the v _x0 ′, and the v _y0 ′ , the first parameter and the second parameter Storage means for storing a map that defines the relationship between the direction θ ′ under the assumption that the corresponding three are specific values, and
The distance and the current of the current speed of which is detected by said detecting means, and on the basis of the components F ₁ and the component F ₂ were set, and calculates the first parameter and the second parameter, is calculated Using the first parameter, the second parameter, and the map, deriving means for deriving the vehicle body resultant force at the current time when the distance in the vehicle longitudinal direction is the shortest distance X _s with respect to the component Y _e ;
A vehicle motion control device. The first parameter is defined as a value including a product of a square root of a product of the ratio γ ₀ , the reciprocal of the component F ₁ / m and the reciprocal of the component Y _e , and the component v _x0 . _Is defined as a value including a product of the square root of the product of the ratio γ ₀ , the component F ₁ / m, and the component Y _e and the component v _y0 , or the first parameter is , A value including a product of the ratio γ ₀ and the component v _x0 and a ratio of the component v _y0, and the second parameter is defined as the ratio and the square of the component v _x0 or the component v _y0 The vehicle motion control device according to claim ₁ , wherein the vehicle motion control device is defined as a value that includes a ratio of the product of the two and the component F ₁ / m. 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;
When the maximum value of the vehicle body composite force is limited by an ellipse with the longitudinal direction of the vehicle body as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction, Determined by the product of the ratio γ _{0 of the} component F ₁ and the lateral component F _2, and the ratio of the speed v of the _host vehicle in the longitudinal direction of the vehicle to the lateral component v _y0 of the speed of the vehicle. A second parameter determined by a product of the first parameter determined, the ratio γ _0, and the ratio of the longitudinal component X _e and the lateral component Y _e of the distance, Introduced parameters for minimizing the maximum value of the vehicle body resultant force to reach the target position and the speed direction at the target position, the ratio γ ₀ , the component X _e , the component Y _e , first electrically determined from component _{v x0,} and the component _{v y0} Parameters mu _1, wherein the ratio gamma _0, the component _{X e,} wherein components _{Y e,} wherein component _{v x0} ', and each value is gamma ₀ of the components _{v y0', X e ',} Y e', v x0 ', and _{v y0'} in and the gamma ₀ ', the _{X e',} the _{Y e} ', the _{v x0',} and corresponding to the first parameter and the second parameter of the _{v y0} ' A first map defining the relationship between the value μ ₁ ′ under the assumption that three are specific values,
The first parameter, the second parameter, and the first introduction parameter introduced to minimize the maximum value of the vehicle body resultant force in order to be in the speed direction at the target position and the target position. a second map defining a relationship between a _second introduction parameter μ ₂ different from μ ₁ and a value μ ₂ ′ under the assumption; and the first parameter and the second parameter; Storage means for storing a third map defining 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 current speed detected by the detection means, and the ratio γ ₀ , the first parameter and the second parameter are calculated, and the calculated first parameter, Derivation means for deriving time series data of the vehicle body composite force at which the maximum value of the vehicle body composite force is minimized using the second parameter, the first 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;
When the maximum value of the vehicle body composite force is limited by an ellipse with the longitudinal direction of the vehicle body as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction, Determined by the product of the ratio γ _{0 of the} component F ₁ and the lateral component F _2, and the ratio of the speed v of the _host vehicle in the longitudinal direction of the vehicle to the lateral component v _y0 of the speed of the vehicle. A second parameter determined by a product of the first parameter determined, the ratio γ _0, and the ratio of the longitudinal component X _e and the lateral component Y _e of the distance, The ratio γ ₀ , the component X _e , the component Y _e , and the component v of the target position and the direction θ of the vehicle body combined acceleration at which the maximum value of the vehicle body combined force is minimum in order to reach the speed direction at the target position. _x0 and each value of the component v _y0 are γ ₀ ′, X _e ′, and Y _e ', V _x0 ', and v _y0 ', and the first parameter and the second of the γ ₀ ', the X _e ', the Y _e ', the v _x0 ', and the v _y0 ' . A first map defining a relationship with the direction θ ′ under the assumption that three according to the parameters are specific values; and the first parameter, the second parameter, and the target position And a vehicle body composite acceleration F ₁ / m that has a minimum value to reach the speed direction at the target position and a vehicle body composite acceleration F ₁ '/ m' under the above assumption. Storage means for storing two maps;
Based on the current distance and current speed detected by the detection means, and the ratio γ ₀ , the first parameter and the second parameter are calculated, and the calculated first parameter, Deriving means for deriving the vehicle body composite force at the current time at which the maximum value of the vehicle body composite force is minimized using the second parameter, the first map, 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;
When the maximum value of the vehicle body composite force is limited by an ellipse with the vehicle body longitudinal direction as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component of the vehicle body composite acceleration maximum value F ₁ / m or a vehicle lateral component F ₂ / m, a vehicle body longitudinal component X _{e of} the distance, a vehicle lateral component Y _e of the distance, a vehicle velocity component v _{x0 of the host} vehicle speed, And a first parameter including at most four components of the vehicle lateral component v _y0 of the speed, the component F ₁ / m or the component F ₂ / m, the component X _e , the component Y _e , A second parameter different from the first parameter including at least four of the component v _x0 and the component v _y0 and a component F _{1 in the} longitudinal direction of the vehicle body in the vehicle longitudinal direction or the vehicle lateral direction Directional component If you set the one of the _two, the other of the components F ₁ or the component F ₂ A introduced parameter introduced in order to minimize to become the speed direction at the target position and the target position, the The component F ₁ / m or the component F ₂ / m, the component X _e , the component Y _e , the component v _x0 , and the component F ₁ / m of the first introduction parameter μ ₁ obtained from the component v _{y0 Alternatively} , each value of the component F ₂ / m, the component X _e , the component Y _e , the component v _x0 , and the component v _y0 is F ₁ ′ / m ′ or F ₂ ′ / m ′, X _e ′. , Y _e ′, v _x0 ′, and v _y0 ′, and F ₁ ′ / m ′ or F ₂ ′ / m ′, X _e ′, Y _e ′, v _x0 ′, and v _y0 ′ Assuming that three parameters according to the first parameter and the second parameter are specific values First map that determines the value mu _{1 ',} the relationship,
When the first parameter, the second parameter, and _{one of the} component F ₁ or the component F ₂ are set, the component F becomes the speed direction at the target position and the target position. The relationship between the second introduction parameter μ ₂ different from the _first introduction parameter μ ₁ introduced to minimize _one or the other of the components F ₂ and the value μ ₂ ′ under the assumption A defined second map, and a relationship between the first parameter, the second parameter, and the time t _e ′ under the assumption of the time t _e to reach the target position Storage means for storing the third map;
The first parameter and the second parameter are calculated based on the current distance and current speed detected by the detection means, and _{one of the} component F ₁ or the component F ₂ set. Using the calculated first parameter, second parameter, the first map, the second map, and the third map, the other of the component F ₁ or the component F ₂ is minimized. Deriving means for deriving time series data of the vehicle body composite force,
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;
When the maximum value of the vehicle body composite force is limited by an ellipse with the vehicle body longitudinal direction as the major axis direction or the minor axis direction with the speed direction as the vehicle body longitudinal direction, the vehicle body longitudinal acceleration component of the vehicle body composite acceleration maximum value F ₁ / m or a vehicle lateral component F ₂ / m, a vehicle body longitudinal component X _{e of} the distance, a vehicle lateral component Y _e of the distance, a vehicle velocity component v _{x0 of the host} vehicle speed, And a first parameter including at most four components of the vehicle lateral component v _y0 of the speed, the component F ₁ / m or the component F ₂ / m, the component X _e , the component Y _e , A second parameter different from the first parameter including at least four of the component v _x0 and the component v _y0 and a component F _{1 in the} longitudinal direction of the vehicle body in the vehicle longitudinal direction or the vehicle lateral direction Directional component If you set the one of the _two, of the target position and the target position in the other the direction of the vehicle body resultant acceleration as a minimum the to become velocity direction components F ₁ or the component F ₂ theta, the component F ₁ / m or the component F ₂ / m, the component X _e , the component Y _e , the component v _x0 , and the value of the component v _y0 are F ₁ ′ / m ′ or F ₂ ′ / m ′, X _e ', Y _e ', v _x0 ', and v _y0 ', and F ₁ '/ m' or F ₂ '/ m', X _e ', Y _e ', v _x0 ', and v _y0 ' A first map that defines a relationship with the direction θ ′ under the assumption that three of the first parameter and the second parameter are specific values, and the first parameter , with the second parameter, the ratio gamma ₀ of the components F ₁ and said component F _2, the ratio gamma ₀ under the assumption Storage means for storing a second map that defines the relationship between 'and
The first parameter and the second parameter are calculated based on the current distance and current speed detected by the detection means, and _{one of the} component F ₁ or the component F ₂ set. Using the calculated first parameter, second parameter, the first map, and the second map, the vehicle body composition at the current time at which the other of the component F ₁ or the component F ₂ is minimized. Derivation means for deriving force,
A vehicle motion control device. It said deriving means, said ratio gamma ₀ repeatedly called the shortest distance X _s while changing the settings of the components F ₁ and the component F ₂ as a constant value, the longitudinal direction of the vehicle of the distance between the shortest distance X _s based on the components F ₁ and the component F ₂ when the difference between the component X _e becomes within a predetermined value, claim the maximum value of the vehicle body resultant force derives the optimal trajectory that minimizes 1 or claim 2 The vehicle motion control device described. The derivation means repeatedly obtains the shortest distance X _s while changing the ratio γ ₀ with _{one of the} component F ₁ or the component F ₂ as a constant value, and the shortest distance X _s and the distance in the longitudinal direction of the vehicle body The optimal trajectory in which the other of the component F ₁ or the component F ₂ is minimized is derived based on the ratio γ ₀ when the difference from the component X _e falls within a predetermined value. The vehicle motion control device described. The derivation means repeatedly obtains the vehicle body composite force f using the ratio γ ₀ while changing the component X _e with the component F ₁ and the component F ₂ as constant values, and the vehicle body composite force f and the vehicle body composite force 5. The shortest avoidance trajectory with which the distance in the longitudinal direction of the vehicle body is the shortest with respect to the component Y _e is derived based on the component X _e when the difference from the maximum value is within a predetermined value. Item 6. The vehicle motion control device according to Item 5. The derivation means changes the setting of the ratio γ ₀ with _{one of the} component F ₁ or the component F ₂ as a constant value and changes the vehicle longitudinal component f ₁ or the vehicle lateral component f ₂ of the vehicle body composite force. Based on the ratio γ ₀ obtained repeatedly and based on the ratio γ ₀ when the difference between the component f ₁ and the component F ₁ or the difference between the component f ₂ and the component F ₂ is within a predetermined value, the component F ₁ or vehicle motion control device according to claim 4 or claim 5, wherein the other of said components F ₂ derives the optimal trajectory is minimized. The derivation means uses the component F ₁ or the component F ₂ while changing the component X _e with the component F ₁ and the component F ₂ as constant values, and the vehicle longitudinal direction component and the vehicle lateral direction of the vehicle body composite force. The ratio γ _f with the direction component is repeatedly obtained, and based on the component X _e when the difference between the ratio γ _f and the ratio γ ₀ between the component F ₁ and the component F ₂ is within a predetermined value. Te, the component Y _e vehicle motion control device according to claim 6 or claim 7, wherein the distance in the longitudinal direction of the vehicle body to derive the shortest avoidance path having the shortest relative. It said deriving means includes the components F ₁ and the component F ₂ and the longitudinal direction of the vehicle body of the vehicle body resultant force while the ratio gamma ₀ to change the said one set of components F ₁ or the component F ₂ as a constant value component Based on the component F ₁ and the component F ₂ when the difference between the ratio γ _f and the ratio γ ₀ is within a predetermined value, the ratio γ _f with the lateral component of the vehicle body is repeatedly obtained. The vehicle motion control device according to claim 6 or 7, wherein an optimum trajectory that minimizes the maximum value of the resultant force is derived.   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.   16. 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. Vehicle motion control device.   The vehicle motion control device according to any one of claims 1 to 16, 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.