JP6011283B2 - Vehicle control apparatus and program - Google Patents

Description

  The present invention relates to a vehicle control device and a program, and more particularly, to a vehicle control device and a program that perform control so as to realize a target value of rigidity in a rotation direction of a steering wheel.

  2. Description of the Related Art Conventionally, there is known an intelligent seat that enhances a sense of unity with a vehicle by changing the shape of a part constituting the seat based on the road shape in the traveling direction of the vehicle and appropriately supporting the driving posture.

  Further, a power steering device that can appropriately control the friction torque applied to the power steering device according to the driving posture and physique of the driver is known (Patent Document 1). In this power steering apparatus, the driver's driving posture and physique (estimated from the steering position, seat position, etc.) are estimated, and the friction application control correction value is determined based on the estimated position.

  Further, there is known a vehicle power steering device that can realize optimum steering assist in accordance with the characteristics and driving conditions of the driver while eliminating the need for inputting personal information or replacing data for each driver (Patent Document 2). ). Specifically, the vehicle power steering device is based on the driving posture (front and rear and vertical adjustment positions of the driver's seat, the backrest angle of the driver's seat, the adjustment angle of the rear view mirror, the adjustment angle of the side mirror, the adjustment angle of the steering wheel, etc. Detection), the amount of driving operation (pedal operation amount, steering wheel operation amount, etc.) is detected, and the characteristics of the driver are classified based on the proximity of the various operating devices to the driver and the driver's operation amount. Accordingly, the control correction amount of the power steering is adjusted.

  Further, a vehicle steering device that realizes a steering reaction force control mechanism that can appropriately set a steering reaction force according to a driver and contributes to a reduction in steering burden or accurate steering angle control is known (Patent Document 3). . Specifically, the vehicle steering apparatus has a reference table describing the relationship between the driver's physique and the human mechanical impedance related to the steering operation, and means for detecting the driver's physique (telescopic position / steer position / seat slide) The driver's mechanical impedance is estimated from the physique detected by the position detection technology, the physique estimation technology from the driver image, or the physique detected by the driver's physique information). Controls the steering reaction force.

  There is also known a driver fatigue estimation device that estimates a driver's fatigue state from the driver's mechanical impedance and driving posture (positions of hands and elbows) (Patent Document 4).

  Further, the vehicle steering device estimates the driver's mechanical impedance from the amount of steering operation when a road surface disturbance is input or when the steering wheel is forcibly rotated by a predetermined amount, and sets the steering reaction force of the steering wheel based on the estimated mechanical impedance. Is known (Patent Document 5).

JP 2010-149780 A JP 2007-38941 A JP 2007-245904 A JP 2012-130543 A JP 2007-245907 A

  The above-described intelligent seat technology is a technology that changes the posture support state of the driver in accordance with the road shape. However, since the driver state is not reflected, there is a problem that the driver's individual driving style cannot be handled.

  The technique described in Patent Document 1 determines the friction applied from the power steering device based on the driver's driving posture and physique, but the steering wheel rotation direction rigidity derived from the vehicle driver is determined by the driver's posture. There is a problem that it cannot be sufficiently estimated only by physique and physique.

  The technology described in the above-mentioned Patent Document 2 classifies the characteristics of the driver based on the proximity of the various operating devices of the driving posture and the driver and the operation amount of the driver, and adjusts the control correction amount of the power steering accordingly. However, there is a problem that it is difficult to accurately estimate the rigidity in the direction of rotation of the steering wheel for the same reason as in Patent Document 1.

  The technique described in Patent Document 3 measures the driver's driving posture and calculates the driver's mechanical impedance based on a reference table describing the relationship between the driver's physique and the human mechanical impedance related to the steering operation. However, since the driver's physique and driving posture alone do not include the force element applied to the steering wheel, there is a problem that the dynamic characteristics of the steering wheel rotation direction cannot be accurately reflected.

  In the techniques described in Patent Documents 4 and 5, the mechanical impedance of the driver with respect to the disturbance torque applied to the steering wheel is estimated. However, the steering angle with respect to the disturbance torque applied to the steering wheel in the vehicle is estimated. Therefore, it is difficult to estimate the driver's mechanical impedance from the response.

  The present invention has been made in order to solve the above-described problems. The vehicle control is capable of accurately realizing the target value of the stiffness in the rotation direction of the steering wheel in accordance with the driver and improving the maneuverability. An object is to provide an apparatus and a program.

In order to achieve the above object, a vehicle control device according to a first aspect of the present invention is based on detection means for detecting a pressing force of a steering wheel by a driver of a vehicle, and the pressing force detected by the detection means . calculation means for calculating the stiffness of the rotating direction of the steering wheel from oPERATION person, based on the rigidity of the rotational direction of the steering wheel from the driver calculated by the calculation means, the steering wheel from the driver The assist torque generated in the steering wheel or the seat on which the driver is seated so as to realize a predetermined target value of the sum of the rigidity in the rotational direction and the rigidity in the rotational direction of the steering wheel derived from the steering device And a control means for controlling the position or posture.

Program according to the second invention, a computer, based on the pressing force detected by the detecting means for detecting the pressing force of the steering wheel by the driver of the vehicle, the rigidity of the rotational direction of the steering wheel from OPERATION person Based on the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means, and the steering wheel derived from the steering device based on the rigidity in the rotation direction of the steering wheel derived from the driver In order to realize a predetermined target value of the sum of the rigidity in the rotational direction of the vehicle, the assist torque generated in the steering wheel or the control means for controlling the position or posture of the seat on which the driver is seated It is a program for.

  According to the first invention and the second invention, the pushing force of the steering wheel by the driver of the vehicle is detected by the detecting means. Based on the pressing force detected by the detecting means by the control means, the rigidity in the rotational direction of the steering wheel derived from the driver calculated based on the pressing force and the rotational direction of the steering wheel derived from the steering device The assist torque generated in the steering wheel or the position or posture of the seat on which the driver is seated are controlled so as to realize a predetermined target value of the sum of rigidity.

  Thus, the target of the sum of the rigidity in the rotation direction of the steering wheel derived from the driver calculated based on the pressing force and the rigidity in the rotation direction of the steering wheel derived from the steering device is detected based on the pressing force of the steering wheel. By performing control so as to realize the value, the target value of the rigidity in the steering wheel rotation direction can be accurately realized according to the driver, and the operability can be improved.

  The vehicle control device according to the first aspect of the present invention further includes calculation means for calculating rigidity in the rotational direction of the steering wheel derived from the driver based on the pressing force detected by the detection means, and the control means Is based on the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means, and the rigidity in the rotation direction of the steering wheel derived from the driver and the rigidity in the rotation direction of the steering wheel derived from the steering device. It is possible to control the assist torque generated in the steering wheel or the position or posture of the vehicle seat so as to realize a predetermined target value of the sum of.

According to a third aspect of the present invention, there is provided a vehicle control device that detects a pressing force of a steering wheel by a driver of a vehicle, and rotation of a steering wheel derived from the driver based on the pressing force detected by the detecting unit. calculation means for calculating the stiffness of the direction, based on the rigidity of the rotational direction of the steering wheel from the calculated said driver by said calculating means, and rigidity of the rotational direction of the steering wheel from the oPERATION's steering system The steering wheel so as to realize a predetermined target value of the sum of the rigidity in the rotational direction of the steering wheel derived from the driver with a predetermined desired value of the rigidity in the rotational direction of the steering wheel derived from the driver Control means for controlling the assist torque to be generated or the position or posture of the seat of the vehicle, Nde is configured.

According to a fourth aspect of the invention, there is provided a program for causing a computer to determine the rigidity in the rotational direction of the steering wheel derived from the driver based on the pressing force detected by the detecting means for detecting the pressing force of the steering wheel by the driver of the vehicle. calculating calculated means, and said calculating means based on the rigidity of the rotational direction of the steering wheel from the calculated said driver by, and rigidity of the rotational direction of the steering wheel from the oPERATION's steering wheel from the steering device Assist to be generated in the steering wheel so as to realize a predetermined target value of the sum of the rotational rigidity of the steering wheel with a predetermined desired value of the rotational rigidity of the steering wheel derived from the driver As a control means for controlling the torque or the position or posture of the vehicle seat Is a program for causing the performance.

According to the third and fourth inventions, the pressing force of the steering wheel by the vehicle driver is detected by the detecting means. Then, by the control means, the rigidity of the rotational direction of the OPERATION person from the steering wheel, the predetermined target value of the sum of the stiffness of the rotating direction of the steering wheel from the steering device, the steering from the driver The assist torque generated in the steering wheel or the position or posture of the vehicle seat is controlled so as to be realized with a predetermined desired value of the rigidity in the rotation direction of the wheel.

As described above, the sum of the rigidity in the rotational direction of the steering wheel derived from the driver and the rigidity in the rotational direction of the steering wheel derived from the steering device calculated based on the pressing force is detected in advance. By controlling the predetermined target value so as to achieve a predetermined desired value of the rigidity in the rotational direction of the steering wheel derived from the driver, the target of the rigidity in the rotational direction of the steering wheel is adjusted to the driver. The value can be realized with high accuracy and the operability can be improved.

The vehicle control device according to a third aspect of the present invention further includes calculation means for calculating rigidity in the rotational direction of the steering wheel derived from the driver based on the pressing force detected by the detection means, and the control means The target value of the sum of the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means and the rigidity in the rotation direction of the steering wheel derived from the steering device determined in advance is derived from the driver. It is possible to control the assist torque generated in the steering wheel or the position or posture of the vehicle seat so as to achieve a predetermined desired value of the rigidity in the rotational direction of the steering wheel.

According to a fifth aspect of the present invention, there is provided a vehicle control device that detects a pressing force of a steering wheel by a driver of a vehicle, and rotates the steering wheel derived from the driver based on the pressing force detected by the detecting unit. A calculation means for calculating the rigidity in the direction; and a predetermined target for the rigidity in the rotation direction of the steering wheel derived from the driver based on the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means. And a control means for controlling the vehicle so as to realize the value.

According to a sixth aspect of the present invention, there is provided a program for causing the computer to determine the rigidity in the rotational direction of the steering wheel derived from the driver based on the pressing force detected by the detecting means for detecting the pressing force of the steering wheel by the driver of the vehicle. Based on the calculation means for calculating and the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means, a predetermined target value of the rigidity in the rotation direction of the steering wheel derived from the driver is realized. Thus, it is a program for functioning as a control means for controlling the vehicle.

  According to the fifth and sixth inventions, the pressing force of the steering wheel by the vehicle driver is detected by the detecting means. Then, based on the pressing force detected by the detecting means, the control means realizes a predetermined target value of the rigidity in the rotational direction of the steering wheel derived from the driver calculated based on the pressing force. Thus, the vehicle is controlled.

  In this way, by detecting the steering wheel pressing force and performing control so as to realize the target value of the stiffness in the rotational direction of the steering wheel derived from the driver, which is calculated based on the pressing force, according to the driver. Therefore, it is possible to accurately achieve the target value of the rigidity in the rotation direction of the steering wheel and improve the operability.

  The vehicle control device according to a fifth aspect of the present invention further includes calculation means for calculating rigidity in the rotational direction of the steering wheel derived from the driver based on the pressing force detected by the detection means, and the control means includes Based on the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means, the predetermined target value of the rigidity in the rotation direction of the steering wheel derived from the driver is realized. The vehicle can be controlled.

The vehicle control apparatus further includes a torque sensor that measures a torque applied to a steering shaft that transmits the rotation of the steering wheel, and the control means is a coefficient for applying an assist torque so as to realize the target value. calculates, on the basis of the torque measured by the torque sensor, wherein calculating the assist torque can be adapted to control so as to generate a torque multiplied by the calculated coefficients to the assist torque .

  Further, the control means can calculate a coefficient for calculating the assist torque so as to realize the target value when the steering wheel is in the reference position or in the steered state.

  The control means calculates the position or orientation of the seat so as to achieve the target value when the steering wheel is in a reference position or a steering hold state, and controls the calculated position or orientation of the seat. To be able to.

  The control means which concerns on 5th invention can be made to control so that the characteristic of the suspension of the said vehicle may be changed.

  Further, the control means calculates the suspension characteristic so as to achieve the target value when the steering wheel is in the reference position or the steering holding state, and changes the calculated characteristic of the suspension. Can be controlled.

  Said detection means can detect the said pressing force using the force sensor with which the said steering wheel was mounted | worn.

  The detection means can detect the pressing force using a force sensor or a body pressure sensor provided on the seat.

  As described above, according to the vehicle control device and program of the present invention, it is possible to accurately achieve the target value of the rigidity in the steering wheel rotation direction according to the driver, and to improve the maneuverability. An effect is obtained.

It is a graph which shows the relationship between steering wheel pressing force and the rigidity of the steering wheel rotation direction derived from a driver | operator. (A) The figure which shows the 2 link model of the arm before disturbance input, (B) The figure which shows the 2 link model of the arm after disturbance input. It is a graph which shows the relationship between steering torque and assist torque. It is the schematic which shows the structure of the vehicle control apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows an example of a steering wheel pressing force detection part. It is a figure which shows an example of a steering wheel pressing force detection part. It is a block diagram which shows the structure of the vehicle control apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the vehicle control processing routine of the vehicle control apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the content of the vehicle control processing routine of the vehicle control apparatus which concerns on the 2nd Embodiment of this invention. It is the schematic which shows the structure of the vehicle control apparatus which concerns on the 3rd Embodiment of this invention. It is a figure which shows a mode that the angle of a contact part with the shoulder of a sheet | seat is changed. It is a block diagram which shows the structure of the vehicle control apparatus which concerns on the 3rd Embodiment of this invention. It is a flowchart which shows the content of the vehicle control processing routine of the vehicle control apparatus which concerns on the 3rd Embodiment of this invention. It is a figure which shows a mode that the angle of a seat back is changed. It is a figure which shows a mode that the position of the whole sheet | seat is changed. It is a block diagram which shows the structure of the vehicle control apparatus which concerns on the 6th Embodiment of this invention. It is a flowchart which shows the content of the vehicle control processing routine of the vehicle control apparatus which concerns on the 6th Embodiment of this invention. It is the schematic which shows the structure of the vehicle control apparatus which concerns on the 7th Embodiment of this invention. It is a block diagram which shows the structure of the vehicle control apparatus which concerns on the 7th Embodiment of this invention. It is a flowchart which shows the content of the vehicle control processing routine of the vehicle control apparatus which concerns on the 7th Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. First, in the first embodiment, a case where the present invention is applied to a vehicle control device that controls the assist torque of the vehicle will be described as an example.

<Outline of the invention>
It is known that the driver of the vehicle keeps the steering wheel with his / her hand even when he / she is not actively steering, and that the operation has the effect of stabilizing the vehicle movement (non- Patent Document 1 (Masato Abe, “Motion and Control of Cars”, Sankai-do, 1992)). In addition, when a disturbance occurs in the vehicle motion while driving the vehicle, it is a phenomenon often experienced that the driver strongly grips the steering wheel or pushes the steering wheel.

  The steering operation contributes to the rigidity of the driver-derived steering wheel rotation direction, and the sum of the driver-derived steering wheel rotation direction rigidity and the steering device-derived steering wheel rotation direction rigidity is the steering wheel rotation. The direction is rigid. Therefore, by adjusting the rigidity in the steering wheel rotation direction derived from the steering device or adjusting the driver-vehicle interface to change the rigidity in the steering wheel rotation direction derived from the driver, the driver is more than necessary. It is considered that the desired rigidity in the direction of rotation of the steering wheel can be realized without giving the burden of. The rigidity in the steering wheel rotation direction is a rigidity component of the steering wheel steering angle response with respect to disturbance torque input to the steering shaft.

  However, it is difficult to directly estimate the rigidity of the steering wheel rotation direction derived from the driver. In Patent Document 5 described above, the steering reaction force is set based on the steering operation amount when there is an input of road disturbance or when the steering wheel is forcibly rotated by a predetermined amount. Therefore, it is extremely difficult to realize this method in an actual vehicle.

-Due to the vibration characteristics of the steering wheel system, the transfer function in the frequency band necessary for rigidity estimation cannot be obtained.
・ Actuators and steering angle sensors used in power steering systems do not have the accuracy required to derive rigidity.
-In the method of forcibly rotating the steering wheel by a predetermined amount, road disturbance is superimposed.
・ In the method using road surface disturbance, the vibration component of the road surface disturbance varies.
・ When calculating the transfer function, the forced predetermined amount of rotation may be sinusoidal sweep vibration, but it takes a certain amount of time. It is difficult to secure.

  Therefore, in the present invention, instead of directly estimating the rigidity of the steering wheel rotation direction derived from the driver, the rigidity of the steering wheel rotation direction derived from the driving is estimated from the steering wheel pressing force, and the steering wheel rotation direction rigidity is estimated based on the estimation result. The above problems are solved by controlling the rigidity.

  Here, FIG. 1 shows the relationship between the steering wheel pressing force and the rigidity in the steering wheel rotation direction derived from driving, derived from experiments. Referring to FIG. 1, the steering wheel pressing force and the rigidity of the driver-derived steering wheel rotation direction are in a substantially linear relationship.

  The stiffness of the steering wheel rotation direction derived from the driver includes the material stiffness that is mainly the muscle stiffness caused by the muscle activity caused by the driver gripping or pushing the steering wheel, and the structure of the upper limbs of the driver. Two stiffnesses, the geometric stiffness, which is the apparent stiffness generated by the external force that acts, contribute.

When considering a two-link model of the arm as shown in FIG. 2A, the length of the upper arm link is l ₁ [m], the length of the forearm link is l ₂ [m], and the shoulder joint angle θ ₁ [rad ], Assuming that the joint angle vector composed of the elbow joint angle θ ₂ [rad] is θ = [θ ₁ θ ₂ ] ^T , the hand coordinate vector x = [x, y] ^T is expressed by the following equation (1): hand speed vector Is expressed by the following equation (2).

However, J (θ) is a Jacobian matrix. Further, assuming that the steering wheel pressing force F = [F _x 0] ^T , the moment vector τ = [τ ₁ τ ₂ ] ^T composed of the shoulder joint moment τ ₁ and the elbow joint moment τ ₂ is expressed by the following (3). It is expressed as an expression.

At this time, if the measured driver's upper arm and forearm link lengths, shoulder and elbow joint angles, and steering wheel pressing force are substituted into the above equation (3), the counterclockwise moment around the shoulder joints Acted, and a clockwise moment acted around the elbow joint. Here, when the steering wheel is moved by a small steering angle δθ _stg [rad] due to disturbance, the hand coordinate change δx is expressed by the following equation (4), and the joint angle change δθ is expressed by the following equation (5). The At this time, assuming that F is constant, the change δτ of the moment around the joint is expressed by the following equation (6). Here, r _stg is the steering radius, θ _inc is the steering wheel tilt angle, and θ _hold is the angle of the hand with respect to the horizontal direction of the steering wheel.

  When this is calculated from the above experimental data, the moment around the shoulder joint that was acting counterclockwise decreases in magnitude, the moment around the elbow joint that acted clockwise increases in magnitude, and It acts in the direction of returning to the opposite direction. It can be said that this is a mechanism in which the driver's geometric rigidity acts on the rigidity around the steering wheel.

At this time, the geometric stiffness K _j of the operator's arm in the joint space is obtained as the following equation (7), is proportional to the reaction force F of the steering wheel pressing force. Also, the geometric stiffness K _e of the operator's arm in the working space is determined by the following equation (8). Further, the geometric rigidity K _stg in the steering wheel rotation direction is obtained by the following equation (9).

  Of the increase in the rigidity of the steering wheel rotation direction derived from the driver due to the steering wheel pressing force, the ratio derived from the geometric rigidity of the driver is 20 when the steering wheel is pressed at 20N or 40N. -30%. Therefore, it is possible to estimate the driver's geometric rigidity from the steering wheel pressing force, it is also possible to estimate the driver's steering wheel rotation direction rigidity from the driver's geometric rigidity, It is possible to solve the difficulty of estimating the rigidity of the steering wheel rotation direction derived from the driver.

In the present embodiment, a driver dynamic model that defines the movement of the driver's hand is considered. The model structure can be selected and defined according to the definition of the steering wheel pressing force. In the present embodiment, the above-described two-degree-of-freedom two-link model from the shoulder to the hand is used, and the steering wheel pressing force F = [F _X 0] ^T. In addition, the joint angle vector θ of the model is J, and the Jacobi example of the hand is J (θ). A standard value may be used for the link length and the joint angle of the driver's dynamic model, and a value defined for each driver or a value measured in real time by another means may be used.

In this embodiment, the steering torque measured by the torque sensor is _Tr , and the assist torque amount _Ta is obtained by the following equation (10). The function f _T is _a function that describes the relationship between T _r and T _a , and _a function that returns a monotonically increasing value that is convex downward when f _T (T _r ) = 0 when T _r = 0 and when T _r > 0. (FIG. 3).

However, _{p a} is a coefficient of 0 or more, is defined by the following (11). f _Kv is a function that returns a p _a to realize the steering wheel rotational direction stiffness K _v from the steering device.

  In this embodiment, the sum of the rigidity of the steering wheel rotation direction derived from the driver and the rigidity of the steering wheel rotation direction derived from the steering device is determined in advance according to the rigidity of the steering wheel rotation direction derived from the driver. The characteristic of the power steering device, which is one of the characteristics of the vehicle, is changed so that the rigidity target value is obtained.

<Configuration of vehicle control device>
As shown in FIG. 4, the vehicle control apparatus according to the first embodiment includes a steering wheel pressing force detection unit 12 that detects the pressing force of the steering wheel 10 by the driver, and the rotation of the steering wheel 10 in the steering gear box. A torque sensor 14 for measuring the torque applied to the steering shaft 13 and a computer 16 for controlling the actuator 18 for applying the assist torque to the steering shaft 13.

  For example, as shown in FIG. 5, the steering wheel pressing force detection unit 12 divides the outer peripheral portion of the steering wheel 10 and inserts a 6-axis force sensor 12 </ b> A into the spoke portion connected to the divided outer peripheral portion. The 6 component force applied to the sensor 12A is measured. Further, as shown in FIG. 6, since the driver's pushing force on the steering wheel 10 is received by the seat 20 on which the driver is seated, the force worn on the portion where the seat back 20 </ b> A contacts the driver. The steering wheel pressing force may be estimated by the sense sensor (or body pressure sensor) 20B. Note that other methods may be used as long as the steering wheel pressing force can be measured or estimated.

  The computer 16 includes a CPU, a RAM, and a ROM that stores a program for executing a vehicle control processing routine described later, and is functionally configured as follows. As shown in FIG. 7, the computer 16 includes a neutral position determination unit 22, a driver-derived stiffness calculation unit 24, a target stiffness calculation unit 26, an assist torque calculation unit 28, and an assist torque control unit 30.

In the present embodiment, it is necessary to measure the steering wheel pressing force F in the steered state. Therefore, the neutral position determination unit 22 determines whether or not the absolute value | T _r | of the output T _r of the torque sensor 14 is equal to or less than the standard value T _neutral in order to determine that the steering wheel 10 is at a neutral angle. judge. In addition, when | T _r | ≦ T _neutral , the neutral position determination unit 22 confirms that the driver is not actively steering the steering wheel 10, so that the absolute value of the time derivative dT _r / dt of T _r is determined. It is determined whether or not | dT _r / dt | is equal to or _smaller than the standard value T _steady .

When the neutral position determination unit 22 determines that | T _r | ≦ T _neutral and | dT _r / dt | ≦ T _steady , the driver-derived stiffness calculation unit 24 first determines the geometry of the driver in the joint space. The stiffness K _dj is calculated from the following equation (12).

Then, the driver from rigid calculating unit 24 is calculated by the following equation (13) the geometric stiffness K _de of the driver's working space.

Further, the driver-derived rigidity calculation unit 24 calculates the driver-derived geometric rigidity K _{de_stg} using the steering wheel tangential direction vector v _stg at the hand position _according to the following equation (14). Furthermore, the driver-derived rigidity calculation unit 24 calculates the driver-derived geometric rigidity K _dg in the rotation direction of the steering wheel using the steering wheel tangential direction vector v _stg at the hand position according to the following equation (14).

Then, the driver-derived rigidity calculation unit 24 calculates the driver-derived rigidity _Kd in the steering wheel rotation direction from the following equation (15).

However, p _Kd is a constant. K _d0 is the rigidity of the steering wheel rotation direction derived from the driver when the steering wheel pressing force is zero, and includes the passive rigidity of the joint of the driver.

Here, P _Kd and K _d0 for each driver can be obtained in advance by the following procedure.

In this procedure, a vehicle seat, a steering device that can give an arbitrary torque to the steering shaft of the steering wheel system, and a device that measures the force pushing the steering wheel forward of the vehicle are used. The driver holds the steering wheel in a neutral state in the state of being seated on the seat, as in normal driving. The force pushing the steering wheel forward of the vehicle is presented to the driver, and the driver continues to hold the steering wheel so that the force pushing the steering wheel forward of the vehicle becomes zero. At this time, a sinusoidal sweep excitation torque is applied to the steering shaft, and the steering angle at that time is measured. By determining the transfer function from the measured vibration torque to the steering angle, it is possible to determine the sum of the stiffness K _d for from stiffness K _v and the driver from the steering wheel device. K _v can be obtained from the transfer function from the excitation torque to the steering angle when the driver is not steering, so K _d is obtained by removing K _v from the sum of K _d and K _v Easily required.

Similarly, when a force pushing the steering wheel to the vehicle ahead is F _1, when the F _2, ..., when the _{F n, K d1, ...,} K dn is obtained. These _{F 1, F 2, ...,} F n and K _d1, K _d2, ..., with respect to K _dn, by fitting the equation (15), can be obtained P _Kd and K _d0.

In the above method, although P _Kd and K _d0 specific driver is determined, in the present embodiment, P _Kd was limited to a specific driver, it is possible to use a K _d0, of the plurality of the driver The average of P _Kd and K _d0 may be used, or P _Kd and K _d0 classified for each physique and driving posture may be used.

Target rigidity calculation unit 26 sums the K _dv stiffness K _v of the steering wheel rotational direction from stiffness Kd and the steering device of the steering wheel rotational direction from the _driver, a predetermined value K of the target value of K _dv ' and _dv, from the following _equation (16) obtains the _v 'target value K of _{K v} for the _dv' the _{K dv} K.

Assist torque calculation unit 28, since immediately after the vehicle start is holding steering state is different from the traveling, using a standard value K _v0 as K _v, based on the steering torque T _r which is measured by the torque sensor 14 T _a is obtained from the above equations (10) and (11).

Assist torque calculation unit 28, the resulting K _'v by the target rigidity calculation unit 26 obtains a p _a by substituting the K _v of the equation (11), the steering torque Tr measured by the torque sensor 14 based on, obtaining the _{T a} from equation (10) and (11).

The neutral position determining section _{22, | T r |> T} neutral or _| dT r / _{dt |} when it is determined to _{be> T Stead} is, _{p a} just before is not changed. In this case, the assist torque calculation unit 28 includes a _{p a} just before, on the basis of the steering torque _{T r} which is measured by the torque sensor 14, obtains the _{T a} from equation (10) and (11) .

Assist torque control unit 30 controls the actuator 18 so as to generate a T _a determined by the assist torque calculation unit 28.

<Operation of vehicle control device>
Next, the operation of the vehicle control device according to the first embodiment will be described. When the vehicle starts, the steering wheel pressing force detector 12 sequentially detects the steering wheel pressing force, and the torque sensor 14 sequentially measures the steering torque _Tr . At this time, the vehicle control processing routine shown in FIG. 8 is executed by the computer 16 of the vehicle control device.

In step 100, a predetermined K _v0 is set to the stiffness K _v in the steering wheel rotation direction derived from the steering device. Then, in step 102, using the set _{K v} in step 100, according to the above (11), calculates the coefficient p _a. In step 104, by using the coefficients p _a to get the steering torque T _r which is measured by the torque sensor 14, it is calculated by the steering torque and the step 102 obtained according to the above (10), the assist torque amount T _a Is calculated.

At step 106, it controls the actuator 18 so as to generate the assist torque amount T _a calculated in step 104.

  Then, steps 108 to 122 described later are repeated until the use of the vehicle ends.

In step 108, the steering torque _Tr measured by the torque sensor 14 is acquired, and it is determined whether or not | T _r | ≦ T _neutral . | _{T r} | if a ≦ _{T neutral} is determined to be a neutral position, the process proceeds to step 110, _whereas, | _{T r |} if _{a> T neutral} does not change the coefficients p _a Then, the process proceeds to step 120.

In step 110, based on the steering torque T _r obtained immediately before the current steering torque T _{r, |} determines whether _{≦ T steady | dT r / dt} . If | dT _r / dt | ≦ T _steady, it is determined that the steering is maintained, and the process proceeds to step 112. On the other hand, if | dT _r / dt |> T _steady , the coefficient p _{The process proceeds} to step 120 without changing a.

In step 112, the steering wheel pressing force F measured by the steering wheel pressing force detector 12 is acquired. In step 114, based on the steering wheel pressing force F acquired in step 112, the stiffness _Kd in the steering wheel rotation direction derived from the driver is calculated according to the above formulas (12) to (15).

In the next step 116, the sum K _dv of the stiffness in the steering wheel rotation direction is set to the target value K according to the above equation (16) based on the stiffness K _d in the steering wheel rotation direction derived from the driver calculated in step 114. 'for the _dv, the target value K of the rigidity of the steering wheel rotational direction from the steering device' for calculating the _v.

In step 118, based on the target value K _'v calculated in step 116, according to the above (10), calculates the coefficient p _a, changes the coefficients p _a.

In step 120, acquires the steering torque T _r which is measured by the torque sensor 14, by using a steering torque acquired, and coefficient p _a calculated in step 102 or step 118, according to the above (10), to calculate the assist torque amount T _a.

At step 122, it controls the actuator 18 so as to generate the assist torque amount T _a calculated in step 120.

  As described above, according to the vehicle control device according to the first embodiment, the driver's steering wheel is detected based on the pressing force of the steering wheel detected by the driver and calculated based on the detected pressing force. The target value of the rotational direction stiffness of the steering wheel derived from the steering device is calculated so that the sum of the rotational direction stiffness of the steering wheel and the predetermined rotational stiffness of the steering wheel derived from the steering device becomes the target value. In addition, by changing the coefficient for obtaining the assist torque according to the target value of the steering wheel rotation direction rigidity derived from the steering device, the steering wheel rotation direction rigidity target is adjusted according to the pressing force by the driver. The value can be realized with high accuracy and the operability can be improved.

  Also, according to the steering wheel rotation direction rigidity derived from the driver calculated based on the steering wheel pressing force, the steering wheel rotation direction rigidity derived from the steering device is adjusted to achieve the desired steering wheel rotation direction rigidity. It becomes possible to do. As a result, a vehicle that can be easily steered can be realized without imposing an unnecessary burden on the driver.

  In the above embodiment, the case where the stiffness for the rotation direction of the steering wheel derived from the driver is calculated based on the steering wheel pressing force and the coefficient for obtaining the assist torque is changed is described as an example. It is not limited to this. For example, a function or a map representing a correspondence relationship between a steering wheel pressing force and a coefficient for obtaining an assist torque capable of realizing a desired rigidity in the rotation direction of the steering wheel is obtained in advance. Based on the pressing force, the coefficient for obtaining the assist torque may be directly obtained without calculating the rigidity in the rotation direction of the steering wheel derived from the driver.

  Next, a second embodiment will be described. In addition, since the structure of the vehicle control apparatus which concerns on 2nd Embodiment is a structure similar to 1st Embodiment, it attaches | subjects the same code | symbol and abbreviate | omits description.

In the second embodiment, the sum K _dv of the steering wheel rotation direction stiffness K _d calculated from the steering wheel pressing force and the steering wheel rotation direction stiffness K _dv is obtained in advance as a target value. The difference from the first embodiment is that the coefficient for calculating the assist torque is adjusted so as to achieve the desired rigidity _Kd0 in the steering wheel rotation direction derived from the driver.

  First, the target value of the rigidity in the steering wheel rotation direction in the present embodiment will be described.

  In this embodiment, the sum of the rigidity of the steering wheel rotation direction derived from the driver and the steering wheel rotation direction derived from the steering device according to the rigidity of the steering wheel rotation direction derived from the driver is the rigidity desired by the driver. Therefore, the characteristic of the power steering device, which is one of the characteristics of the vehicle, is changed.

Regarding K _d calculated by the above equation (15), the sum of K _d and a predetermined K _v is considered to be the rigidity in the steering wheel rotation direction desired by the driver. On the other hand, the K _d, 'to equal to _d, the target value K in the rigidity of the steering wheel rotational direction from the steering device' target value K of K _{d v} is obtained by the following equation (17). However, in order to minimize the burden on the driver, it is preferable to set the desired value K ′ _d = K _d0 .

<Configuration of vehicle control device>
The target stiffness calculation unit 26 of the vehicle control apparatus according to the second embodiment is the sum Kdv of K _d calculated by the driver-derived stiffness calculation unit 24 according to the above equation (15) and a predetermined K _v. , And a predetermined desired value Kd0 of the stiffness in the rotation direction of the steering wheel derived from the driver, according to the above equation (17), the target value K ′ _v of the stiffness in the rotation direction of the steering wheel derived from the steering device is obtained. calculate.

Assist torque calculation unit 28 calculates a p _a by substituting the obtained K _'v to K _v of the equation (11), we obtain the assist torque amount T _a from equation (10).

<Operation of vehicle control device>
Next, a vehicle control processing routine in the second embodiment will be described with reference to FIG. In addition, about the process similar to 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

In step 100, a predetermined K _v0 is set to the stiffness K _v in the steering wheel rotation direction derived from the steering device. Then, in step 102, using the set _{K v} in step 100, it calculates the coefficient p _a. In step 104, the steering torque _Tr measured by the torque sensor 14 is acquired, and the assist torque amount _Ta is calculated according to the above equation (10).

At step 106, it controls the actuator 18 so as to generate the assist torque amount T _a calculated in step 104.

  Then, steps 108 to 122 described later are repeated until the use of the vehicle ends.

In step 108, the steering torque _Tr measured by the torque sensor 14 is acquired, and it is determined whether or not | T _r | ≦ T _neutral .

In step 110, it is determined whether or not | dT _r / dt | ≦ T _steady based on the current steering torque _Tr and the previously acquired steering torque _Tr .

In step 112, the steering wheel pressing force F measured by the steering wheel pressing force detector 12 is acquired. In step 114, based on the steering wheel pressing force F acquired in step 112, the driver-derived rigidity _Kd in the steering wheel rotation direction is calculated.

In the next step 200, based on the driver-derived rigidity _Kd in the steering wheel rotation direction calculated in step 114, the sum _Kdv of the steering wheel rotation direction rigidity is calculated according to the above equation (17). to achieve a desired value K _d0 stiffness of the steering wheel rotational direction from, and calculates the target value K _'v rigidity of the steering wheel rotational direction from the steering device.

In step 118, based on the target value K _'v calculated in step 200, according to the above (10), calculates the coefficient p _a, changes the coefficients p _a.

In step 120, the steering torque _Tr measured by the torque sensor 14 is acquired, and the assist torque amount _Ta is calculated.

At step 122, it controls the actuator 18 so as to generate the assist torque amount T _a calculated in step 120.

  As described above, according to the vehicle control apparatus according to the second embodiment, the pressing force of the steering wheel is detected, the rigidity in the rotational direction of the steering wheel derived from the driver is calculated based on the pressing force, The calculated sum of the rigidity in the rotational direction of the steering wheel derived from the driver and the rigidity in the rotational direction of the steering wheel derived from the predetermined steering device is a desired value of the rigidity in the rotational direction of the steering wheel derived from the driver. To calculate the target stiffness value in the rotational direction of the steering wheel derived from the steering device, and calculate the coefficient for obtaining the assist torque according to the target stiffness value in the rotational direction of the steering wheel derived from the steering device. By changing, the rigidity of the steering wheel rotation direction is adjusted according to the pressing force by the driver. The value realized accurately, it is possible to improve the steering stability.

  In the above embodiment, the case where the stiffness for the rotation direction of the steering wheel derived from the driver is calculated based on the steering wheel pressing force and the coefficient for obtaining the assist torque is changed is described as an example. It is not limited to this. For example, a function or a map representing a correspondence relationship between a steering wheel pressing force and a coefficient for obtaining an assist torque capable of realizing a desired rigidity in the rotation direction of the steering wheel is obtained. Based on the force, the coefficient for obtaining the assist torque may be obtained directly without calculating the rigidity in the steering wheel rotation direction derived from the driver.

Further, in the first embodiment and the second embodiment described above, | example the case when a non ≦ T _steady is not changing the p _a right before | T | ≦ T _neutral and | dT / dt However, the present invention is not limited to this. It is fixed steering outside the neutral position (| dT / dt | = 0 ) when and they may be updated to p _a. However, in that case, P _Kd and K _d0 at the steering angle must be obtained in advance and used.

In addition, frequently it is also possible to take a method for you do not want to change the p _a. For example, since frequent sometimes annoying feel when p _a is changed, it is also possible to provide an average over time of the p _a as p _a. Further, only when the p _a determined changes certain level compared with the current p _a, a method may be used to change. Alternatively, when the state obtained p _a is changed certain level compared with the current p _a it lasted more than a predetermined time, may change the p _a. Further, by performing the process of deriving p _a spaced between certain time or more may be lowered to change the frequency of p _a.

  Next, a third embodiment will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  In the third embodiment, the first embodiment is that control is performed so as to change the posture of the seat on which the driver is seated so that the rigidity in the rotation direction of the steering wheel is within the target range. The form is different.

<Configuration of vehicle control device>
As shown in FIG. 10, the vehicle control apparatus according to the third embodiment is a seat control for controlling the steering wheel pressing force detection unit 12, the torque sensor 14, and the posture of the seat 20 on which the driver is seated. And a computer 316 for controlling the mechanism 302.

As shown in FIG. 11, the seat control mechanism 302 changes the angle θ _{SHOULDER of the} portion 300 _{</ b>} A that contacts the shoulder of the seat back. As the seat control mechanism 302, a conventionally known one may be used, and description thereof is omitted.

  The computer 316 includes a CPU, a RAM, and a ROM that stores a program for executing a vehicle control processing routine to be described later, and is functionally configured as follows. As shown in FIG. 12, the computer 316 includes a neutral position determination unit 22, a driver-derived rigidity calculation unit 24, a rigidity sum calculation unit 326, a seat change amount calculation unit 328, and a seat control unit 330.

The rigidity sum calculation unit 326 is the sum of the rigidity _Kd derived from the driver-derived steering wheel rotation direction calculated by the driver-derived rigidity calculation section 24 and the steering wheel rotation-direction rigidity Kv derived from a predetermined steering device. Calculate K _dv .

The seat change amount calculation unit 328 previously sets a range of the stiffness target value K _{dv in} the steering wheel rotation direction as K ′ _dv1 or more and K ′ _dv2 or less, and the stiffness sum K calculated by the stiffness sum calculation unit 326 is set. _{When dv} is smaller than K ′ _dv1 , in order to make it easier to push the steering wheel, the angle change amount dθ _SHOOLDER of the portion 300A that contacts the shoulder of the seat back that is tilted to the side that contacts the driver is calculated.

The seat change amount calculation unit 328 determines that the steering wheel is being pushed more than necessary when the stiffness sum K _dv calculated by the stiffness sum calculation unit 326 is greater than K ′ _dv2 , and therefore, the side that contacts the driver The amount of change in the angle of the portion 300 < _/ b _> A in contact with the shoulder of the seat back minus _{dθ SHOULDER} is calculated. However, when θ _SHOULDER exceeds a predetermined range, θ _SHOULDER is not changed.

  The sheet control unit 330 controls the operation of the sheet control mechanism 302 based on the change amount calculated by the sheet change amount calculation unit 328.

<Operation of vehicle control device>
Next, a vehicle control processing routine in the third embodiment will be described with reference to FIG. In addition, about the process similar to 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  First, in step 350, an initial value of the amount of change in the angle of the portion 300A in contact with the shoulder of the seat back is set. In step 352, the seat control mechanism 302 is controlled so as to change the angle of the portion 300A in contact with the shoulder of the seat back by the change amount of the angle set in step 350.

  And the process of steps 108-356 mentioned later is repeated until use of a vehicle is complete | finished.

In step 108, the steering torque _Tr measured by the torque sensor 14 is acquired, and it is determined whether or not | T _r | ≦ T _neutral .

In step 110, based on the current steering torque Tr and the steering torque T _r acquired _{previously, |} determines whether _{≦ T steady | dT r / dt} .

In step 112, the steering wheel pressing force F measured by the steering wheel pressing force detector 12 is acquired. In step 114, based on the steering wheel pressing force F acquired in step 112, the driver-derived rigidity _Kd in the steering wheel rotation direction is calculated.

In the next step 353, the sum _Kdv of the rigidity _Kd derived from the driver's steering wheel rotation direction calculated in step 114 and a predetermined rigidity in the steering wheel rotation direction is calculated.

In step 354, the amount of change in the angle of the portion 300A in contact with the shoulder of the seat back is compared with the range of the stiffness target value K _{dv in} the steering wheel rotation direction by comparing the stiffness sum K _dv calculated in step 353 above. Is calculated. In step 356, the seat control mechanism 302 is controlled so as to change the angle of the portion 300A in contact with the shoulder of the seat back by the change amount of the angle calculated in step 354.

  As described above, according to the vehicle control apparatus of the third embodiment, the steering wheel pushing force is detected, and the rigidity in the rotational direction of the driver-derived steering wheel calculated based on the pushing force is determined. Steering according to the driver by controlling the seat posture so that the sum of the rigidity in the rotational direction of the steering wheel derived from the predetermined steering device is within a predetermined target range. The target value of the rigidity in the wheel rotation direction can be realized with high accuracy, and the operability can be improved.

  Next, a fourth embodiment will be described. In addition, since the structure of the vehicle control apparatus which concerns on 4th Embodiment is the structure similar to 3rd Embodiment, it attaches | subjects the same code | symbol and abbreviate | omits description.

  The fourth embodiment is different from the third embodiment in that the angle of the entire seat back is changed so that the rigidity in the steering wheel rotation direction is within a target range.

<Configuration of vehicle control device>
As shown in FIG. 14, the seat control mechanism 302 changes the angle θ _back of the entire seat back 20A. As the seat control mechanism 302, a conventionally known one may be used, and description thereof is omitted.

The seat change amount calculation unit 328 previously sets a range of the stiffness target value K _{dv in} the steering wheel rotation direction as K ′ _dv1 or more and K ′ _dv2 or less, and the stiffness sum K calculated by the stiffness sum calculation unit 326 is set. _{When dv} is smaller than K ′ _dv1 , in order to make it easier to push the steering wheel, the angle change amount dθ _back of the entire seat back 20A that is tilted to the side in contact with the driver is calculated.

The seat change amount calculation unit 328 determines that the steering wheel is being pushed more than necessary when the stiffness sum K _dv calculated by the stiffness sum calculation unit 326 is greater than K ′ _dv2 , and therefore, the side that contacts the driver The amount of change in the angle of the entire seat back 20 </ b> A −dθ _back is calculated. However, if it exceeds the range in which θ _back is predetermined, θ _back shall not be changed.

  The sheet control unit 330 controls the operation of the sheet control mechanism 302 based on the change amount calculated by the sheet change amount calculation unit 328.

  In addition, since the other structure and effect | action of the vehicle control apparatus which concern on 4th Embodiment are the same as that of 3rd Embodiment, description is abbreviate | omitted.

  Next, a fifth embodiment will be described. In addition, since the structure of the vehicle control apparatus which concerns on 5th Embodiment is the structure similar to 3rd Embodiment, it attaches | subjects the same code | symbol and abbreviate | omits description.

  The fifth embodiment is different from the third embodiment in that the position of the entire seat is changed so that the rigidity in the steering wheel rotation direction is within a target range.

<Configuration of vehicle control device>
As shown in FIG. 15, the seat control mechanism 302 changes the position x _seat in the front-rear direction of the entire seat 20. As the seat control mechanism 302, a conventionally known one may be used, and description thereof is omitted.

The seat change amount calculation unit 328 previously sets a range of the stiffness target value K _{dv in} the steering wheel rotation direction as K ′ _dv1 or more and K ′ _dv2 or less, and the stiffness sum K calculated by the stiffness sum calculation unit 326 is set. _{When dv} is smaller than K ′ _dv1 , in order to make it easier to push the steering wheel, a change amount dx _seat of the position of the entire seat 20 that is displaced to the side in contact with the driver (front side) is calculated.

The seat change amount calculation unit 328 determines that the steering wheel is being pushed more than necessary when the stiffness sum K _dv calculated by the stiffness sum calculation unit 326 is greater than K ′ _dv2 , and therefore, the side that contacts the driver The amount of change -dx _seat in the position of the entire seat 20 that is displaced in the opposite direction (rear side) is calculated. However, when x _seat exceeds a predetermined range, x _seat is not changed.

  The sheet control unit 330 controls the operation of the sheet control mechanism 302 based on the change amount calculated by the sheet change amount calculation unit 328.

  In addition, since the other structure and effect | action of the vehicle control apparatus which concern on 5th Embodiment are the same as that of 3rd Embodiment, description is abbreviate | omitted.

  Next, a sixth embodiment will be described. In addition, since it is the structure similar to 1st Embodiment and 3rd Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

In the sixth embodiment, a target range is set from the sum K _dv of the steering wheel rotation direction stiffness K _d derived from the steering wheel pressing force and the steering wheel rotation direction stiffness K _dv , The point which controls the sheet | seat so that it may become in the target range differs from 3rd Embodiment.

<Configuration of vehicle control device>
As shown in FIG. 16, the computer 616 of the vehicle control apparatus according to the sixth embodiment includes a neutral position determination unit 22, a driver-derived rigidity calculation unit 24, a rigidity sum calculation unit 326, a target rigidity setting unit 626, a seat. A change amount calculation unit 628 and a sheet control unit 330 are provided.

  First, the target value of the rigidity in the steering wheel rotation direction in the present embodiment will be described.

K _d and K _v sum K _dv of, considered to be rigid K _'dv of the steering wheel rotational direction desired by the driver, if the K _v is reduced by road surface condition or the like, by increasing the K _d, K _v It is thought to compensate for the decrease of. However, if the seat position and shape are optimized to the original _Kd , it is considered effective to change the seat position and shape in order to reduce the burden on the driver and increase _Kd. It is done. On the other hand, if the K _v is increased due to road conditions, etc., to reduce the K _d, is considered to K _v tries to steering hold only effortlessly amount corresponding to the increase. However, if the position and shape of the seat are optimized to the original _Kd , the driver will feel more cramped than necessary. Therefore, the range of the target of K _dv, 'based on the _dv K' calculated K defined as _{dv1 ≦ K 'dv ≦ K'} dv2, K dv is K _'dv1 ≦ K' in the range of _dv ≦ K _'dv2 Control to fit.

The target stiffness setting unit 626 sets the target range based on the sum K ′ _dv of K _d calculated by the driver-derived stiffness calculation unit 24 according to the above equation (15) and a predetermined K _v , as K ' _dv1 ≤ K' _dv ≤ K 'Set as _dv2 . The target range K ′ _dv1 ≦ K ′ _dv ≦ K ′ _dv2 is an example of a predetermined target value.

The seat change amount calculation unit 628 pushes the steering wheel when the stiffness sum K _dv calculated by the stiffness sum calculation unit 326 is smaller than K ′ _dv1 based on the target range set by the target stiffness setting unit 626. In order to make it easier, the angle change amount dθ _back of the entire seat back 300B to be tilted to the side in contact with the driver is calculated.

Since the seat change amount calculation unit 628 determines that the steering wheel is being pushed more than necessary when the stiffness sum K _dv calculated by the stiffness sum calculation unit 326 is greater than K ′ _{dv2, the} seat change amount calculation unit 628 is in contact with the driver. The amount of change in the angle of the entire seat back 300 </ b> B −dθ _back is calculated in reverse. However, if it exceeds the range in which θ _back is predetermined, θ _back shall not be changed.

<Operation of vehicle control device>
Next, a vehicle control processing routine in the sixth embodiment will be described with reference to FIG. In addition, about the process similar to 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

First, in step 650, the steering torque Tr measured by the torque sensor 14 is acquired to determine whether or not | T _r | ≦ T _neutral and the current steering torque Tr and the steering torque T acquired immediately before are determined. Based on _r , it is determined whether or not | dT _r / dt | ≦ T _steady . If it is determined that | T _r | ≦ T _neutral and | dT _r / dt | ≦ T _steady , the process proceeds to step 652.

In step 652, the steering wheel pressing force F measured by the steering wheel pressing force detection unit 12 is acquired. In step 654, the steering wheel rotation direction stiffness _Kd derived from the driver is calculated based on the steering wheel pressing force F acquired in step 652.

In the next step 656, the sum K ′ _dv of the steering wheel rotation direction rigidity K _d derived from the driver calculated in step 654 and a predetermined steering wheel rotation direction rigidity is calculated, and the steering wheel rotation is calculated. The target range of the direction stiffness sum K _dv is set as K ′ _dv1 ≦ K ′ _dv ≦ K ′ _dv2 .

  And the process of steps 108-356 mentioned later is repeated until use of a vehicle is complete | finished.

In step 108, the steering torque _Tr measured by the torque sensor 14 is acquired, and it is determined whether or not | T _r | ≦ T _neutral .

In step 110, based on the steering torque T _r obtained immediately before the current steering torque _{Tr, |} determines whether _{≦ T steady | dT r / dt} .

In step 112, the steering wheel pressing force F measured by the steering wheel pressing force detector 12 is acquired. In step 114, based on the steering wheel pressing force F acquired in step 112, the driver-derived rigidity _Kd in the steering wheel rotation direction is calculated.

In the next step 353, the sum _Kdv of the rigidity _Kd derived from the driver's steering wheel rotation direction calculated in step 114 and a predetermined rigidity in the steering wheel rotation direction is calculated.

In step 658, the sum K _dv of stiffness calculated in step 353 is compared with the target range K ′ _dv1 ≦ K ′ _dv ≦ K ′ _dv2 of the stiffness in the steering wheel rotation direction, and the shoulder of the seat back The amount of change in the angle of the contacting portion 300A is calculated. In step 356, the seat control mechanism 302 is controlled so as to change the angle of the portion 300A in contact with the shoulder of the seat back by the amount of change in angle calculated in step 658.

  As described above, according to the vehicle control device of the sixth embodiment, the steering wheel pressing force is detected, and the driver-derived rigidity of the steering wheel calculated in accordance with the pressing force is determined. The target range is set based on a predetermined sum of the steering wheel-derived rigidity in the rotational direction of the steering wheel, and the seat posture is set so that the steering wheel rotational direction rigidity is within the target range. By controlling the above, it is possible to accurately achieve the target value of rigidity in the direction of rotation of the steering wheel in accordance with the driver, and to improve the maneuverability.

  In the sixth embodiment, a target range is set regarding the sum of the rigidity in the rotational direction of the steering wheel derived from the driver and the rigidity in the rotational direction of the steering wheel derived from the steering device. Although the case has been described as an example, the present invention is not limited to this, and based on the rigidity in the rotational direction of the steering wheel derived from the driver calculated based on the pressing force, the rotational direction of the steering wheel derived from the driver is determined. A target range related to the rigidity may be set, and the posture of the seat may be controlled so that the rigidity in the rotation direction of the steering wheel derived from the driver is within the target range.

Further, as in the fourth embodiment, the angle of the entire seat back may be changed. When K _dV is smaller than K ′ _dv1 , the angle of the entire seat back is controlled to be tilted to the side in contact with the driver by dθ _back so that the steering wheel can be easily pushed to increase K _d . When K _dV is larger than K ′ _dv2 , it is determined that the steering wheel is being pushed more than necessary, and the angle of the entire seat back is controlled to be tilted opposite to the side in contact with the driver by dθ _back .

In addition, as in the fifth embodiment, the position of the entire sheet may be changed. When the front of the vehicle is the x-axis direction, the seat position is x _seat , and K _dV is smaller than K ′ _dv1 , the seat position is set to the driver by dx _seat so that the steering wheel can be pushed easily and K _d is increased. Control to displace to the contact side. When K _dV is greater than K ′ _dv1 , it is determined that the steering wheel is being pushed more than necessary, and the seat position is controlled to be displaced by dx _seat opposite to the side in contact with the driver so as to reduce K _d. .

  Next, a seventh embodiment will be described. In addition, about the part which becomes the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

In the seventh embodiment, as the stiffness K _d for the steering wheel rotational direction from the driver calculated from the steering wheel pushing force becomes the target value K _'d rigidity of the steering wheel rotational direction from the driver The point that the control mode of the suspension is changed is different from the first embodiment.

<Configuration of vehicle control device>
As shown in FIG. 18, the vehicle control apparatus according to the seventh embodiment changes the control mode of the steering wheel pressing force detection unit 12, the torque sensor 14, and the suspension 700 that connects the vehicle body and wheels. And a computer 716 for controlling the suspension control mechanism 702.

  The suspension control mechanism 702 changes the control mode of the suspension 700 and improves the roll rigidity of the vehicle. Specifically, the roll resonance frequency f [Hz] of the suspension 700 is changed. Note that a conventionally known suspension control mechanism 702 may be used, and a description thereof is omitted.

  The computer 716 includes a CPU, a RAM, and a ROM that stores a program for executing a vehicle control processing routine to be described later, and is functionally configured as follows. As shown in FIG. 19, the computer 716 includes a neutral position determination unit 22, a driver-derived rigidity calculation unit 24, a suspension characteristic change amount calculation unit 728, and a suspension control unit 730.

The suspension characteristic change amount calculation unit 728 predetermines a target stiffness value K ′ _d (for example, K _d0 ) in the steering wheel rotation direction derived from the driver, and the driver calculated by the driver-derived stiffness calculation unit 24. When the steering wheel rotation direction stiffness K _d derived from the vehicle is larger than K ′ _d , it is considered that the driver feels that the vehicle stiffness is low, and that the lack of vehicle stiffness is compensated. The amount of change df [Hz] for increasing the value is calculated.

  The suspension control unit 730 controls the operation of the suspension control mechanism 702 based on the change amount df calculated by the suspension characteristic change amount calculation unit 728.

<Operation of vehicle control device>
Next, a vehicle control processing routine in the seventh embodiment will be described with reference to FIG. In addition, about the process similar to 1st Embodiment, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  In step 750, a predetermined initial value df 0 is set as the change amount df of the roll resonance frequency of the suspension 700. In step 752, the suspension control mechanism 702 is controlled to change the roll resonance frequency of the suspension 700 by the amount df of change in the roll resonance frequency of the suspension 700 set in step 750.

  And the process of steps 108-756 mentioned later is repeated until use of a vehicle is complete | finished.

In step 108, the steering torque _Tr measured by the torque sensor 14 is acquired, and it is determined whether or not | T _r | ≦ T _neutral .

In step 110, it is determined whether or not | dT _r / dt | ≦ T _steady based on the current steering torque _Tr and the previously acquired steering torque _Tr .

In step 112, the steering wheel pressing force F measured by the steering wheel pressing force detector 12 is acquired. In step 114, based on the steering wheel pressing force F acquired in step 112, the driver-derived rigidity _Kd in the steering wheel rotation direction is calculated.

In the next step 754, the driver-derived steering wheel rotation direction stiffness K _d calculated in step 114 is compared with a predetermined driver-derived stiffness value in the steering wheel rotation direction stiffness K ′ _d. Then, the amount of change in the roll resonance frequency of the suspension 700 is calculated according to the comparison result.

  In step 756, the suspension control mechanism 702 is controlled so that the roll resonance frequency of the suspension 700 is changed by the change amount of the roll resonance frequency of the suspension 700 calculated in step 754.

  As described above, according to the vehicle control device according to the seventh embodiment, the steering wheel pushing force is detected, and the rigidity in the rotational direction of the driver-derived steering wheel calculated based on the pushing force is detected. By changing the suspension characteristics so as to be a predetermined target value, the target value of the steering wheel rotational direction can be accurately realized according to the driver's pressing force, and the operability is improved. be able to.

  In the seventh embodiment, the case where the suspension resonance frequency is changed to be increased in order to realize the target stiffness value in the rotational direction of the steering wheel has been described as an example. However, the present invention is not limited to this. It is not something. For example, the roll motion felt by the driver is reduced by increasing the rigidity of the stabilizer that connects the left and right suspensions of the vehicle, increasing the rigidity of the vehicle body, or lowering the seat height (driving To increase the sense of rigidity that a person feels).

In the third to seventh embodiments, the position, posture, or suspension characteristics of the seat are changed when | T | ≦ T _neutral and | dT / dt | ≦ T _steady. Although the case where it does not perform was demonstrated to the example, it is not limited to this. Even when the vehicle is steered at a position other than the neutral position (| dT / dt | = 0), the position, posture, or suspension characteristics of the seat may be changed.

  The program of the present invention may be provided by being stored in a storage medium.

DESCRIPTION OF SYMBOLS 10 Steering wheel 12 Steering wheel pressing force detection part 13 Steering shaft 14 Torque sensor 16, 316, 616, 716 Computer 18 Actuator 20 Seat 22 Neutral position determination part 24 Driver-derived rigidity calculation part 26 Target rigidity calculation part 28 Assist torque calculation part 30 Assist torque control unit 302 Seat control mechanism 326 Rigidity sum calculation unit 328, 628 Sheet change amount calculation unit 330 Seat control unit 626 Target stiffness setting unit 700 Suspension 702 Suspension control mechanism 728 Suspension characteristic change amount calculation unit 730 Suspension control unit

Claims (14)

Detecting means for detecting the pushing force of the steering wheel by the driver of the vehicle;
Based on the pressing force detected by said detecting means, and calculating means for calculating the stiffness of the rotating direction of the steering wheel from OPERATION person,
Based on the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means, the rigidity in the rotation direction of the steering wheel derived from the driver and the rigidity in the rotation direction of the steering wheel derived from the steering device Control means for controlling the assist torque generated in the steering wheel or the position or posture of the seat on which the driver is seated so as to realize a predetermined target value of the sum;
A vehicle control apparatus. Detecting means for detecting the pushing force of the steering wheel by the driver of the vehicle;
Based on the pressing force detected by the detecting means, calculating means for calculating the rigidity in the rotational direction of the steering wheel derived from the driver;
Based on the rigidity of the rotational direction of the steering wheel from the calculated said driver by said calculating means, and rigidity of the rotational direction of the steering wheel from the OPERATION person, and rigidity of the rotational direction of the steering wheel from the steering device An assist torque to be generated by the steering wheel so as to realize a predetermined target value of the sum of the values with a predetermined desired value of the rigidity in the rotational direction of the steering wheel derived from the driver, or the vehicle Control means for controlling the position or posture of the seat;
A vehicle control apparatus. Detecting means for detecting the pushing force of the steering wheel by the driver of the vehicle;
Based on the pressing force detected by the detecting means, calculating means for calculating the rigidity in the rotational direction of the steering wheel derived from the driver;
Based on the rigidity in the rotational direction of the steering wheel derived from the driver calculated by the calculating means , the vehicle is configured to realize a predetermined target value of the rigidity in the rotational direction of the steering wheel derived from the driver. Control means for controlling;
A vehicle control apparatus. A torque sensor for measuring torque applied to a steering shaft that transmits rotation of the steering wheel;
It said control means, so as to realize the target value, and calculates a coefficient for multiplying the assist torque, based on the torque measured by the torque sensor, and calculates the assist torque, the said assist torque the vehicle control device according to claim 1 or 2, wherein the control to generate a multiplied by the calculated coefficients torque. Wherein, when the steering wheel is the reference position or the holding steering state, so as to realize the target value, the vehicle control apparatus according to claim 4, wherein calculating the coefficients. The control means calculates the position or posture of the seat so as to realize the target value when the steering wheel is in a reference position or a steering holding state, and controls the calculated position or posture of the seat. The vehicle control device according to claim 1 or 2 . The vehicle control device according to claim 3 , wherein the control unit performs control so as to change a suspension characteristic of the vehicle. The control means calculates the characteristics of the suspension so as to realize the target value when the steering wheel is in a reference position or in a steered state, and controls to change to the calculated characteristics of the suspension. The vehicle control device according to claim 7 . Said detecting means uses a force sensor mounted on the steering wheel, the vehicle control apparatus of any one of claims 1 to 8 for detecting the pressing force. Said detecting means uses a force sensor or a body pressure sensor provided in the seat of the vehicle, the vehicle control apparatus of any one of claims 1 to 8 for detecting the pressing force.   11. The calculation unit according to claim 1, wherein the calculation unit calculates a rigidity in a rotation direction of the steering wheel derived from a driver based on the pressing force detected by the detection unit when the steering wheel is in a neutral position. The vehicle control device according to any one of the preceding claims. Computer
Based on the pressing force detected by the detecting means for detecting the pressing force of the steering wheel by the driver of the vehicle, calculating means for calculating the stiffness of the rotating direction of the steering wheel from OPERATION person, and
Based on the rigidity in the rotation direction of the steering wheel derived from the driver calculated by the calculation means, the rigidity in the rotation direction of the steering wheel derived from the driver and the rigidity in the rotation direction of the steering wheel derived from the steering device A program for functioning as an assist torque generated in the steering wheel or as a control means for controlling a position or posture of a seat on which the driver is seated so as to realize a predetermined target value of the sum. Computer
Based on the pressing force detected by the detecting means for detecting the pushing force of the steering wheel by the driver of the vehicle, the calculating means for calculating the rigidity in the rotation direction of the steering wheel derived from the driver, and the calculating means. It was based on the rigidity of the rotational direction of the steering wheel from the driver, and stiffness in the rotation direction of the oPERATION person from the steering wheel, the predetermined sum of the rotational direction of the rigidity of the steering wheel from the steering device The assist torque generated by the steering wheel, or the position or posture of the vehicle seat so that the target value is realized by a predetermined desired value of the rigidity in the rotational direction of the steering wheel derived from the driver. A program for functioning as a control means to control. Computer
A calculating means for calculating the rigidity of the steering wheel derived from the driver based on the pressing force detected by the detecting means for detecting the pressing force of the steering wheel by the driver of the vehicle ; and
Based on the rigidity in the rotational direction of the steering wheel derived from the driver calculated by the calculating means , the vehicle is configured to realize a predetermined target value of the rigidity in the rotational direction of the steering wheel derived from the driver. A program for functioning as a control means to control.